Automatic device or tool for removing and installing means for fastening liner in a mill method for installing the means for fastening a liner and method for removing the means for fastening a liner

Abstract

The invention relates to an automatic device or tool (1) for removing and installing means for fastening liners in a mill, the configuration thereof allowing the performance of a task involved in the removal and/or insertion of the means for fastening the liner, such as cleaning, lubrication, installation, loosening, removal, tightening, and final torque application, by means of automatic operation and remote actuation. The device or tool comprises at least one base structure or frame (2), a torque actuator and a transmission system (3) formed by a die (4) coupled by means of a movable coupling (5) to a drive shaft (6) of a torque actuator (7), such that said configuration allows the die (4) to move axially, thereby enabling a nut to be inserted into the die (4) automatically, and at least one washing and lubrication system (9) formed in the front area (8) of the arrangement of the die (4), which allows the threads of the fastening means to be washed and lubricated, using the same device or tool (1) of the invention.

Claims

1. An automatic device or tool (1) for removing and installing fastening means for fastening liners in a mill comprising at least one base structure or frame (2), more than one torque actuator and transmission system (3) formed by a die (4) coupled by means of a movable coupling (5) to a drive shaft (6) of a torque actuator (7), such that said automatic device or tool is configured so as to allow the die (4) to move axially, thereby enabling a nut to be inserted into the die (4) automatically, and at least one washing and lubrication system (9) formed in a front area (8) of the arrangement of the die (4), which allows the threads of a fastening means to be washed and lubricated, using said device or tool (1).

2. The automatic device or tool (1) of claim 1 further comprising a plurality of torque actuator and transmission systems (3) arranged in said base structure or frame (2) configured to allow its relative position to be adjusted so as to thereby align dies (4) to positions of a nut or bolt of each liner, wherein said positioning can be performed interchangeably by mechanical screw actuation, rack and pinion, or by a hydraulic or electric linear actuator.

3. The automatic device or tool (1) of claim 1, further comprising at least one sensor, said at least one sensor selected from the group consisting of: a position sensor (11) which determines an effective distance of the torque actuators and transmission system (3) with respect to one another and with respect to the base structure or frame in order to access different positions of the fastening means for fastening different liners in the mill, an alignment sensor (12) for verifying whether a bolt or nut is in the correct position or axially or radially shifted in an incorrect position with respect to the die (4), a cleaning and lubrication sensor (13) for verifying the position of the die with respect to a bolt or nut in order to activate a cleaning and lubrication task, or a loosening, tightening, and/or torque sensor (14) for verifying the action of each of said tasks.

4. The automatic device or tool (1) of claim 1 further comprising a control system having the function of providing power and controlling the device in communication with a manipulator to which it is attached, furthermore having monitoring controls, and having at least one switchgear, control panel, control cabinets position detection panel and human-machine interface, hydraulic installation, inductive sensors, or encoder.

5. The automatic device or tool (1) of claim 1 further comprising detection means for said fastening means' for fastening liners position configured using at least one machine vision system which is based on machine vision techniques by means of using a plurality of laser triangulation cameras (L).

6. A method for installing fastening means for fastening a liner such as a nut or bolt, performed by means of moving an automatic device or tool (1) configured for removal and installation using an automatic manipulator for feeding holding means, washers, nuts, or bolts arranged in a dies (4), comprising the steps of, once said task is performed, the manipulator bringing the device or tool (1) to its working position, arranging the holding means facing in alignment with the openings of the mill in which installation will be performed, the manipulator moving the holding means closer to the corresponding installation thread, at which time said means are washed and lubricated by the washing and lubrication system (9), and the manipulator subsequently moving the device or tool (1) forward until the pre-insertion of the threads is achieved while applying torque to the dies (4) by means of a torque actuator (7), which applies torque until the moment in which the number of turns or rotations and the pre-programmed torque level for the task are achieved.

7. A method for removing fastening means for fastening a nut or bolt by moving a manipulator with a device or tool (1) fastened thereto until dies (4) are arranged facing a holding means which must be removed, comprising the steps of the manipulator moving said dies (4) closer to the holding means, at which time said holding means are washed and lubricated through the activation of a washing and lubrication system (9), the manipulator moving said dies (4) forward until achieving a complete insertion thereof into the holding means, the device or tool (1) generating a torque in the direction which allows removing the holding means from their working points, and the manipulator moving the device or tool (1) to a location away from the uninstallation point, where a removed fastening means is arranged.

Description

DESCRIPTION OF THE DRAWINGS

[0021] In order to help to better understand the features of the invention according to a preferred practical embodiment thereof, a set of drawings is attached as an integral part of the description in which the invention is depicted in an illustrative and non-limiting manner.

[0022] FIG. 1 corresponds to an isometric view of the device of the present invention.

[0023] FIG. 2 corresponds to an isometric view showing in detail the torque transmission system of the device of the present invention.

[0024] FIG. 3 corresponds to a top plan view of the device of the present invention.

[0025] FIG. 4 corresponds to a top plan view showing a detail of at least one washing and lubrication system comprised in the device of the present invention.

[0026] FIG. 5 corresponds to a front view of the device of the present invention.

PREFERRED EMBODIMENT OF THE INVENTION

[0027] The invention relates to an automatic device or tool (1) for removing and installing fastening means for fastening liners in a mill, such as nuts and/or bolts, which is illustrated by way of example in FIG. 1; the device or tool comprises a base structure or frame (2) housing the necessary elements which allow operating the system of the device, at least one torque actuator and transmission system (3), preferably, two torque actuators and transmission system (3) are arranged in the frame to perform the removal or installation process in more than one fastening means at the same time with the same tool (1), wherein the torque actuator and transmission system (3) corresponds to a mechanical system which allows generating and transmitting to a die (4) the high torque needed for removal or installation.

[0028] Each at least one torque actuator and transmission system (3) is formed by a die (4) coupled by means of a movable coupling (5) to a drive shaft (6) of a torque actuator (7), which is illustrated by way of example in FIGS. 2 and 3, such that said configuration allows the die (4) to move axially, thereby enabling a nut to be inserted into the die (4) automatically. The drive shaft (6) coupling the torque actuator (7) to the die (4) allows, at the same time, coupling the nut and/or bolt of the fastening means to be removed or installed and transmitting the torque needed to install or uninstall said fastening means with respect to same.

[0029] A washing and lubrication system (9) which allows the threads of the fastening means to be washed and lubricated using the same device or tool (1) of the invention is formed in the front area (8) of the arrangement of the die (4). The frame (2) comprises a coupling element (10) which allows coupling and/or fastening the device or tool (1) in manipulation means, such as preferably a robotic manipulator, for example.

[0030] In a preferred embodiment of the invention, the device or tool (1) may comprise a plurality of torque actuator and transmission system (3) arranged in the frame (2) having a configuration which allows the relative position thereof to be adjusted so as to thereby align the dies (4) thereof to the positions of the fastening means, i.e., the nut and/or bolts of each liner, which can be performed interchangeably by mechanical screw actuation, rack and pinion, or else a hydraulic or electric linear actuator.

[0031] In an embodiment of the invention, the automatic device or tool (1) for removing and installing fastening means for fastening liners in the mill may comprise at least one sensor (FIGS. 1 and 5), such as at least one position sensor (11) which allows determining the effective distance of the torque actuators and transmission system (3) with respect to one another and to the frame in order to access the different positions of the fastening means for fastening different liners sharing the mill, and/or at least one alignment and coupled die sensor (12) which allows verifying whether the bolt and/or nut are in the correct position or axially or radially shifted in an incorrect position with respect to the die and coupled to said die (4), and/or at least one cleaning and lubrication sensor (13) which allows verifying the position of the die with respect to the nut and/or bolt in order to activate the cleaning and lubrication task, and/or at least one loosening, tightening, and/or torque sensor (14) which allows verifying the action of each of said tasks, and/or at least one free die sensor (15) which allows verifying that the die is not in the position fitted with the bolt and/or nut, and a revolution sensor (16).

[0032] The automatic device or tool (1) for removing and installing fastening means for fastening liners in the mill, such as nuts and/or bolts, may comprise a control system which allows operating and controlling said device for changing the liners of the present invention, having the function of providing power and controlling the device in communication with the manipulator to which it is attached, furthermore having monitoring controls. The control system has at least one switchgear or SG, control panel or CP, control cabinets, position detection panel PDP and human-machine interface or HMI, hydraulic installation, inductive sensors, encoder, among other control means.

[0033] The method for installing fastening means for fastening a liner, i.e., a nut and/or bolt, is performed by means of moving the automatic device or tool (1) for removal and installation by means of an automatic manipulator, such as a robotic manipulator, for example, to a system for feeding the holding means, washer, nut, and/or bolts, which are arranged in the dies (4), once said task is performed, the manipulator brings the device or tool (1) to its working position, arranging the holding means facing and in alignment with the openings of the mill in which installation will be performed. The manipulator moves the holding means closer to the corresponding installation thread, at which time said means are washed and lubricated by the washing and lubrication system (9), the manipulator subsequently moves the device or tool (1) forward until the pre-insertion of the threads is achieved, while applying torque to the dies (4) by means of the torque actuator (7) which applies torque until the moment in which the number of turns or rotations and the pre-programmed torque level for the task are achieved.

[0034] The method for removing fastening means for fastening a liner, i.e., a nut and/or bolt, is performed by means of moving the manipulator with the device or tool (1) fastened thereto until the dies (4) are arranged facing the holding means which must be removed, the manipulator moves the dies (4) closer to the holding means, at which time these means are washed and lubricated through the activation of the washing and lubrication system (9), the manipulator moves the dies (4) forward until achieving the complete insertion thereof into the holding means, the device or tool (1) generates a torque in the direction which allows removing the holding means from their working points, the manipulator moves the device or tool (1) to a location away from the uninstallation point, where the removed fastening means will finally be arranged.

[0035] In one embodiment of the invention, the automatic device or tool (1) for removing and installing fastening means for fastening a liner in the mill may comprise detection means for detecting the position of the fastening means for fastening liners configured by at least one machine vision system which is based on machine vision techniques by means of using laser triangulation cameras (L) through which scanning of the mantle of the surface of the mill is performed to determine the position in which the fastening means should be inserted or from which they should be removed, said machine vision system being capable of delivering the distance and angle of the succession of holes, so that the manipulator can make a decision concerning insertion, removal, and/or approach.

[0036] The configuration of the automatic device or tool (1) for removing and installing fastening means for fastening liners in the mill allows more than one holding means to be removed and/or fastened at the same time with the same tool, and where it furthermore allows a task involved in the removal and/or insertion of the fastening means for fastening liners to be performed with the same device, such as cleaning, lubrication, installation, loosening, removal, tightening, and final torque application, by means of automatic operation and remote actuation, thereby preventing the use of more than one tool for performing the entire method, as well as preventing manipulation by maintenance staff, making the process of removing and inserting holding and/or fastening means for holding and/or fastening liners in a mill more effective, faster, of better quality, and less risky, obtaining a more efficient and safer process.

[0037] Although the configuration of the automatic device or tool (1) for removing and installing fastening means for fastening liners in the mill herein described constitutes a preferred inclusion of this invention, it must be understood that the invention is not limited to this specific form of the system for changing the liner, given that changes can be made therein without departing from the scope of the invention defined in the attached claims.