Liner equipment
The disclosure relates to a method for positioning a wear element relative to a supporting structure using a multi axis wear element positioning equipment having a wear element positioning unit. The method includes the steps of arranging a wear element positioning equipment in a replacement position relative to the supporting structure. The coordinates of an intersection point are defined where the virtual line intersects a surface of the supporting structure. The wear element positioning unit is aligned with the surface of the supporting structure at the intersection point such that a connecting surface of the wear element carried by the wear element positioning unit matches with a corresponding connecting surface of the supporting structure at the intersection point. The disclosure further relates to a system for positioning a wear element relative to a supporting structure.
1 . A method for positioning a wear element relative to a supporting structure using a multi axis wear element positioning equipment having a wear element positioning unit, the method comprising the steps of:
arranging a wear element positioning equipment in a replacement position relative to the supporting structure;
defining coordinates of an intersection point where a virtual line intersects a surface of the supporting structure;
align the wear element positioning unit with the surface of the supporting structure at the intersection point such that a connecting surface of the wear element carried by the wear element positioning unit matches with a corresponding connecting surface of the supporting structure at the intersection point; and
wherein processing means are applied to define a common coordinate system for the multi axis wear element positioning equipment and the supporting structure and define in said common coordinate system the intersection point where the virtual line intersects a surface of the supporting structure and wherein the processing means is further applied to determine an alignment in which the wear element positioning unit is aligned with the surface of the supporting structure at the intersection point such that the connecting surface of the wear element carried by the wear element positioning unit matches with the corresponding connecting surface of the supporting structure at the intersection point, the processing means being configured to control an aligning means to orient the wear element positioning unit accordingly.
2 . The method in accordance with claim 1 , wherein if the processing means determines that the virtual line is directed towards a liner pick-up position, the wear element positioning equipment is instead automatically positioned into a liner pickup configuration.
3 . The method in accordance with claim 2 , wherein the liner pick-up position comprises a liner cart carrying replacement liner elements.
4 . The method in accordance with claim 1 , wherein an operator manually directs the wear element positioning unit along the virtual line towards a surface of the supporting structure and wherein the aligning means continuously adapts the orientation of the wear element positioning unit.
5 . The method in accordance with claim 1 , wherein an operator manually directs the wear element positioning unit along a virtual line towards a surface of the supporting structure and wherein the aligning means adapts the position of the wear element positioning unit in response to an operation of an alignment actuator.
6 . The method in accordance with claim 1 , wherein the virtual line originates from the multi axis wear element positioning equipment.
7 . The method in accordance with claim 1 , wherein the virtual line is defined by directing the wear element positioning unit towards the surface of the supporting structure.
8 . The method in accordance with claim 1 , wherein the virtual line originates from an attachment point of the wear element positioning unit to the multi axis wear element positioning equipment.
9 . The method in accordance with claim 1 , wherein one or more of a yaw angle; roll angle of the wear element positioning unit; and pitch angle of the wear element positioning unit can be adjusted by the aligning means.
10 . The method in accordance with claim 1 , wherein the wear element positioning unit is arranged on a telescopically extendable crane.
11 . The method in accordance with claim 10 , wherein a slew angle of the telescopically extendable crane can be adjusted by an operator.
12 . The method in accordance with claim 10 , wherein a luff angle of the telescopically extendable crane can be adjusted by an operator.
13 . The method in accordance with claim 10 , wherein a telescopic extension of the telescopically extendable crane can be adjusted by an operator.
14 . The method in accordance with claim 10 , wherein the common coordinate system emanates in the origin of the telescopically extendable crane.
15 . The method in accordance with claim 10 , comprising adjustment of the position of the intersection point by adjusting one or more of the following: a yaw angle of the wear element positioning unit; a slew angle of the telescopically extendable crane; a luff angle of the telescopically extendable crane; the telescopic extension of the crane; and a telescopic extension of a beam.
16 . The method in accordance with claim 1 , wherein a yaw angle of the wear element positioning unit can be adjusted by an operator.
17 . The method in accordance with claim 1 , wherein the supporting structure comprises a grinding mill.
18 . The method in accordance with claim 17 , wherein the grinding mill can be divided into distinct sections.
19 . The method in accordance with claim 18 , wherein the distinct sections comprise a feed head; a shell; and a discharge head.
20 . The method in accordance with claim 18 , wherein separate common coordinate systems are defined for each of the distinct sections and the wear element positioning equipment.
21 . The method in accordance with claim 20 , wherein the position of the intersection point determines which common coordinate system that shall apply.
22 . A system for positioning a wear element relative to a supporting structure, the system comprising
a multi axis wear element positioning equipment having a wear element positioning unit, wherein the wear element positioning equipment can be arranged in a replacement position relative to the supporting structure;
processing means arranged to determine coordinates of an intersection point where a virtual line intersects a surface of the supporting structure;
wherein the processing means is further arranged to automatically determine an orientation of the wear element positioning unit in which a wear element carried by the wear element positioning unit is aligned with the surface of the supporting structure at the intersection point such that a connecting surface of the wear element matches with a corresponding connecting surface of the supporting structure at the intersection point, the processing means being configured to control an aligning means to orient the wear element positioning unit accordingly; and
wherein the processing means are applied to define a common coordinate system for the multi axis wear element positioning equipment and the supporting structure and define in said common coordinate system the intersection point where the virtual line intersects a surface of the supporting structure.
23 . The system in accordance with claim 22 , wherein the virtual line originates from the multi axis wear element positioning equipment.
24 . The system in accordance with claim 23 , wherein the virtual line is defined in that the wear element positioning unit is arranged to be directed towards the surface of the supporting structure.
25 . The system in accordance with claim 22 , wherein the virtual line originates from an attachment point of the wear element positioning unit to the multi axis wear element positioning equipment.
26 . The system in accordance with claim 22 , wherein one or more of yaw angle of the wear element positioning unit; a roll angle of the wear element positioning unit; and a pitch angle of the wear element positioning unit can be adjusted by the aligning means.
27 . The system in accordance with claim 22 , wherein the wear element positioning unit is arranged on a telescopically extendable crane.
28 . The system in accordance with claim 27 , wherein a slew angle of the telescopically extendable crane can be adjusted by an operator.
29 . The system in accordance with claim 27 , wherein a luff angle of the telescopically extendable crane can be adjusted by an operator.
30 . The system in accordance with claim 27 , wherein a telescopic extension of the telescopically extendable crane can be adjusted by an operator.
31 . The system in accordance with claim 27 , wherein a common coordinate system for the multi axis wear element positioning equipment and the supporting structure emanates in the origin of the telescopically extendable crane.
32 . The system in accordance with claim 27 , wherein the position of the intersection point can be adjusted by adjusting one or more of the following: the yaw of the wear element positioning unit; the slew angle of the telescopically extendable crane; the luff angle of the telescopically extendable crane; the telescopic extension of the crane; and the telescopic extension of the beam.
33 . The system in accordance with claim 22 , wherein a yaw angle of the wear element positioning unit can be adjusted by an operator.
34 . The system in accordance with claim 22 , wherein the supporting structure comprises a grinding mill.
35 . The system in accordance with claim 34 , wherein the grinding mill can be divided into distinct sections.
36 . The system in accordance with claim 35 , wherein the distinct sections comprise a feed head; a shell; and a discharge head.
37 . The system in accordance with claim 35 , wherein separate common coordinate systems are defined for each of the distinct sections and the wear element positioning equipment.
38 . The system in accordance with claim 37 , wherein the position of the intersection point determines which common coordinate system that shall apply.
39 . The system in accordance with claim 22 , wherein an operator manually directs the wear element positioning unit along a virtual line towards a surface of the supporting structure and wherein the aligning means is configured to continuously adapt the position of the wear element positioning unit.
40 . The system in accordance with claim 22 , wherein an operator manually directs the wear element positioning unit along a virtual line towards a surface of the supporting structure and wherein the aligning means is configured to adapt the position of the wear element positioning unit in response to an operation of an alignment actuator.
41 . The system in accordance with claim 22 , wherein the processing means is arranged to determine if the virtual line is directed towards a liner pick-up position.
42 . The system in accordance with claim 41 , wherein if the virtual line is directed towards the liner pick-up position, the wear element positioning equipment is instead automatically positioned into a liner pickup configuration.