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WO2017020141A1 - Instrument, système et procédé automatisé de prélèvement d'échantillon - Google Patents

Instrument, système et procédé automatisé de prélèvement d'échantillon Download PDF

Info

Publication number
WO2017020141A1
WO2017020141A1 PCT/CL2015/050029 CL2015050029W WO2017020141A1 WO 2017020141 A1 WO2017020141 A1 WO 2017020141A1 CL 2015050029 W CL2015050029 W CL 2015050029W WO 2017020141 A1 WO2017020141 A1 WO 2017020141A1
Authority
WO
WIPO (PCT)
Prior art keywords
sampling
tool
tubular assembly
piston
plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CL2015/050029
Other languages
English (en)
Spanish (es)
Inventor
Claudio VERA CAMPOS
Ottavio BERBAKOW CASALI
Rodrigo ANINAT DE LA MAZA
Carlos Fernando JANS VASQUEZ
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to PCT/CL2015/050029 priority Critical patent/WO2017020141A1/fr
Publication of WO2017020141A1 publication Critical patent/WO2017020141A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B10/00—Drill bits
    • E21B10/02—Core bits
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B25/00—Apparatus for obtaining or removing undisturbed cores, e.g. core barrels or core extractors
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B49/00—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells
    • E21B49/02—Testing the nature of borehole walls; Formation testing; Methods or apparatus for obtaining samples of soil or well fluids, specially adapted to earth drilling or wells by mechanically taking samples of the soil
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G01N1/20—Devices for withdrawing samples in the liquid or fluent state for flowing or falling materials

Definitions

  • the present invention relates to a tool or apparatus, a system and an automated sampling procedure for concentrates, preferably mineral concentrates.
  • Document US2007145650 describes a robotic system composed of a robotic manipulator of at least 5 degrees of freedom, and a grip mechanism that allows the sampling device to be carried from a support of the device i located on one of its sides, moving them through a defined path for the sampling area, where the sampling process on a defined mesh is carried out in a sequential and programmed manner on trucks and / or transport carts of concentrate.
  • document US2003229420 refers to a robotic arm device capable of accessing machinery and equipment that is difficult to access, for maintenance and repair.
  • an apparatus comprising a support arm with a plurality of longitudinal segments each capable of making movements with respect to each other to define a wave path, a working head with support means towards the distal end of said arm and adapted to carry a work apparatus, and control means for at least some of said segments. This allows the control of the different segments that constitute the arm so that they can assume different forms.
  • Each segment comprises a plurality of links with independent control.
  • Document US4940088 describes a probe for fluid sampling that comprises: at least one sampling device, each sampling device which in turn comprises a tubular body, a suction piston slidably mounted within said tubular body in a manner such as to define a sampling chamber behind said aspiration piston, an intake orifice formed through said tubular body that admits fluid in said sampling chamber, and means for displacing said aspiration piston within said body tubular.
  • the means for moving said suction piston comprise a control bar that passes freely through said suction suction piston, and clutch means for coupling the control rod to said aspiration piston before taking a sample, and then for decoupling the control rod from said aspiration piston after the sample has been taken .
  • sampling is not accurate since the withdrawal is from a clamp or claw. Furthermore, said system allows only to take a sample, and it is not intended for the additional function of supplying the sample if required.
  • pressure-based sampling systems are intended for liquid samples, and not semi-solid samples, such as mineral concentrate.
  • the present invention relates to a tool or apparatus, a system and a robotic sampling procedure, for ore concentrates, which responds to the following needs:
  • the tool of the present invention uses the concept of differential pressure and surface tension, without rotating elements, to avoid cross-altering material during the sampling operation.
  • the operation is clean, and the sample obtained is less altered by surrounding material with respect to rotary or spindle devices, as there is no mineral agitation in the surrounding areas.
  • the sample is more representative of the sector that is decided to sample.
  • Figure 1 corresponds to a side view of the tool or apparatus and sampling system in its initial position, according to an embodiment of the invention.
  • Figure 2 corresponds to a side view of the tool or apparatus and sampling system in its working position, according to an embodiment of the invention.
  • Figure 3 corresponds to a detail of the piston reinforced with the damping device for the extraction of samples, according to an embodiment of the invention.
  • Figure 4 corresponds to a detail of the upper part of the tool or apparatus, where it is attached to the arm, according to an embodiment of the invention.
  • the present invention relates to an automated sampling tool or apparatus (1) for ore concentrates.
  • the invention also relates to the associated system and procedure.
  • the tool or apparatus (1) comprises at least one automatic or manual change master plate (2); at least one automatic change slave plate (3); at least one mounting plate (4) of tubular sampling assembly, where said master plate (2), said slave plate (3) and said mounting plate (4) serve to fix the tool a robotic arm and at the same time allow disconnection fast to / from it .; a tubular assembly (5), preferably of stainless steel, welded or mechanically attached to the slave plate (3), with elements for air connection, comprising flow regulators, hoses, fittings, and vacuum check valves; at least one detachable sampling head (6), with piston brake; at least one reinforced piston (7) with sliding adjustment plus a damping device (8) located inside the tubular body (5).
  • the tool (1) comprises at least one pneumatic control box (10), with at least one double acting valve (11), and at least one pneumatic actuator (9), optional for measurements about 1 300 mm or mineral too compacted), with its respective solenoid control valve.
  • the double acting valve (11) can be replaced by at least two separate single acting valves with separate control, for the same function that the double acting valve would fulfill. As an option, these single acting valves can be of type 3/2.
  • the plunger is made of reinforced synthetic material.
  • double acting valves (11) are double acting valves (11) with ejectors integrated in one of the lines. As an option, this double acting valves can be of type 5/3.
  • the fundamental principle under which the apparatus (1) is posed is that by generating a small negative pressure differential inside it, as the sample enters the tubular assembly (5) at the bottom, the fall is avoided. of the same, still generating low levels of vacuum.
  • the apparatus (1) enters the sample sector, in parallel, it rotates perfectly centered on its own axis at controlled angles by means of a robotic arm (12), allowing the insertion of the tool (1), in addition, allowing control of the Cartesian position, orientation, linear and turning speed of the sampling tool (1).
  • the arm (12) also generates pulses of air emptying to gradually accommodate the sample, as the arm (12) advances towards its final path. During this stage, the valve (11) is kept closed during emptying.
  • the vacuum inside the tubular assembly (5) is cut and the arm (12) is returned by the same path where it entered its initial position, leaving a cylindrical mark in the material where the sample was obtained, which depending on the humidity and other factors may remain or collapse in a few seconds.
  • the system uses the pressurization of the inside of the tubular body (5) by means of the second outlet of the pneumatic valve (11), with the vacuum deactivated, and pushes on the piston of synthetic material, which in turn exerts pressure on the accumulated material.
  • the material yields it drains quickly through the tube body (5), where the piston (7) reaches its end of stroke being welded to the exchangeable sampling head (6).
  • the same head (6) is used for maintenance, disassembly and maintenance of the mobile elements of the device (1).
  • the compressed air also performs the function of cleaning the tubular body (5), to avoid cross contamination and operational problems.
  • the actuator or pneumatic cylinder (9) can be used, where the thrust is carried out by means of the same piston (7) and by the air itself, pushed in turn by a mounted mason at the end of said plunger (7).
  • the actuator (9) increases the force and rigidity of the thrust, facilitating the exit of the material in cases greater than 1 .300 mm or material that is too compacted.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Soil Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Sampling And Sample Adjustment (AREA)

Abstract

La présente invention concerne un instrument ou appareil d'échantillonnage automatisé pour des concentrés de minéraux qui comprend au moins un plateau principal à changement automatique; au moins un plateau secondaire à changement automatique; au moins une plaque de montage d'ensemble tubulaire; un ensemble tubulaire, soudé ou adossé mécaniquement au plat secondaire; au moins une tête d'échantillonnage démontable, avec un frein pour piston; et au moins un piston renforcé avec un ajustement coulissant ainsi qu'un dispositif d'amortissement situé à l'intérieur du corps tubulaire. Cette invention porte également sur le système et le procédé associé.
PCT/CL2015/050029 2015-08-03 2015-08-03 Instrument, système et procédé automatisé de prélèvement d'échantillon Ceased WO2017020141A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CL2015/050029 WO2017020141A1 (fr) 2015-08-03 2015-08-03 Instrument, système et procédé automatisé de prélèvement d'échantillon

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CL2015/050029 WO2017020141A1 (fr) 2015-08-03 2015-08-03 Instrument, système et procédé automatisé de prélèvement d'échantillon

Publications (1)

Publication Number Publication Date
WO2017020141A1 true WO2017020141A1 (fr) 2017-02-09

Family

ID=57942221

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CL2015/050029 Ceased WO2017020141A1 (fr) 2015-08-03 2015-08-03 Instrument, système et procédé automatisé de prélèvement d'échantillon

Country Status (1)

Country Link
WO (1) WO2017020141A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108344336A (zh) * 2018-02-21 2018-07-31 郭双伟 一种矿井和隧道爆破炸药安放机器人
CN108487873A (zh) * 2018-01-31 2018-09-04 中国地质大学（武汉） 一种基于关节机器人的岩样取芯装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5419211A (en) * 1989-02-11 1995-05-30 Georg Fritzmaier Gmbh & Co. Device for taking soil samples
WO2010114462A1 (fr) * 2009-04-02 2010-10-07 D M C Projektering Ab Procédé de recueil d'échantillons de terre et véhicule et combinaison de véhicule prévus pour être utilisés avec le procédé
US20110056713A1 (en) * 2009-09-08 2011-03-10 California Institute Of Technology Single piezo-actuator rotary-hammering (sparh) drill
CN202990916U (zh) * 2013-01-10 2013-06-12 綦建峰 一种自动化勘察钻机的机械手设备
US20130202802A1 (en) * 2012-01-31 2013-08-08 The Rogosin Institute Method for manufacture of macrobeads
US20130327159A1 (en) * 2011-12-02 2013-12-12 Lewis Australia Pty Ltd Self Contained Sampling and Processing Facility

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5419211A (en) * 1989-02-11 1995-05-30 Georg Fritzmaier Gmbh & Co. Device for taking soil samples
WO2010114462A1 (fr) * 2009-04-02 2010-10-07 D M C Projektering Ab Procédé de recueil d'échantillons de terre et véhicule et combinaison de véhicule prévus pour être utilisés avec le procédé
US20110056713A1 (en) * 2009-09-08 2011-03-10 California Institute Of Technology Single piezo-actuator rotary-hammering (sparh) drill
US20130327159A1 (en) * 2011-12-02 2013-12-12 Lewis Australia Pty Ltd Self Contained Sampling and Processing Facility
US20130202802A1 (en) * 2012-01-31 2013-08-08 The Rogosin Institute Method for manufacture of macrobeads
CN202990916U (zh) * 2013-01-10 2013-06-12 綦建峰 一种自动化勘察钻机的机械手设备

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
"SAMPLE TAKING AND PREPARATION - Individual units and complete installations", SIEBTECHNIK, March 2013 (2013-03-01), XP055361700, Retrieved from the Internet <URL:http://www.siebtechnik-gmbh.de/fileadmin/user_upload/PDF/en/Abt2/Wb240e.pdf> *
"Sampler for vertical downpipes and air slide conveyor systems", SIEBTECHNIK, April 2013 (2013-04-01), XP055361705, Retrieved from the Internet <URL:http://www.siebtechnik-gmbh.de/fileadmin/user_upload/PDF/en/Abt2/Wb243e.pdf> *
DRESSPACK: "APPLICATION EQUIPMENT & ACCESORIES", ABB ROBOTICS, Retrieved from the Internet <URL:https://library.e.abb.com/public/e0d958b253505459c1257 6a 9007e0dd2/DressPack%20120413.pdf> [retrieved on 20161201] *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108487873A (zh) * 2018-01-31 2018-09-04 中国地质大学（武汉） 一种基于关节机器人的岩样取芯装置
CN108487873B (zh) * 2018-01-31 2019-12-17 中国地质大学（武汉） 一种基于关节机器人的岩样取芯装置
CN108344336A (zh) * 2018-02-21 2018-07-31 郭双伟 一种矿井和隧道爆破炸药安放机器人

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