System and method for changing liners, the configuration of which allows the automated removal and insertion of liners of a mill used for ore grinding

A robotic system for automatedly changing liners in a mill used for ore grinding comprising:

• a tool including a gripper for manipulating objects in the mill,
• said tool configured for removing and installing the liners;
• a robotic manipulator for manipulating said tool and including a rotatable column and including at least one arm and a wrist,
• said tool attached to said robotic manipulator;
• a support structure attached to said robotic manipulator and for supporting at least the liners;
• a pivoting telescopic beam attached to said robotic manipulator;
• a supply structure for supplying said tool with at least the one liner;
• an artificial vision system for locating the objects,
• said vision system in communication with said robotic manipulator;
• and
• a computer-based control system for controlling the operation of said robotic manipulator including the changing of the liners;
• wherein said artificial vision system comprises laser triangulation cameras controllable by said control system and scans an inner surface of the mill so as to determine distance and angle of holes,
• thereby causing said robotic manipulator system to self-adjust position accordingly.