DRILL & BLAST
The path between the borehole and the position is also automated, according to the company. The company drew inspiration from
inverse kinematics, the process of obtaining joint angles from known coordinates of end effector, to develop the charging arm’s control system. Only the tip of the boom is controlled, enabling fully autonomous movements, similarly to the path between the borehole and the home position.
MACHINE VISION AND CONNECTIVITY Operators can upload maps of the
drilled boreholes from the drill rigs to help locate them in the face wall. Normet’s machine vision system also helps operators find the drilled boreholes, shortening cycle time. “The machine vision system helps
the operator finds drilled boreholes by identifying and marking them in the control screen of Chamec Revo,” Mykkänen tells IME. “Revo’s boom arm has automatic movements, from priming unit picking point to face wall. And the machine vision system means operators can find new boreholes quickly.” If the information is not available,
the machine vision serves as the main operator support for locating the boreholes. And once found, the charging hose delivery system will take care of the priming unit and explosive delivery. The system also recognises plastic lifter pipes and helps with their use, Normet adds.
In conjunction with the emulsion kit, the robot dispenses emulsion allowing the operator to remain in a supported tunnel area
ABOVE: The remote-controlled robotic arm places the initiating system into the borehole
Operators can upload
maps of the drilled boreholes from the drill rigs to help locate them in the face wall
Furthermore, Charmec Revo’s
collision avoidance system slows down and stops the arm before contact with the tunnel wall or other obstacles, and the close contact prevention feature of the system uses ultrasound sensors. Additional safety sensors also stop boom movement if the operator enters the working area. The Revo system is also compatible
with wired, semi-wireless or wireless initiating systems and the priming unit can be managed manually or by using magazines provided by explosives suppliers. The initiating system magazine is placed at a platform next to the charging arm, enabling the priming unit’s unique pick-and-deliver method. As with initiating systems, operators can use the Revo with all commercial bulk emulsion systems.
MAXIMISING PAYLOAD CAPACITY The Revo boasts a load capacity
of 6,000kg and allows for matrix payloads of up to 4,000kg to be
mounted safely on the rear platform, away from all hot surfaces. A large bulk capacity reduces the need for driving between the charging sites and the explosive warehouse and, therefore, both significantly increases productivity and helps keep the charging machine in excellent working condition. “At Normet, we believe that the
Charmec Revo, with its servo-robotic remote arm and ability to use any commercially available initiating and bulk systems, will help create safer more efficient explosives charging operations,” says Mykkänen.
For more information visit
www.normet.com
www.engineerlive.com
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