AU2014214529B2

AU2014214529B2 - A liquid dispensing system

Info

Publication number: AU2014214529B2
Application number: AU2014214529A
Authority: AU
Inventors: John Adrian Calvi; Andy GLASS; Marcel John GLEELEN; Charles Mchugh; Kevin William THORNE
Original assignee: Technological Resources Pty Ltd
Current assignee: Technological Resources Pty Ltd
Priority date: 2013-02-11
Filing date: 2014-02-06
Publication date: 2017-12-07
Anticipated expiration: 2034-02-06
Also published as: AU2014214529A1; WO2014121324A1

Abstract

A liquid dispensing system is disclosed for providing machinery with liquid. The system comprises a liquid receptacle for holding liquid to be dispensed by the system, a nozzle, a fluid communication path for transporting fluid from the liquid receptacle to the nozzle, and a liquid pump for urging liquid to flow from the liquid receptacle through the fluid communication path to the nozzle. The system also comprises a robot assembly arranged to controllably move the nozzle from a stowed position wherein the nozzle is relatively adjacently disposed relative to the liquid receptacle to a deployed position wherein the nozzle is relatively remotely disposed relative to the liquid receptacle. The system also comprises a nozzle alignment system arranged to facilitate manual alignment by a user of the nozzle relative to a receiving connection of the machinery requiring liquid when the nozzle is disposed in the deployed position.

Description

A LIQUID DISPENSING SYSTEM

Field of the Invention

The present invention relates to a liquid dispensing system and in particular to a liquid dispensing system for automated delivery of water to machinery such as a drilling device in a mine operation.

Background of the Invention

It is known for a large scale mine operation to use relatively large scale machinery that requires liquid, typically water, during use in order to operate. For example, relatively large scale drilling devices require water for lubrication and cooling.

While such machinery typically includes a water tank for storing water to be used during operation, for machinery that is required to operate for a prolonged period of time, the water tank is required to be refilled.

However, for safety reasons, it is necessary to deactivate the machinery during the refilling process, which is time consuming and expensive.

Summary of the Invention

It will be understood that in the present specification a mine operation means any operation associated with extracting, handling, processing and/or transporting bulk commodities in a resource extraction environment, and as such the mine operation may include mine sites, rail facilities, port facilities, and associated infrastructure .

In accordance with a first aspect of the present invention, there is provided a liquid dispensing system for providing machinery with liquid, the system comprising: a liquid receptacle for holding liquid to be dispensed by the system; a nozzle; a fluid communication path for transporting fluid from the liquid receptacle to the nozzle; a liquid pump for urging liquid to flow from the liquid receptacle through the fluid communication path to the nozzle; a robot assembly arranged to controllably move the nozzle from a stowed position wherein the nozzle is relatively adjacently disposed relative to the liquid receptacle to a deployed position wherein the nozzle is relatively remotely disposed relative to the liquid receptacle; and a nozzle alignment system arranged to facilitate manual alignment by a user of the nozzle relative to a receiving connection of the machinery requiring liquid when the nozzle is disposed in the deployed position.

In an embodiment, the system comprises a boom assembly having an elongate boom, a first end of the boom connected to the robot assembly and a second opposite end of the boom including the nozzle.

In an embodiment, the boom assembly comprises a boom camera arranged to provide a field of view that is aligned with the boom, and the system comprises a screen arranged to display the field of view provided by the boom camera.

In an embodiment, the system is incorporated into a vehicle such as a truck.

In an embodiment, the screen receives first video signals from the boom camera and second video signals from a reversing camera disposed on the vehicle, and the system comprises a camera input selector arranged to facilitate selection of the first or second video signals to be communicated to the screen.

In an embodiment, the nozzle alignment system comprises a boom alignment control device arranged to facilitate controllable alignment of the boom with a receiving connection of machinery requiring liquid. The boom alignment control device may comprise a joystick.

In an embodiment, the boom assembly comprises a distance measuring device arranged to determine the distance between the distance measuring device and machinery requiring liquid in the field of view of the distance measuring device. The distance measuring device may comprise a laser.

In an embodiment, the system comprises a distance indicator arranged to provide information to an operator indicative of the distance between the distance measuring device and machinery requiring liquid.

The distance indicator may comprise at least one indicator light. In an embodiment, the at least one indicator light may include a first light indicative that the distance measuring device is disposed at a distance that is too far away from machinery requiring liquid, a second light indicative that the distance measuring device is disposed at a distance that is too close to machinery requiring liquid, and a third light indicative that the distance measuring device is disposed at a substantially correct distance from machinery requiring liquid.

The distance indicator may comprise a numerical indication of the distance between the distance measuring device and machinery requiring liquid.

In an embodiment, the system is arranged to controllably move the boom in an axial direction so as to facilitate engagement of the nozzle with a receiving connection of machinery requiring liquid.

In an embodiment, the system comprises a pneumatic cylinder arranged to facilitate controllable movement of the boom in an axial direction.

In an embodiment, the robot assembly comprises a robot controller arranged to control movement of the nozzle according to at least one defined program.

In an embodiment, the system comprises a liquid flow control device usable to control the liquid pump to start or stop liquid flow from the receptacle to the nozzle.

In an embodiment, the system comprises a control panel arranged to facilitate control of the robot assembly. The control panel may comprise a touch screen display.

In an embodiment, the system comprises automatic and manual operation cycles arranged to control movement of the nozzle, wherein the manual operation cycle requires more operator input than the automatic cycle, and the control panel is arranged to facilitate selection of the automatic or manual operation cycle.

In an embodiment, the system comprises a cab portion for receiving an operator, the cab portion including the control panel, the screen and the liquid flow control device .

In an embodiment, the system comprises a vibration damping assembly for mounting the robot assembly relative to the vehicle .

In an embodiment, the robot assembly is housed in a robot control cabinet.

In an embodiment, the robot assembly is mounted in the robot control cabinet by at least one vibration damper.

In an embodiment, the robot control cabinet is mounted to a vehicle by at least one vibration damper.

In an embodiment, the robot control cabinet is connected in fluid communication to the cab portion and the system is arranged to urge air to move between the cab portion and the robot control cabinet so as to cool the robot control cabinet.

In an embodiment, the system includes at least one robot E-stop activatable by an operator and arranged when activated to stop movement of the robot assembly.

In an embodiment, the system includes a speed limiter arranged to monitor the speed of movement of the robot assembly and to reduce the robot assembly speed or deactivate the robot assembly if the robot speed exceeds a defined speed.

In an embodiment, the robot assembly is arranged to operate according to one or more control programs that govern movement of the robot assembly and restrictions on robot operation and movement. The control programs may be arranged to define one or more operation zones around or adjacent the vehicle, the operation zones defining the functionality permitted with reference to the location of the nozzle relative to the vehicle.

In an embodiment, the system includes at least one auto stop arranged when activated to stop movement of the robot assembly.

The at least one auto stop may include a boom clutch assembly arranged to disengage the boom from a motor of the robot assembly when the boom contacts an object.

The at least one auto stop may include a dead man's switch arranged to stop movement of the robot assembly when an operator is incapacitated.

The at least one auto stop may include at least one door switch arranged to stop movement of the robot assembly when a vehicle door is opened.

In an embodiment, the system comprises a warning indicator device arranged to provide at least one warning signal.

The warning indicator device may include a first warning indicator light that when illuminated indicates that the robot assembly is active, a second warning indicator light that when activated indicates that a high temperature risk exists in the vicinity of the system, and a third warning indicator light that when illuminated indicates that a battery arranged to supply electrical power to the robot assembly is low. The warning indicator device may be arranged to generate an audible alert signal to indicate that the system is operational and/or to convey other important information to people in the vicinity of the system.

Brief Description of the Drawings

The present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

Figure 1 is a diagrammatic representation of a liquid dispensing system according to an embodiment of the present invention with the system shown during use adjacent machinery that requires liquid during use;

Figure 2 is a diagrammatic representation of a robot assembly of the liquid dispensing system shown in Figure 1;

Figure 3 is a schematic block diagram illustrating functional components of the robot assembly shown in figure 2;

Figure 4 is a diagrammatic representation of a boom assembly of the liquid dispensing system shown in Figure 1 and associated control devices for use with the boom assembly;

Figure 5 is a diagrammatic representation of a switch control panel of the system shown in Figure 1; and

Figures 6 to 15 are representations of screens presented to a user by a control panel of the system shown in Figure 1 during use.

Description of an Embodiment of the Invention

Referring to Figure 1, a liquid dispensing system 10 is shown for dispensing liquid, in the present example water, to machinery during operation of the machinery. The liquid dispensing system is incorporated into a vehicle, which may be a truck, and in this example the machinery is a drilling machine of the type used in a mine operation. However, it will be understood that other types of liquid and other types of machinery are envisaged.

The following embodiments are described in relation to a liquid dispensing system that is incorporated into a vehicle, such as a truck. In the embodiments, the vehicle is a SVA modified MAN TGM 18.340 truck, although it will be understood that other types of vehicle are envisaged.

The vehicle includes a cab portion 14 for receiving an operator of the system 10 and typically a driver of the vehicle, a receptacle 16 for receiving liquid, in this example water, to be dispensed by the system 10, and a robot assembly 20 that holds a boom assembly 22.

The boom assembly 22 is in fluid communication with the receptacle 16 such that fluid, in this example water, may be controllably dispensed to the machinery 12 through the boom assembly 22. In this example, in order to facilitate ease of transfer of water between the system 10 and the machinery 12, the machinery 12 is provided with a receiving connection 24, in this example of cone shape configuration, that is connected to a water reservoir (not shown) disposed internally of the machinery 12.

The robot assembly 20 is arranged to control movement of the boom assembly 22 such that the boom assembly may be moved from a stowed position on the vehicle to a deployed position wherein a remote end of the boom assembly 22 is engageable with the receiving connection 24. In the stowed position a boom of the boom assembly 22 is generally parallel to the vehicle, and in the deployed position the boom is generally perpendicular to the vehicle .

Referring to Figure 2, the robot assembly 20 is shown in more detail. The robot assembly 20 includes a frame portion 30 that during use is disposed on the vehicle, and a robot control cabinet 31 housing a robot controller 32 mounted on the frame portion 30 using suitable vibration dampers 34. Similarly, the frame portion 30 is mounted on the vehicle using suitable vibration dampers 36. In this example, the vibration dampers 34, 36 are wire rope isolator type dampers, although it will be understood that any suitable vibration dampers that serve to reduce vibrations transferred to the robot controller 32 during use are envisaged.

The robot assembly 20 also includes one or more batteries 38 for supplying sufficient power to the robot controller 32, and a robot 40 that is controlled by the robot controller 32. In this example, the robot 40 is an ABB IRB4600 6-axis robotic manipulator fitted with a customized gripper suitable for holding a 4.7m carbon boom. Mounted on the robot 40 is a warning indicator device, in this example several indicator lights 42 that serve to provide a visual indication to people in the vicinity of the system 10. In this example, the indicator lights 42 include a red light that when illuminated indicates that the robot motors are active, an orange light that when activated indicates that a high temperature risk exists in the vicinity of the system 10, and a green light that when illuminated indicates that the battery 38 is low. In this example, the system 10 is also arranged to generate an audible alert signal to indicate that the system is operational and/or to convey other important information to people in the vicinity of the system 10.

The robot controller 32 is arranged to control and coordinate movement of the robot 40 and thereby of the boom assembly 22 mounted on the robot 40, and for this purpose the robot controller 32 includes any suitable components such as a processor, and a memory for storing programs to facilitate controllable movement of the robot 40 and for storing one or more dedicated movement programs governing desired specific movements for the robot 40.

The robot assembly 20 may also include a speed limiter, for example implemented in software executed by the robot controller 32, the speed limiter arranged to monitor the speed of movement of the robot 40 and to reduce the robot speed or deactivate the robot motors if the robot speed exceeds a defined speed, for example because robot control programs have been tampered with.

In this example, the robot control cabinet 31 also includes an air compressor 33, an air accumulator 35, an air filter 37, and an air circulation fan 39. The robot control cabinet 31 is connected in fluid communication to the cab portion 14 of the vehicle and the air circulation fan 39 causes air to circulate between the cab portion 14 and the robot control cabinet 31. Accordingly, by providing air conditioning in the cab portion 14, the temperature in the robot control cabinet 31 can be kept sufficiently cool.

The robot assembly 20 also includes a battery display 44 arranged to provide an indication of the battery power level, a robot E-stop 46 arranged when activated to immediately suspend robot motion, and a battery isolator switch 48 arranged when activated to disconnect the robot assembly 20 from the battery 38. In this example, the battery isolator switch 48 may be locked in an OFF position so that power is not inadvertently disconnected from the robot assembly 20.

The battery display 44, the robot E-stop 46 and the battery isolator switch 48 are in this example mounted on the frame portion 30.

As shown in Figure 3, the robot controller 32 is connected to a junction box 50 provided in the cab portion 14. The junction box 50 is provided with a robot control interface 52 for connecting to a control panel 54 usable by an operator in the cab portion 14 to control operation of the system 10. In this example, the control panel 54 is of touch screen type and as such is arranged to display various screens to an operator and receive touch inputs from the operator. Mounted on the control panel 54 is a robot E-stop 56 arranged when activated to immediately suspend robot motion.

The junction box 50 also includes a robot E-stop 58 arranged when activated to immediately suspend robot motion, a robot key switch 60 usable to select auto or manual mode and lock the selected mode, and a robot motors switch 62 usable to activate robot motors and thereby enable the robot controller 32 to subsequently effect movement of the robot 40. Auto mode is selected for normal operation of the system 10 and when manual mode is selected an operator is able to modify system parameters, such as robot movement specifications.

The junction box 50 also includes a communication interface 64, in this example an Ethernet interface 64 usable to connect a computing device to the junction box 50 and thereby to the robot controller 32 for programming purposes .

The robot assembly 20 also includes a dead man's switch 66 that must be maintained in activation by an operator in order to maintain activation of the robot motors, and that deactivates the robot motors if the operator is incapacitated.

The robot assembly 20 also includes a robot auto stop 68 incorporated into the vehicle doors that deactivates the robot motors if a vehicle door is opened.

Referring to Figure 4, the boom assembly 22 is shown in more detail. The boom assembly 22 includes a boom 80, in this example formed of carbon fibre material, a nozzle 81 disposed at a free end of the boom 80, a boom control unit 82, and an axial movement device 84, in this example a pneumatic cylinder, arranged to effect axial movement of the boom 80 under control of the boom control unit 82.

The boom assembly 22 includes an auto stop in the form of a clutch mechanism arranged to disengage the boom 80 from the robot motors if the boom contacts an object as the boom 80 moves to the deployed position. This provides a safety measure to prevent injury to a person or damage to the boom assembly 22 during deployment of the boom 80.

The boom assembly 22 also includes a camera 86 mounted such that the field of view of the camera 86 is aligned with the boom 80, and a distance measuring device 88, in this example of laser type, arranged to determine the distance between the laser 88 and the machinery 12 during use. Connected to the boom control unit 82 is a screen 90 that serves to provide a view to an operator along the boom 80 provided by the camera 86 or a rearward view from the vehicle for reversing purposes. The view on the screen 90 provided to the operator is selectable using an input selector 92.

Also connected to the boom control unit 82 is a visual distance indicator 96, in this example in the form of a series of LED lights, that provide a clear visual indication to an operator in the cab portion 14 as to whether the vehicle is too close, too far, or disposed at a correct distance from the machinery 12. In this example, the LED lights include a red LED to indicate that the vehicle is too close to the machinery 12, an orange LED to indicate that the vehicle is too far from the machinery 12, and a green LED to indicate that the vehicle is disposed at a correct distance from the machinery 12.

Using the view along the boom 80, an operator is able to determine whether the nozzle 81 is aligned with the receiving connection 24 on the machinery 12. The alignment of the boom 80 and thereby the nozzle 81 is manually adjustable using a nozzle alignment system, in this example a boom alignment control device 94 in the form of a joystick that is mounted adjacent the screen 90 in the cab portion 14.

The boom 80 is connected to the receptacle 16, for example through one or more suitable pipes, so as to define a fluid communication path that passes through a water pump 104. Activation of the water pump 104 causes water to be urged to flow through the fluid communication path to the nozzle 81.

Also mounted in the cab portion 14 is a control panel 100, in this example a bank of switches, that includes a water pump switch 102 arranged to control activation and deactivation of the water pump 104, as shown in Figure 5.

The control panel 100 also includes left, centre and right spray buttons 106 that control the robot 40 to move the boom 80 and control the water pump 104 to deliver a spray of water through the boom 80 in order to clean the receiving connection 24 on the machinery 12.

The control panel 100 also includes a work light switch 108 arranged to control activation and deactivation of a work light 110, and a beacon switch arranged to control activation and deactivation of a beacon light 114.

The control panel 100 also includes a water level warning indicator 116 arranged to provide a warning light to an operator when the level of water in the receptacle 16 becomes low.

The robot controller 32 is arranged to operate according to one or more control programs that govern movement of the robot 40 and restrictions on robot operation and movement. In this example, one or more operation zones around or adjacent the vehicle are defined, for example by specifying the zones in the control programs, with the operation zones defining the functionality permitted with reference to the location of the end of the boom 80 that is held by the robot 40.

In this example, a park zone 72 is defined wherein all manual and automatic functions are disabled unless the robot is in the stowed position. A work zone 74 is defined wherein all manual functions are enabled except a laser scan function, unless the end of the boom 80 held by the robot 40 is also disposed in a scan zone 76. Auto cycle is also disabled in the work zone 74 because auto cycle must be initiated when the boom 80 is in the stowed position. A scan zone 76 is defined wherein all manual functions may be performed. The end of the boom 80 held by the robot 40 must be disposed in the scan zone 76 in order for the axial movement device 84 to move the boom 80 towards the receiving connection 24 to engage with the receiving connection 24. A truck zone 78 has the same properties as the work zone 74, except that if the end of the boom 80 held by the robot 40 is disposed in the truck zone 78 and an operator presses the home button 168 on the manual cycle screen 160, the robot 40 does not firstly move the boom in a backwards direction, as this may cause the robot 40 to contact the truck.

Referring to Figures 6 to 15, representations of screens presented to a user by the control panel 54 are shown.

Figure 6 shows a main screen 120 including a laser power switch 122 that enables an operator to activate power to the laser 88, a distance indicator 123 indicative of the distance between the laser 88 and an object in the path of the laser 88, auto and manual selector buttons 124, 125 usable to select automatic or manual cycles described in more detail below, and an I/O button 126 which when pressed causes an inputs and outputs screen 190 as shown in Figures 13 and 14 to be displayed.

Selection of the auto selector button 124 causes an auto cycle screen 130 as shown in Figure 7 to be displayed.

The auto cycle screen 130 includes start/stop buttons 132, and a boom deploy button 134 usable to initiate automatic movement of the boom 80 from the stowed position to the deployed position by the robot 40.

The auto cycle screen 130 also includes a start fill button 136 that when pressed causes the water pump 104 to commence pumping water from the receptacle 16 through the boom 80, and a stop fill button 138 that when pressed causes the water pump 104 to stop pumping water from the receptacle 16 through the boom 80.

The auto cycle screen 130 also includes a wash cone button 140 that when pressed causes a spray of water to be ejected from the boom 80 in order to clean the liquid receiving connection 24.

After the boom 80 has reached the deployed position, a nozzle alignment system is used to manually locate the nozzle 81 relative to the receiving connection 24.

In this example, the nozzle alignment system includes a joystick 94 and a joystick screen 150, as shown in Figures 8 and 9.

The joystick screen 150 includes an activate button 152 that when pressed activates the joystick 94. When the joystick 94 is activated, the activate button 152 changes colour, in this example to green, and an operator is then able to manually move the boom 80 relative to the liquid receiving connection 24 using the joystick 94 and with reference to the view along the boom 80 displayed on the screen 90. When the boom 80 is disposed generally centrally of the liquid receiving connection 24, the operator presses an accept button 156.

When the accept button 156 is pressed, the axial movement device 84 under control of the boom control unit 82 causes the nozzle 81 to move towards the receiving connection 24 until the nozzle 81 engages with the receiving connection 24. Pressing the accept button 156 also causes the auto cycle screen 130 to be displayed so that an operator can control water flow through the boom 80 using the stop and start fill buttons 136, 138.

Selection of the manual selector button 125 causes a manual cycle screen 160 as shown in Figures 10 to 12 to be displayed.

The manual cycle screen 160 includes a robot positions tab 162, an engage/disengage tab 164, and a water control tab 166.

Selection of the robot positions tab 162 causes home, park and maintenance buttons 168, 170, 172 to be displayed.

Selection of the home button 168 causes the robot 40 to move the boom from the stowed position, wherein the boom is disposed above the vehicle in a generally parallel orientation relative to the vehicle, to a deployed position wherein the boom is disposed in a generally perpendicular orientation relative to the vehicle.

Selection of the park button 170 causes the robot 40 to move the boom 80 from the deployed position back to the stowed position.

Selection of the maintenance button 172 causes the robot 40 to move the boom 80 to a maintenance position wherein the boom is disposed adjacent the vehicle in a generally parallel orientation relative to the vehicle so that maintenance may be carried out on the boom assembly 22.

Selection of the engage/disengage tab 164 causes joystick move, engage cone and disengage cone buttons 174, 176, 178 to be displayed.

Selection of the joystick move button 174 enables an operator to move the boom 80 relative to the liquid receiving connection 24 using the joystick 94 and with reference to the view along the boom 80 displayed on the screen 90.

Selection of the engage cone button 176 or disengage cone button 178 causes the axial movement device 84 to move the boom 80 in a generally axial direction so that the boom 80 securely engages or disengages the liquid receiving connection 24. A wash cone button 180 is also provided that when pressed causes a spray of water to be ejected from the boom 80 in order to clean the liquid receiving connection 24.

Selection of the water control tab 166 causes start and stop flow buttons 182, 184 to be displayed. The start and stop flow buttons are used to activate and deactivate the water pump 104 and thereby initiate and stop flow of water from the receptacle 16 through the boom 80.

Figures 13 and 14 show an inputs and outputs screen 190 that includes an inputs tab 192 and an outputs tab 194.

Selection of the inputs tab 192 displays inputs indicators 196 indicative of the status of components of the system with reference to signals received from the components. Selection of the outputs tab 194 displays outputs indicators 198 indicative of the status of components of the system with reference to signals sent to the components .

Figure 15 shows an error messages screen 200 that provides details of any errors experienced by the system 10.

During use, an operator in the cab portion 14 drives the vehicle provided with the system 10 to a location in the vicinity of the machinery 12 that is desired to be provided with water, and presses the base laser power button 122 on the main screen 120 of the control panel 54 to activate the laser 88. This causes the laser to commence measuring the distance from the laser 88 to objects in the laser's line of sight. Using visual cues on the machinery 12, the indicator lights 96 and/or the distance readout 123 displayed on the main screen 120 of the control panel 54, the operator drives the vehicle so that the vehicle is disposed adjacent and generally parallel to the machinery 12 at an approximate relative position and distance from the machinery 12 corresponding to engagement between the boom 80 and the receiving portion 24 when the boom 80 is disposed in the deployed position. In the present example, a correct distance between the vehicle and adjacent machinery 12 is approximately 6m.

If automatic operation is desired, the operator presses the auto cycle button 124 which causes the auto cycle screen 130 shown in Figure 7 to be displayed. The operator then activates the water pump 104 by activating the water pump switch 102 on the switch control panel 100 in the cab portion 14.

The operator presses the unmount and engage cone button 134 which causes the robot 40 to move the boom 80 from the stowed position to the deployed position. At the deployed position, the boom 80 is generally perpendicular to the vehicle and the machinery 12 with the nozzle 81 disposed adjacent the receiving connection 24. The operator then presses the wash cone button 140 on the auto cycle screen 130 to initiate washing of the receiving connection 24.

The operator then activates the joystick 94 by pressing the activate button 152 on the joystick screen 150, and uses the joystick 94 and the view along the boom 80 displayed on the screen 90 to dispose the boom such that the nozzle 81 is located generally centrally of the receiving connection 24. When this occurs, the operator presses the accept button 156 which causes the axial movement device 84 to move the boom 80 towards the receiving connection 24 until the nozzle 81 engages with the receiving connection 24.

The operator then presses the start fill button 136 to cause the water pump 102 to start pumping water from the receptacle 16 through the boom 80 to the machinery 12, and presses the stop fill button 138 when water filling is complete. When this occurs, the axial movement device 84 moves the boom 80 away from the machinery 12 to disengage the boom 80 from the receiving connection 24. The robot 40 then initially moves the boom 80 slightly away from the receiving connection 24, tilts the boom slightly downwards so as to expel any water remaining in the boom 80, and moves the boom 80 to the stowed position.

It will be appreciated that the present system 10 enables machinery to be provided with liquid without the need for manual handling and in particular without the need for a person to be present at the machinery during a liquid filling operation. As a consequence, the present system 10 is sufficiently safe to be able to provide liquid to the machinery 12 whilst the machinery is operational. For a mining operation, for example for a drilling machine at a mine site, the ability for provide water to the drilling machine whilst the drilling machine is operational provides significant efficiency gains due to reduced drilling machine downtime.

It will also be appreciated that the present system 10 also serves to reduce operator fatigue, particularly in harsh environments, because the operator is located in the cab portion 14, typically in air conditioning, at all times during operation of the system 10.

Modification and variations as would be apparent to a skilled addressee are deemed to be within the scope of the present invention.

Claims

The claims defining the invention are as follows:

1. A liquid dispensing system for providing machinery with liquid, the system comprising: a liquid receptacle for holding liquid to be dispensed by the system; a nozzle; a fluid communication path for transporting fluid from the liquid receptacle to the nozzle; a liquid pump for urging liquid to flow from the liquid receptacle through the fluid communication path to the nozzle; a robot assembly arranged to controllably move the nozzle from a stowed position wherein the nozzle is relatively adjacently disposed relative to the liquid receptacle to a deployed position wherein the nozzle is relatively remotely disposed relative to the liquid receptacle; and a nozzle alignment system arranged to facilitate manual alignment by a user of the nozzle relative to a receiving connection of the machinery requiring liquid when the nozzle is disposed in the deployed position.
2. A liquid dispensing system as claimed in claim 1, comprising a boom assembly having an elongate boom, a first end of the boom connected to the robot assembly and a second opposite end of the boom including the nozzle.
3. A liquid dispensing system as claimed in claim 2, wherein the boom assembly comprises a boom camera arranged to provide a field of view that is aligned with the boom, and the system comprises a screen arranged to display the field of view provided by the boom camera.
4. A liquid dispensing system as claimed in claim 2 or claim 3, wherein the nozzle alignment system comprises a boom alignment control device arranged to facilitate controllable alignment of the boom with a receiving connection of machinery requiring liquid.
5. A liquid dispensing system as claimed in claim 4, wherein the boom alignment control device comprises a j oystick.
6. A liquid dispensing system as claimed in any one of claims 2 to 5, wherein the system is arranged to controllably move the boom in an axial direction so as to facilitate engagement of the nozzle with a receiving connection of machinery requiring liquid.
7. A liquid dispensing system as claimed in claim 6, wherein the system comprises a pneumatic cylinder arranged to facilitate controllable movement of the boom in an axial direction.
8. A liquid dispensing system as claimed in any one of claims 2 to 7, wherein the boom assembly comprises a distance measuring device arranged to determine the distance between the distance measuring device and machinery requiring liquid in the field of view of the distance measuring device.
9. A liquid dispensing system as claimed in claim 8, wherein the distance measuring device comprises a laser.
10. A liquid dispensing system as claimed in claim 8 or claim 9, comprising a distance indicator arranged to provide information to an operator indicative of the distance between the distance measuring device and machinery requiring liquid.
11. A liquid dispensing system as claimed in claim 10, wherein the distance indicator comprises at least one indicator light.
12. A liquid dispensing system as claimed in claim 11, wherein the at least one indicator light includes a first light indicative that the distance measuring device is disposed at a distance that is too far away from machinery requiring liquid, a second light indicative that the distance measuring device is disposed at a distance that is too close to machinery requiring liquid, and a third light indicative that the distance measuring device is disposed at a substantially correct distance from machinery requiring liquid.
13. A liquid dispensing system as claimed in claim 11 or claim 12, wherein the distance indicator comprises a numerical indication of the distance between the distance measuring device and machinery requiring liquid.
14. A liquid dispensing system as claimed in any one of the preceding claims, wherein the system is incorporated into a vehicle.
15. A liquid dispensing system as claimed in claim 14, comprising a vibration damping assembly for mounting the robot assembly relative to the vehicle.
16. A liquid dispensing system as claimed in claim 14 or claim 15, wherein the robot assembly is housed in a robot control cabinet.
17. A liquid dispensing system as claimed in claim 16, wherein the robot assembly is mounted in the robot control cabinet by at least one vibration damper.
18. A liquid dispensing system as claimed in claim 17, wherein the robot control cabinet is mounted to the vehicle by at least one vibration damper.
19. A liquid dispensing system as claimed in any one of claim 14 to 18 when dependent on claim 3, wherein the screen receives first video signals from the boom camera and second video signals from a reversing camera disposed on the vehicle, and the system comprises a camera input selector arranged to facilitate selection of the first or second video signals to be communicated to the screen.
20. A liquid dispensing system as claimed in any one of the preceding claims, wherein the robot assembly comprises a robot controller arranged to control movement of the nozzle according to at least one defined program.
21. A liquid dispensing system as claimed in any one of the preceding claims, comprising a liquid flow control device usable to control the liquid pump to start or stop liquid flow from the receptacle to the nozzle.
22. A liquid dispensing system as claimed in any one of the preceding claims, comprising a control panel arranged to facilitate control of the robot assembly.
23. A liquid dispensing system as claimed in claim 22, wherein the control panel comprises a touch screen display.
24. A liquid dispensing system as claimed in any one of the preceding claims, comprising automatic and manual operation cycles arranged to control movement of the nozzle, wherein the manual operation cycle requires more operator input than the automatic cycle, and the control panel is arranged to facilitate selection of the automatic or manual operation cycle.
25. A liquid dispensing system as claimed in claim 21 and claim 22 when dependent on claim 3, comprising a cab portion for receiving an operator, the cab portion including the control panel, the screen and the liquid flow control device.
26. A liquid dispensing system as claimed in claim 25, wherein the robot control cabinet is connected in fluid communication to the cab portion and the system is arranged to urge air to move between the cab portion and the robot control cabinet so as to cool the robot control cabinet.
27. A liquid dispensing system as claimed in any one of the preceding claims, wherein the system includes at least one robot E-stop activatable by an operator and arranged when activated to stop movement of the robot assembly.
28. A liquid dispensing system as claimed in any one of the preceding claims, comprising a speed limiter arranged to monitor the speed of movement of the robot assembly and to reduce the robot assembly speed or deactivate the robot assembly if the robot speed exceeds a defined speed.
29. A liquid dispensing system as claimed in any one of the preceding claims, wherein the robot assembly is arranged to operate according to one or more control programs that govern movement of the robot assembly and restrictions on robot operation and movement.
30. A liquid dispensing system as claimed in any one of the preceding claims, wherein the control programs are arranged to define one or more operation zones around or adjacent the vehicle, the operation zones defining the functionality permitted with reference to the location of the nozzle relative to the vehicle.
31. A liquid dispensing system as claimed in any one of the preceding claims, comprising at least one auto stop arranged when activated to stop movement of the robot assembly.
32. A liquid dispensing system as claimed in claim 31, wherein the at least one auto stop includes a boom clutch assembly arranged to disengage the boom from a motor of the robot assembly when the boom contacts an object.
33. A liquid dispensing system as claimed in claim 31 or claim 32, wherein the at least one auto stop includes a dead man's switch arranged to stop movement of the robot assembly when an operator is incapacitated.
34. A liquid dispensing system as claimed in any one of claims 31 to 33, wherein the at least one auto stop includes at least one door switch arranged to stop movement of the robot assembly when a vehicle door is opened.
35. A liquid dispensing system as claimed in any one of the preceding claims, comprising a warning indicator device arranged to provide at least one warning signal.
36. A liquid dispensing system as claimed in claim 35, wherein the warning indicator device includes a first warning indicator light that when illuminated indicates that the robot assembly is active, a second warning indicator light that when activated indicates that a high temperature risk exists in the vicinity of the system, and a third warning indicator light that when illuminated indicates that a battery arranged to supply electrical power to the robot assembly is low.
37. A liquid dispensing system as claimed in claim 35 or claim 36, wherein the warning indicator device is arranged to generate an audible alert signal to indicate that the system is operational and/or to convey other important information to people in the vicinity of the system.