WO2015123790A1 - Structure for the synchronised movement of conveyor belts using gps - Google Patents

Structure for the synchronised movement of conveyor belts using gps Download PDF

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Publication number
WO2015123790A1
WO2015123790A1 PCT/CL2015/050006 CL2015050006W WO2015123790A1 WO 2015123790 A1 WO2015123790 A1 WO 2015123790A1 CL 2015050006 W CL2015050006 W CL 2015050006W WO 2015123790 A1 WO2015123790 A1 WO 2015123790A1
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WO
WIPO (PCT)
Prior art keywords
head
gps
conveyor belt
conveyor belts
movement
Prior art date
Application number
PCT/CL2015/050006
Other languages
Spanish (es)
French (fr)
Inventor
Juan Francisco BASCHMANN
Cristóbal SALGADO SEPÚLVEDA
Original Assignee
Sitech Southern Cone Spa
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 Sitech Southern Cone Spa filed Critical Sitech Southern Cone Spa
Publication of WO2015123790A1 publication Critical patent/WO2015123790A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/007—Means for moving conveyor frames and control arrangements therefor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Definitions

  • the present invention relates to the angular transfer of conveyor belts in mining operations from an initial position to an end position. Said movement is carried out through the movement of equipment that allows said action.
  • WO201 1 130687 describes a system for transport with lateral sliding, which includes sections and transfer devices, for moving conveyor belts.
  • Each transfer device includes an operable motor to associate at least one section of the transport system in a direction perpendicular to the direction of the conveyor belt.
  • the transport system also includes an operator functionally coupled to each engine to control the operation of the engine and coordinate the movement of the sections of the conveyor.
  • some components of the system comprise GPS devices that allow obtaining the spatial location of certain elements of the transport device of the conveyor.
  • WO02066741 describes a unit for moving a conveyor comprising two spaced heads. Each head has at least one pair of rollers, which are positioned so that they can move close to each other.
  • Said unit comprises a U-shaped carrier element which in turn comprises supporting sections that are connected to the piece. Said sections are designed to couple a bucket cylinder and an excavator arm, and the heads are respectively positioned at the free ends of a limb. It is possible to determine the current position of the support part by means of GPS, and the deviations from the respective desired position; as well as the desired travel speed, which specifies a new position and the direction of the rails, to be corrected by the support means.
  • state-of-the-art documents describe systems for transporting conveyor belts that use GPS, however, they do not allow the control of the movement of the belts at the exact point, in order to perform a movement coordinated at each point of the conveyor belt for transfer.
  • the GPS systems described in the documents are used to coordinate the movement of the heads that grip the structure of the conveyor belt, and not to allow a coordinated movement of movement.
  • a georeference or GPS structure or system is available to establish the location and displacement of the machines used to move the belts.
  • Said system is located in the system of clamps that grip the rails of the belt for transport, in order to determine the exact position during the transfer and in this way, synchronize the movement of the machines that move the belt.
  • TECHNICAL ADVANTAGES The proposed solution allows to obtain the exact position of the point where the belt is held from its rails by tweezers attached to a machine that allows the transfer. By having position control, a series of machines can be synchronized to carry the conveyor belt transfer
  • the antennas that constitute the GPS system are located in the head of the system to attach the machine to the rails, and are configured in such a way that they give the operator the position of the rail (which is held and moved by the head) in time real, with respect to the projected line, with centimeter accuracy.
  • the system incorporates at least two antennas instead of one, to orient the direction of the head inside the rail, that is, that there is a single position for the system and in turn, can absorb the possible axial and / or pivot movements of the head .
  • Figure 1 is a perspective view of a preferred assembly of the invention.
  • Figures 2a and 2b correspond to front views of a preferred assembly of the invention.
  • Figures 3a and 3b correspond to plan views of a preferred assembly of the invention.
  • Figures 4a and 4b correspond to side views of a preferred assembly of the invention.
  • the present invention consists of a structure for GPS system (1) attached to a head (2) for the transport of a conveyor belt to be moved by a self-propelled machine.
  • a self-propelled machine For the transport of a large conveyor belt, a plurality of said self-propelled machines are required, each with its respective head (2) and its respective structure for GPS system (1).
  • Each self-propelled machine is provided with tweezers (3) which allow the conveyor belt to be grasped on its rails.
  • the structure for GPS system (1) is provided, which comprises at least one pair of antennas (4, 5) that allows determining the position of said head.
  • the support structure (1) is made up of beams of a predetermined profile. In a preferred embodiment of the invention, the beams may have a square preference profile, but it should be understood that it is not limited to said type of profile.
  • the structure (1) comprises a lower beam (6), which is attached to the head (2) by a plurality of fastening means, which allow the structure (1) to be quickly assembled and disassembled to said head (2).
  • a second beam (7) At one end of said lower beam (6) a second beam (7), preferably fixed vertically, is fixed, although in another embodiment of the invention it can form an angle with the lower beam (6)
  • a third beam or upper beam (9) is placed, which is fixed to beam (7) at one of its ends, being parallel to the ground level.
  • the structure (1) is mounted on the head (2) in such a way that the upper beam (9) is oriented perpendicularly to the rail of the conveyor belt to which the head (2) is attached, where at least one antenna is located arranged in the vertical plane defined by said rail.
  • the antennas (4, 5) are located in the head (2) and configured so that they can deliver the position of the rail, which is held and moved by said head (2).
  • the position of the rail is measured in real time and with respect to the line projected by displacement with centimeter accuracy.
  • two antennas (4, 5) are used to determine the position of the rail. In this mode, two antennas are used to orient the direction of the head (2) within the rail, that is, that there is a single position for the system and in turn, it can absorb the possible axial and / or pivot movements of the head ( 2).

Abstract

The invention relates to a georeferencing system structure positioned against a head for the synchronised transport of a conveyor belt by means of a plurality of self-propelled machines, said structure comprising a plurality of beams, including at least a lower beam connected to the head by a plurality of securing means, a second beam secured at one end of the lower beam, a supporting plate secured at an upper end of the second beam and supporting an upper beam on which at least two GPS antennas are mounted, each located close to each of the ends of the upper beam.

Description

ESTRUCTURA PARA DESPLAZAMIENTO SINCRONIZADO DE CORREAS TRANSPORTADORAS UTILIZANDO GPS  STRUCTURE FOR SYNCHRONIZED DISPLACEMENT OF CONVEYOR BELTS USING GPS
CAMPO DE APLICACIÓN La presente invención se relaciona con el traslado angular de correas transportadoras en faenas mineras desde una posición inicial a una posición final. Dicho desplazamiento se realiza mediante el movimiento de equipos que permiten dicha acción. FIELD OF APPLICATION The present invention relates to the angular transfer of conveyor belts in mining operations from an initial position to an end position. Said movement is carried out through the movement of equipment that allows said action.
ANTECEDENTES BACKGROUND
En la industria minera, es muy frecuente el uso de sistemas de correas transportadoras para el transporte de material en distintas etapas del proceso. En algunas etapas, se requiere transportar el material a zonas alejadas de su lugar de origen. Dado su gran longitud, el traslado de las correas transportadoras se convierte en un procedimiento complejo y que suele ser lento. In the mining industry, the use of conveyor belt systems for the transport of material at different stages of the process is very frequent. In some stages, it is required to transport the material to areas far from its place of origin. Given its great length, the transfer of the conveyor belts becomes a complex procedure and is usually slow.
En el arte previo se conocen diferentes sistemas que permiten realizar el traslado de las correas transportadoras desde una posición inicial a una posición final de acuerdo a lo requerido por las operaciones mineras. Para realizar dicha tarea, se ha planteado la utilización de sistemas GPS para el traslado coordinado de las correas transportadoras. El documento WO201 1 130687 describe un sistema para transporte con deslizamiento lateral, que incluye secciones y dispositivos de traslado, para mover correas transportadoras. Cada dispositivo de traslado incluye un motor operable para mover asociadamente al menos una sección del sistema de transporte en una dirección perpendicular a la dirección de la correa transportadora. El sistema de transporte además incluye un operador funcionalmente acoplado a cada motor para controlar la operación del motor y coordinar el movimiento de las secciones del transportador. Para asistir en la operación remota del sistema, algunos componentes del sistema comprenden aparatos GPS que permiten obtener la ubicación espacial de ciertos elementos del dispositivo de traslado del transportador. In the prior art, different systems are known that allow the conveyor belts to be moved from an initial position to an end position as required by mining operations. To perform this task, the use of GPS systems for the coordinated transfer of conveyor belts has been considered. WO201 1 130687 describes a system for transport with lateral sliding, which includes sections and transfer devices, for moving conveyor belts. Each transfer device includes an operable motor to associate at least one section of the transport system in a direction perpendicular to the direction of the conveyor belt. The transport system also includes an operator functionally coupled to each engine to control the operation of the engine and coordinate the movement of the sections of the conveyor. To assist in the remote operation of the system, some components of the system comprise GPS devices that allow obtaining the spatial location of certain elements of the transport device of the conveyor.
El documento WO02066741 describe una unidad para desplazar un transportador que comprende dos cabezales espaciados. Cada cabezal tiene al menos un par de rodillos, los cuales son posicionados de manera que se puedan mover uno cerca de otro. Dicha unidad comprende un elemento portador en forma de U que a su vez comprende secciones soportantes que se conectan a la pieza. Dichas secciones están diseñadas para acoplar un cilindro balde y un brazo de una excavadora, y los cabezales están respectivamente posicionados en los extremos libres de una extremidad. Es posible determinar la posición actual de la parte de soporte por medio de GPS, y las desviaciones de la respectiva posición deseada; como también de la velocidad de desplazamiento deseada, la cual especifica una nueva posición y la dirección de los rieles, para corregir por los medios de soporte. WO02066741 describes a unit for moving a conveyor comprising two spaced heads. Each head has at least one pair of rollers, which are positioned so that they can move close to each other. Said unit comprises a U-shaped carrier element which in turn comprises supporting sections that are connected to the piece. Said sections are designed to couple a bucket cylinder and an excavator arm, and the heads are respectively positioned at the free ends of a limb. It is possible to determine the current position of the support part by means of GPS, and the deviations from the respective desired position; as well as the desired travel speed, which specifies a new position and the direction of the rails, to be corrected by the support means.
En general, los documentos del estado del arte describen sistemas para traslado de correas transportadores que utilizan de GPS, sin embargo, no permiten el control del traslado de las correas en el punto exacto, para poder realizar un movimiento coordinado en cada punto de agarre de la correa transportadora para su traslado. Además, los sistemas GPS descritos por los documentos son utilizados para coordinar el movimiento de los cabezales que agarran la estructura de la correa transportadora, y no para permitir un movimiento coordinado de traslado. In general, state-of-the-art documents describe systems for transporting conveyor belts that use GPS, however, they do not allow the control of the movement of the belts at the exact point, in order to perform a movement coordinated at each point of the conveyor belt for transfer. In addition, the GPS systems described in the documents are used to coordinate the movement of the heads that grip the structure of the conveyor belt, and not to allow a coordinated movement of movement.
PROBLEMA TÉCNICO TECHNICAL PROBLEM
Dado su gran longitud, el traslado de las correas transportadoras se convierte en un procedimiento complejo, pues las fuerzas requeridas para dicho desplazamiento pueden tener como consecuencia la rotura de los rieles de la correa, lo que trae como consecuencia el retraso del procedimiento de traslado al ser necesario la reparación de dichos rieles. Adicionalmente, el procedimiento de traslado suele ser lento (del orden de 18 horas) y por lo tanto, un gran inconveniente para las operaciones mineras y su productividad. Given its great length, the transfer of the conveyor belts becomes a complex procedure, since the forces required for such displacement can result in the breakage of the belt rails, which results in the delay of the transfer procedure to the it will be necessary to repair said rails. Additionally, the transfer procedure is usually slow (of the order of 18 hours) and therefore, a great inconvenience for mining operations and their productivity.
SOLUCIÓN TÉCNICA TECHNICAL SOLUTION
Para resolver dicha problemática, se dispone de una estructura o sistema de georreferencia o GPS que permite establecer la ubicación y desplazamiento de las máquinas utilizadas para el traslado de las correas. Con dicho sistema GPS, se logra disminuir tiempos y disminuir el riesgo de daños por rotura de rieles producto del movimiento coordinado. Dicho sistema se encuentra ubicado en el sistema de pinzas que agarran los rieles de la correa para su transporte, con el fin de determinar la posición exacta durante el traslado y de esta forma, sincronizar el movimiento de las máquinas que trasladan la correa. To solve this problem, a georeference or GPS structure or system is available to establish the location and displacement of the machines used to move the belts. With this GPS system, it is possible to reduce times and reduce the risk of damage due to broken tracks due to coordinated movement. Said system is located in the system of clamps that grip the rails of the belt for transport, in order to determine the exact position during the transfer and in this way, synchronize the movement of the machines that move the belt.
VENTAJAS TÉCNICAS La solución planteada permite obtener la posición exacta del punto en que la correa es sostenida desde sus rieles por unas pinzas adosadas a una máquina que permite el traslado. Al tener el control de la posición, se puede sincronizar una serie de máquinas para realizar el traslado de la correa transportadora TECHNICAL ADVANTAGES The proposed solution allows to obtain the exact position of the point where the belt is held from its rails by tweezers attached to a machine that allows the transfer. By having position control, a series of machines can be synchronized to carry the conveyor belt transfer
La sincronización de las tareas de desplazamiento de correas transportadoras tiene como resultado mayor seguridad durante el proceso, con una menor tasa de falla en el traslado. Como consecuencia, se tiene un menor uso de maquinaria, lo que aumenta la eficiencia, reduce tiempos de traslados y es más fácil coordinar y planificar las tareas de desplazamiento. The synchronization of the tasks of displacement of conveyor belts results in greater safety during the process, with a lower rate of failure in the transfer. As a consequence, there is less use of machinery, which increases efficiency, reduces transfer times and it is easier to coordinate and plan travel tasks.
Las antenas que constituyen el sistema GPS se encuentran ubicadas en el cabezal del sistema para adosar la máquina a los rieles, y se encuentran configuradas de tal manera que entregan al operador la posición del riel (que es sujetado y movido por el cabezal) en tiempo real, con respecto a la línea proyectada, con precisión centimétrica. The antennas that constitute the GPS system are located in the head of the system to attach the machine to the rails, and are configured in such a way that they give the operator the position of the rail (which is held and moved by the head) in time real, with respect to the projected line, with centimeter accuracy.
El sistema incorpora al menos dos antenas en vez de una, para orientar la dirección del cabezal dentro del riel, es decir, que exista una única posición para el sistema y a su vez, pueda absorber los posibles movimientos axiales y/o de pivote del cabezal. BREVE DESCRIPCIÓN DE LAS FIGURAS The system incorporates at least two antennas instead of one, to orient the direction of the head inside the rail, that is, that there is a single position for the system and in turn, can absorb the possible axial and / or pivot movements of the head . BRIEF DESCRIPTION OF THE FIGURES
La figura 1 es una vista en perspectiva de un ensamble preferido de la invención. Figure 1 is a perspective view of a preferred assembly of the invention.
Las figuras 2a y 2b corresponden a vistas de frente de un ensamble preferido de la invención. Las figuras 3a y 3b corresponden a vistas en planta de un ensamble preferido de la invención. Figures 2a and 2b correspond to front views of a preferred assembly of the invention. Figures 3a and 3b correspond to plan views of a preferred assembly of the invention.
Las figuras 4a y 4b corresponden a vistas laterales de un ensamble preferido de la invención. Figures 4a and 4b correspond to side views of a preferred assembly of the invention.
DESCRIPCIÓN DETALLADA DE LA INVENCIÓN DETAILED DESCRIPTION OF THE INVENTION
Como se puede observar en las figuras 1 a 4, la presente invención consiste en una estructura para sistema GPS (1 ) adosada a un cabezal (2) para el trasporte de una correa transportadora para ser trasladada por una máquina autopropulsada. Para el transporte de una correa transportadora de grandes dimensiones, se requiere de una pluralidad de dichas máquinas autopropulsadas, cada una con su respectivo cabezal (2) y su respectiva estructura para sistema GPS (1 ). As can be seen in Figures 1 to 4, the present invention consists of a structure for GPS system (1) attached to a head (2) for the transport of a conveyor belt to be moved by a self-propelled machine. For the transport of a large conveyor belt, a plurality of said self-propelled machines are required, each with its respective head (2) and its respective structure for GPS system (1).
Cada máquina autopropulsada se dispone con unas pinzas (3) las cuales permiten agarrar a la correa transportadora en sus rieles. Sobre un extremo lateral de dichas pinzas (3), se dispone la estructura para sistema GPS (1 ) que comprende al menos un par de antenas (4, 5) que permite determinar la posición de dicho cabezal. La estructura (1 ) de soporte está conformada por vigas de un perfil predeterminado. En una modalidad preferida de la invención, las vigas pueden tener un perfil de preferencia cuadrado, pero se debe entender que no se encuentra limitado a dicho tipo de perfil. La estructura (1 ) comprende una viga inferior (6), la cual es unida al cabezal (2) mediante una pluralidad de medios de sujeción, que permiten ensamblar y desensamblar rápidamente la estructura (1 ) a dicho cabezal (2). En un extremo de dicha viga inferior (6) se fija una segunda viga (7), de preferencia fijada verticalmente, aunque en otra modalidad de la invención puede formar un ángulo con la viga inferior (6) En el extremo superior de la viga (7) se coloca una tercera viga o viga superior (9), la cual se encuentra fijada a viga (7) en uno de sus extremos, siendo paralela al nivel de suelo. Sobre una proximidad de cada uno de los extremos de la viga superior (9) se instala al menos una antena (4, 5), las cuales son destinadas a medir la posición exacta del riel de la correa transportadora a trasladar para así realizar el movimiento coordinado de ésta. Each self-propelled machine is provided with tweezers (3) which allow the conveyor belt to be grasped on its rails. On a lateral end of said clamps (3), the structure for GPS system (1) is provided, which comprises at least one pair of antennas (4, 5) that allows determining the position of said head. The support structure (1) is made up of beams of a predetermined profile. In a preferred embodiment of the invention, the beams may have a square preference profile, but it should be understood that it is not limited to said type of profile. The structure (1) comprises a lower beam (6), which is attached to the head (2) by a plurality of fastening means, which allow the structure (1) to be quickly assembled and disassembled to said head (2). At one end of said lower beam (6) a second beam (7), preferably fixed vertically, is fixed, although in another embodiment of the invention it can form an angle with the lower beam (6) At the upper end of the beam ( 7) a third beam or upper beam (9) is placed, which is fixed to beam (7) at one of its ends, being parallel to the ground level. At a proximity of each of the ends of the upper beam (9) at least one antenna (4, 5) is installed, which are intended to measure the exact position of the conveyor belt rail to be moved in order to perform the movement coordinated of this one.
Le estructura (1 ) se monta sobre el cabezal (2) de manera tal que la viga superior (9) se orienta perpendicularmente al riel de la correa transportadora a la cual se sujeta el cabezal (2), donde al menos una antena se encuentra dispuesta en el plano vertical definido por dicho riel. Las antenas (4, 5) se encuentran ubicadas en el cabezal (2) y configuradas de tal manera que puedan entregar la posición del riel, el cual es sujetado y movido por dicho cabezal (2). La posición del riel es medida en tiempo real y con respecto a la línea proyectada por el desplazamiento con precisión centimétrica. En una modalidad preferida de la invención, se utilizan dos antenas (4, 5) para determinar la posición del riel. En dicha modalidad, se utiliza dos antenas para orientar la dirección del cabezal (2) dentro del riel, es decir, que exista una única posición para el sistema y a su vez, pueda absorber los posibles movimientos axiales y/o de pivote del cabezal (2). The structure (1) is mounted on the head (2) in such a way that the upper beam (9) is oriented perpendicularly to the rail of the conveyor belt to which the head (2) is attached, where at least one antenna is located arranged in the vertical plane defined by said rail. The antennas (4, 5) are located in the head (2) and configured so that they can deliver the position of the rail, which is held and moved by said head (2). The position of the rail is measured in real time and with respect to the line projected by displacement with centimeter accuracy. In a preferred embodiment of the invention, two antennas (4, 5) are used to determine the position of the rail. In this mode, two antennas are used to orient the direction of the head (2) within the rail, that is, that there is a single position for the system and in turn, it can absorb the possible axial and / or pivot movements of the head ( 2).
Una vez determinada la ruta de desplazamiento por medio del sistema de georeferencia conectado al equipo y monitoreado por las antenas (4, 5) ubicadas en el cabezal (2), se procede con el desplazamiento coordinado de los equipos para el traslado de la correa transportadora. Once the route of travel has been determined by means of the georeference system connected to the equipment and monitored by the antennas (4, 5) located in the head (2), the coordinated movement of the equipment for the transport of the conveyor belt is carried out .

Claims

REIVINDICACIONES
1 . - Estructura de sistema georreferencia (1 ) adosada a un cabezal (2) para el transporte sincronizado de una correa transportadora mediante una pluralidad de máquinas autopropulsadas, CARACTERIZADA porque comprende una pluralidad de vigas, con al menos una viga inferior (6), unida al cabezal (2) mediante una pluralidad de medios de sujeción, una segunda viga (7) fijada en un extremo de la viga inferior (6), una placa de soporte (8) fijada en un extremo superior de la segunda viga (7), que soporta una viga superior (9), sobre la cual se monta al menos dos antenas (4, 5) GPS, cada una ubicada en una proximidad de cada uno de los extremos de la viga superior (9). one . - Georeference system structure (1) attached to a head (2) for the synchronized transport of a conveyor belt by means of a plurality of self-propelled machines, CHARACTERIZED because it comprises a plurality of beams, with at least one lower beam (6), connected to the head (2) by a plurality of fastening means, a second beam (7) fixed at one end of the lower beam (6), a support plate (8) fixed at an upper end of the second beam (7), which supports an upper beam (9), on which at least two GPS antennas (4, 5) are mounted, each located in proximity to each of the ends of the upper beam (9).
2. - Estructura de sistema georreferencia (1 ) de acuerdo a la reivindicación 1 CARACTERIZADA porque la estructura comprende dos antenas (4, 5) GPS, cada una ubicada en una proximidad de cada uno de los extremos de la viga superior (9). 2. - Georeference system structure (1) according to claim 1 CHARACTERIZED in that the structure comprises two antennas (4, 5) GPS, each located in proximity to each of the ends of the upper beam (9).
3. - Estructura de sistema georreferencia (1 ) de acuerdo a cualquiera de las reivindicaciones anteriores CARACTERIZADA porque se monta sobre el cabezal (2) de manera tal que la viga superior (9) se orienta perpendicularmente al riel de la correa transportadora a la cual se sujeta el cabezal (2), donde al menos una antena se encuentra dispuesta en el plano vertical definido por dicho riel. 3. - Georeference system structure (1) according to any of the preceding claims CHARACTERIZED because it is mounted on the head (2) such that the upper beam (9) is oriented perpendicularly to the rail of the conveyor belt to which the head (2) is held, where at least one antenna is arranged in the vertical plane defined by said rail.
PCT/CL2015/050006 2014-02-20 2015-02-20 Structure for the synchronised movement of conveyor belts using gps WO2015123790A1 (en)

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