US20070145648A1 - Robotic system and method for the automation of slag and matte discharge from smelters - Google Patents
Robotic system and method for the automation of slag and matte discharge from smelters Download PDFInfo
- Publication number
- US20070145648A1 US20070145648A1 US11/598,122 US59812206A US2007145648A1 US 20070145648 A1 US20070145648 A1 US 20070145648A1 US 59812206 A US59812206 A US 59812206A US 2007145648 A1 US2007145648 A1 US 2007145648A1
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- United States
- Prior art keywords
- slag
- tool
- matte
- robotic
- smelting furnace
- 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.)
- Abandoned
Links
- 238000000034 method Methods 0.000 title claims abstract description 70
- 239000002893 slag Substances 0.000 title claims abstract description 67
- 238000003723 Smelting Methods 0.000 claims abstract description 63
- 238000004080 punching Methods 0.000 claims abstract description 21
- 238000004140 cleaning Methods 0.000 claims abstract description 16
- 238000005070 sampling Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 4
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims 2
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims 2
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 claims 2
- 238000006243 chemical reaction Methods 0.000 claims 2
- 229910052802 copper Inorganic materials 0.000 claims 2
- 239000010949 copper Substances 0.000 claims 2
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims 2
- 229910052737 gold Inorganic materials 0.000 claims 2
- 239000010931 gold Substances 0.000 claims 2
- 230000006698 induction Effects 0.000 claims 2
- 229910052742 iron Inorganic materials 0.000 claims 2
- 239000011133 lead Substances 0.000 claims 2
- 229910052759 nickel Inorganic materials 0.000 claims 2
- 229910052709 silver Inorganic materials 0.000 claims 2
- 239000004332 silver Substances 0.000 claims 2
- 229910052718 tin Inorganic materials 0.000 claims 2
- 239000011135 tin Substances 0.000 claims 2
- 229910052725 zinc Inorganic materials 0.000 claims 2
- 239000011701 zinc Substances 0.000 claims 2
- 238000010079 rubber tapping Methods 0.000 abstract description 3
- 208000028571 Occupational disease Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract description 2
- 238000010297 mechanical methods and process Methods 0.000 abstract 1
- 230000005226 mechanical processes and functions Effects 0.000 abstract 1
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 241001062472 Stokellia anisodon Species 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- PWPJGUXAGUPAHP-UHFFFAOYSA-N lufenuron Chemical compound C1=C(Cl)C(OC(F)(F)C(C(F)(F)F)F)=CC(Cl)=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F PWPJGUXAGUPAHP-UHFFFAOYSA-N 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
Images
Classifications
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/24—Test rods or other checking devices
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/12—Opening or sealing the tap holes
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21B—MANUFACTURE OF IRON OR STEEL
- C21B7/00—Blast furnaces
- C21B7/14—Discharging devices, e.g. for slag
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
- C21C5/28—Manufacture of steel in the converter
- C21C5/42—Constructional features of converters
- C21C5/46—Details or accessories
- C21C5/4653—Tapholes; Opening or plugging thereof
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
- C21C5/28—Manufacture of steel in the converter
- C21C5/42—Constructional features of converters
- C21C5/46—Details or accessories
- C21C5/4673—Measuring and sampling devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D19/00—Arrangements of controlling devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangement of monitoring devices; Arrangement of safety devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/14—Charging or discharging liquid or molten material
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/15—Tapping equipment; Equipment for removing or retaining slag
- F27D3/1509—Tapping equipment
- F27D3/1527—Taphole forming equipment, e.g. boring machines, piercing tools
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D3/15—Tapping equipment; Equipment for removing or retaining slag
- F27D3/1509—Tapping equipment
- F27D3/1536—Devices for plugging tap holes, e.g. plugs stoppers
Definitions
- This invention relates to the use of robotic technology in mining industry to improve the working conditions of the operators, specifically in the smelting area.
- the Smelting furnaces main function is to smelt metals and/or concentrates in order to purify and extract the ore. These furnaces use the heat generated from the high temperature oxidation reactions resulting in 2 stages: one stage with the valuable metal of interest which is called matte, and the other stage with worthless metal called slag.
- the smelting furnaces operate on a continuous basis, while the matte and the slag are discharged to bins through batch processes by opening and closing the corresponding passage.
- the slag discharge process is batch, which is carried out manually by the operators and involves the following tasks:
- a robotic system and a robotized method have been developed for slag and/or matte discharge proceedings from the smelting furnaces allowing carrying out necessary tasks in a automated way. These tasks are: Punching and tapping the exit passages, sampling the different materials and cleaning the exit channels
- FIG. 1 View of the punching process of the smelting furnace.
- FIG. 2 View of the punching process of the smelting furnace.
- FIG. 3 View of the plugging process of the smelting furnace
- FIG. 4 View of the plugging process of the smelting furnace
- This invention relates to a new robot system as well as robotic method for slag and/or discharge procedures from the smelting furnace which is mainly composed of a anthropomorphous robotic manipulator of at least 5 degrees of freedom, with a gripping mechanism to manipulate different tools, this allows to carry out the following activities:
- the system is composed of a anthropomorphous robotic manipulator of at least 5 degrees of freedom ( 1 ) which is mounted in a mobile or fixed system ( 2 ), a communication, acquisition and control system which is provided with a gripping mechanism ( 3 ) which allows to take a tool ( 4 ) to be used in the punching procedure of the passage at the side of the furnace ( 5 ) to discharge the slag and/or matte from the smelting furnace.
- the gripping mechanism ( 3 ) takes a tool which is used to obtain a slag and/or matte sample from the discharge of the channel ( 6 ) of the smelting furnace.
- the gripping mechanism ( 3 ) takes a tool which is used to clean the channel of the smelting furnace ( 6 ). Finally, the gripping mechanism ( 3 ) takes a tool provided with a plug ( 7 ) which allows to plug the passage to close the slag and/or matte flow from the furnace ( 8 ).
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Manufacture And Refinement Of Metals (AREA)
Abstract
At present, the discharge of slag and/or matte from smelting furnaces is being carried out manually. One of the major disadvantages of all the activities associated to the slag and/or matte discharge is the fact the personnel is exposed to harsh environmental conditions. In the medium and long term, this could generate serious occupational diseases to the operators in charge of carrying out the discharge. Due to the above, a robot system and/or method have been developed for the discharge of slag and/or matte from the smelting furnaces which include: a flash furnace, teniente converter, pierce smith converter, reverbatory furnace, electrical furnace, blast furnace among others. The robot system and method is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom and a gripping mechanism to take several tools for tapping and punching the smelting furnace, taking samples from channels and cleaning the smelting furnace channels. In this regard, most of the problems associated to the safety of the personnel and the productivity of the manual and/or mechanical process are eliminated.
Description
- This application claims the benefit of provisional patent application Ser. No. 60/734,985 filed 2005 Nov. 10 by the present inventor
- Not Applicable
- Not Applicable
- 1. Field of Invention
- This invention relates to the use of robotic technology in mining industry to improve the working conditions of the operators, specifically in the smelting area.
- 2. Prior Art
- The Smelting furnaces main function is to smelt metals and/or concentrates in order to purify and extract the ore. These furnaces use the heat generated from the high temperature oxidation reactions resulting in 2 stages: one stage with the valuable metal of interest which is called matte, and the other stage with worthless metal called slag. In general terms, the smelting furnaces operate on a continuous basis, while the matte and the slag are discharged to bins through batch processes by opening and closing the corresponding passage. At present, the slag discharge process is batch, which is carried out manually by the operators and involves the following tasks:
-
- Punching of the passage, with which the passage opens to discharge the slag.
- Slag sampling in order to feedback the flash furnace operation
- Passage plugging in order to close the slag exit
- Cleaning of channels, to remove the slag solidified by its passing through the outlet channel to the bin.
- One of the major disadvantages of all the tasks associated to the slag discharge process is the exposure of personnel to harsh environmental conditions. This could generate in the medium and long term, serious occupational diseases to the operators in charge of carrying out the task.
- Particularly in passage punching and plugging procedures, there are disadvantages from the safety point of view, as a result of the operator's exposure to molten metal spatters and projections. Similarly, the manipulation of the tool, used by the operator in these tasks, must be done very carefully to avoid damaging the refractory plates which surrounds the furnace outlet. On the other hand, as far as operations is concerned, a decrease in the capacity of the furnace processing could be generated which leads to a decrease in the processing capacity of the furnaces.
- A robotic system and a robotized method have been developed for slag and/or matte discharge proceedings from the smelting furnaces allowing carrying out necessary tasks in a automated way. These tasks are: Punching and tapping the exit passages, sampling the different materials and cleaning the exit channels
- In the drawings, closely related figures share the same numbers, with different alphabetic suffixes.
-
FIG. 1 . View of the punching process of the smelting furnace. -
FIG. 2 . View of the punching process of the smelting furnace. -
FIG. 3 . View of the plugging process of the smelting furnace -
FIG. 4 . View of the plugging process of the smelting furnace -
-
- 1. Robotic manipulator
- 2. Mobile or fixed mounting system
- 3. Gripping mechanism
- 4. Punching tool
- 5. Passage at side of furnace (or smelter)
- 6. Discharge channel
- 7. Plugging tool (also called tapping tool)
- 8. Furnace (also called smelter)
- This invention relates to a new robot system as well as robotic method for slag and/or discharge procedures from the smelting furnace which is mainly composed of a anthropomorphous robotic manipulator of at least 5 degrees of freedom, with a gripping mechanism to manipulate different tools, this allows to carry out the following activities:
-
- To take a tool to carry out the punching procedure of the smelting furnace.
- To take a tool to carry out the sampling procedure from the smelting furnace channels.
- To take a tool provided with a plug to carry out the plugging procedure of the smelting furnace.
- To take a tool to carry out the cleaning procedure over channels of the smelting furnace.
- With reference to
FIG. 1 ,FIG. 2 ,FIG. 3 , andFIG. 4 , the system is composed of a anthropomorphous robotic manipulator of at least 5 degrees of freedom (1) which is mounted in a mobile or fixed system (2), a communication, acquisition and control system which is provided with a gripping mechanism (3) which allows to take a tool (4) to be used in the punching procedure of the passage at the side of the furnace (5) to discharge the slag and/or matte from the smelting furnace. Once this is carried out, the gripping mechanism (3) takes a tool which is used to obtain a slag and/or matte sample from the discharge of the channel (6) of the smelting furnace. Then, the gripping mechanism (3) takes a tool which is used to clean the channel of the smelting furnace (6). Finally, the gripping mechanism (3) takes a tool provided with a plug (7) which allows to plug the passage to close the slag and/or matte flow from the furnace (8).
Claims (34)
1. Robot system for slag and/or matte discharge from the smelting furnace, comprising of an anthropomorphous robotic arm of at least 5 degrees of freedom, one control, communication and programming unit, one gripper adapter, one pneumatic gripper mechanism, one pneumatic gripper mechanism driving system, one electric supply system, one fixed and/or mobile tool holder, one tool for punching, one tool for slag and/or matte sampling, one tool for channel cleaning and one tool for plugging wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom is provided with a gripping mechanism, to take in a sequential and programmed way, each of the different tools which are deposited in the fixed and/or mobile tool holder, located near the robotic manipulator, and which will be used, separately, to carry out the passage punching, the sampling of the slag and/or matte, the cleaning of the channels and the passage plugging, so as to close the flow of slag and/or matte from the smelting furnace.
2. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system has the capacity to take, move, manipulate and release each of the different tools, in different paths, within the work volume of the robotic manipulator.
3. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the robotic manipulator is mounted on a mobile or fixed system which allows, in a sequential and programmed way, to move itself to approach or move away from the smelting furnace to carry out the passage punching procedure, the sampling of the matte and/or slag, the cleaning of channels and the passage plugging procedure.
4. Robotic system for slag and/or matte discharge from the smelting furnace according to claim 1 , wherein the anthropomorphous robotic manipulator could communicate itself or through a PLC interface with the control system.
5. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.
6. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control devices with analogue and/or digital inputs.
7. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the robotic manipulator may use a pneumatic, electrical and/or hydraulic gripping mechanism, which allows in a sequential and programmed way, to take, manipulate and release the different types of devices to be used in the passage punching procedure, sampling of matte/slag, channel cleaning and passage plugging procedure, respectively.
8. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system uses a tool holder which may be fixed and/or mobile, from which the robotic manipulator takes, in a sequential and programmed way, the different tools to be used in the passage punching procedure, sampling of matte and/or slag, channel cleaning and passage plugging procedure, respectively.
9. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system uses a tool which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the passage punching process, and once this procedure is finished, it deposits the tool back to the tool holder.
10. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the sampling process of the matte and/or slag, and once this process is finished it deposits the tool back to the tool holder.
11. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the channel cleaning process, and once this process is finished it deposits the tool back to the tool holder.
12. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the passage plugging process, and once this process is finished it deposits the tool back to the tool holder.
13. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the anthropomorphous robotic manipulator has an electric and/or hydraulic system driven by three-stage induction motors, with vectorial control.
14. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system could be integrated to the discharge of slag and/or matte in any type of smelting furnaces whether smelting and/or conversion process of copper and other materials such as iron, zinc, nickel, silver, gold, tin, lead, etc.
15. Robotic system for slag and/or matte discharge from the smelting furnace, according to claim 1 , wherein the system may operate automatically, or semiautomatically, and also allows solutions scalability.
16. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom is provided with a gripping mechanism to take, in a sequential and programmed way, each of the different tools deposited in the fixed and/or mobile tool holder, located near the robotic manipulator, and which are going to be used, separately, to carry out the passage punching at the side of the furnace, the sampling of the slag and/or matte, the cleaning of the channels of the smelting furnaces and the passage plugging, so as to close the flow of slag and/or matte from the smelting furnace.
17. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system has the capacity to take, move, manipulate and release each of the different tools, in different paths, within the work volume of the robotic manipulator.
18. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the robotic manipulator is mounted on a mobile or fixed system which allows, in a sequential and programmed way, to move itself to approach or move away from the smelting furnace to carry out the passage punching procedure, the sampling of the matte and/or slag, the cleaning of channels and the passage plugging procedure.
19. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the anthropomorphous robotic manipulator could communicate itself or through a PLC interface with the control system.
20. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.
21. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control devices with analogue and/or digital inputs.
22. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the robotic manipulator may use a pneumatic, electrical and/or hydraulic gripping mechanism, which allows in a sequential and programmed way, to take, manipulate and release the different types of devices to be used in the passage punching procedure, sampling of matte/slag, channel cleaning and passage plugging procedure, respectively.
23. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool holder which may be fixed and/or mobile, from which the robotic manipulator takes, in a sequential and programmed way, the different tools to be used in the passage punching procedure, sampling of matte and/or slag, channel cleaning and passage plugging procedure, respectively.
24. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the passage punching process, and once this procedure is finished, it deposits the tool back to the tool holder.
25. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the sampling process of the matte and/or slag, and once this process is finished it deposits the tool back to the tool holder.
26. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the channel cleaning process, and once this process is finished it deposits the tool back to the tool holder.
27. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the passage plugging process, and once this process is finished it deposits the tool back to the tool holder.
28. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the anthropomorphous robotic manipulator has an electric and/or hydraulic system driven by three-stage induction motors, with vectorial control.
29. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system could be integrated to the discharge of slag and/or matte in any type of smelting furnaces whether smelting and/or conversion process of copper and other materials such as iron, zinc, nickel, silver, gold, tin, lead, etc.
30. Robotic method for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system may operate automatically, or semi automatically, and also allows solutions scalability.
31. Tool for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the passage punching process, and once this procedure is finished, it deposits the tool back to the tool holder.
32. Tool for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the sampling process of the matte and/or slag, and once this process is finished it deposits the tool back to the tool holder.
33. Tool for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the channel cleaning process, and once this process is finished it deposits the tool back to the tool holder.
34. Tool for slag and/or matte discharge from the smelting furnace using the robot System of claim 1 to 15, wherein the system uses a tool, which is located in the tool holder, in a way that the robotic manipulator takes the tool, in a sequential and programmed way, to carry out the passage plugging process, and once this process is finished it deposits the tool back to the tool holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US11/598,122 US20070145648A1 (en) | 2005-11-10 | 2006-11-13 | Robotic system and method for the automation of slag and matte discharge from smelters |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US73498505P | 2005-11-10 | 2005-11-10 | |
| US11/598,122 US20070145648A1 (en) | 2005-11-10 | 2006-11-13 | Robotic system and method for the automation of slag and matte discharge from smelters |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/598,123 Continuation-In-Part US20070153260A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for anode surface inspection and burr elimination in smelting and electrorefining processes |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/598,121 Continuation-In-Part US20070151580A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for cathode washing in industrial and electrometallurgical processes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| US20070145648A1 true US20070145648A1 (en) | 2007-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/598,122 Abandoned US20070145648A1 (en) | 2005-11-10 | 2006-11-13 | Robotic system and method for the automation of slag and matte discharge from smelters |
Country Status (1)
| Country | Link |
|---|---|
| US (1) | US20070145648A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090101179A1 (en) * | 2005-11-10 | 2009-04-23 | Hugo Salamanca | Robot system and method for molybdenum roasting furnaces cleaning procedures |
| WO2010049161A3 (en) * | 2008-10-29 | 2010-06-24 | Sms Siemag Ag | Robotized iron and steel plant |
| WO2015066827A1 (en) * | 2013-11-05 | 2015-05-14 | Chesta Ingeniería S.A. | System for taking samples of liquid slag, molten metals or similar |
| CN113566579A (en) * | 2021-07-26 | 2021-10-29 | 广东飞南资源利用股份有限公司 | a smelting system |
| CN115922341A (en) * | 2022-11-29 | 2023-04-07 | 韩忠彬 | Detection kit processing system and method |
| IT202200005273A1 (en) * | 2022-03-17 | 2023-09-17 | Danieli Off Mecc | INSPECTION AND/OR RESTORATION EQUIPMENT OF A HOSTILE ENVIRONMENT AND RELATED METHOD |
| WO2023224496A1 (en) | 2022-05-20 | 2023-11-23 | Momek Tappingmate As | Robotic tapping system for electric arc furnace |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4986723A (en) * | 1988-11-25 | 1991-01-22 | Agency Of Industrial Science & Technology | Anthropomorphic robot arm |
| US5428285A (en) * | 1992-05-29 | 1995-06-27 | Mitsubishi Denki Kabushiki Kaisha | Position controller for controlling an electric motor |
-
2006
- 2006-11-13 US US11/598,122 patent/US20070145648A1/en not_active Abandoned
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4986723A (en) * | 1988-11-25 | 1991-01-22 | Agency Of Industrial Science & Technology | Anthropomorphic robot arm |
| US5428285A (en) * | 1992-05-29 | 1995-06-27 | Mitsubishi Denki Kabushiki Kaisha | Position controller for controlling an electric motor |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090101179A1 (en) * | 2005-11-10 | 2009-04-23 | Hugo Salamanca | Robot system and method for molybdenum roasting furnaces cleaning procedures |
| WO2010049161A3 (en) * | 2008-10-29 | 2010-06-24 | Sms Siemag Ag | Robotized iron and steel plant |
| WO2015066827A1 (en) * | 2013-11-05 | 2015-05-14 | Chesta Ingeniería S.A. | System for taking samples of liquid slag, molten metals or similar |
| CN113566579A (en) * | 2021-07-26 | 2021-10-29 | 广东飞南资源利用股份有限公司 | a smelting system |
| IT202200005273A1 (en) * | 2022-03-17 | 2023-09-17 | Danieli Off Mecc | INSPECTION AND/OR RESTORATION EQUIPMENT OF A HOSTILE ENVIRONMENT AND RELATED METHOD |
| WO2023175645A1 (en) * | 2022-03-17 | 2023-09-21 | Danieli & C. Officine Meccaniche S.P.A. | Apparatus for inspecting and/or restoring a hostile environment and corresponding method |
| WO2023224496A1 (en) | 2022-05-20 | 2023-11-23 | Momek Tappingmate As | Robotic tapping system for electric arc furnace |
| CN115922341A (en) * | 2022-11-29 | 2023-04-07 | 韩忠彬 | Detection kit processing system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| AS | Assignment |
Owner name: MI ROBOTIC SOLUTIONS (MIRS), CHILE Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SALAMANCA P., HUGO;REEL/FRAME:022990/0599 Effective date: 20090717 Owner name: MI ROBOTIC SOLUTIONS (MIRS),CHILE Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SALAMANCA P., HUGO;REEL/FRAME:022990/0599 Effective date: 20090717 |
|
| STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |