US20070145649A1 - Robot system and method for copper concentrate injector cleaning in the flash furnace - Google Patents

Robot system and method for copper concentrate injector cleaning in the flash furnace Download PDF

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Publication number
US20070145649A1
US20070145649A1 US11/598,146 US59814606A US2007145649A1 US 20070145649 A1 US20070145649 A1 US 20070145649A1 US 59814606 A US59814606 A US 59814606A US 2007145649 A1 US2007145649 A1 US 2007145649A1
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United States
Prior art keywords
cleaning
robot system
flash furnace
robotic
concentrate injector
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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
Application number
US11/598,146
Inventor
Hugo Salamanca
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Mi Robotic Solutions SA
Howard Hughes Medical Institute
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Individual
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Publication date
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Priority to US11/598,146 priority Critical patent/US20070145649A1/en
Assigned to HOWARD HUGHES MEDICAL INSTITUTE reassignment HOWARD HUGHES MEDICAL INSTITUTE ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: TSAI, MING-YING, ZHENG, YIXIAN
Publication of US20070145649A1 publication Critical patent/US20070145649A1/en
Assigned to MI ROBOTIC SOLUTIONS (MIRS) reassignment MI ROBOTIC SOLUTIONS (MIRS) ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SALAMANCA P., HUGO
Abandoned legal-status Critical Current

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    • 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
    • C21B7/16—Tuyéres
    • C—CHEMISTRY; METALLURGY
    • C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
    • C22B—PRODUCTION AND REFINING OF METALS; PRETREATMENT OF RAW MATERIALS
    • C22B15/00—Obtaining copper
    • C22B15/0026—Pyrometallurgy
    • C22B15/0028—Smelting or converting
    • C22B15/0047—Smelting or converting flash smelting or converting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F27—FURNACES; KILNS; OVENS; RETORTS
    • F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
    • F27B17/00—Furnaces of a kind not covered by any preceding group
    • 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
    • F27D25/00—Devices or methods for removing incrustations, e.g. slag, metal deposits, dust; Devices or methods for preventing the adherence of slag
    • 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
    • F27D3/16—Introducing a fluid jet or current into the charge

Definitions

  • This invention relates to the use of robotic technology in mining industry, specifically in cleaning tasks in smelters.
  • 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 matter and the slag are discharged to bins through batch processes by opening and closing the corresponding bleed.
  • the flash furnace due to an increase in fusion forms accretions in the burner which implies the air umbrella is not developed and to clean it manually the load should decrease for safety reason.
  • the cleaning process has disadvantages from the point of view of safety as a result of the exposure of operators to spatters and molten metal projections.
  • a decrease in the furnace processing capacity could be generated which means a decrease in the flash furnace production.
  • a robot system and method have been developed for the automated cleaning of a concentrate injector in the flash furnace.
  • FIG. 1 General view of a robot system for the cleaning of the concentrate injector in the flash furnace
  • FIG. 2 General view of a robot system for the cleaning of the concentrate injector in the flash furnace
  • This invention relates to a new robot system as well as a robotic method for cleaning processes of the concentrate injector in flash furnaces, which are carried out automatically through an anthropomorphous robotic arm of at least 5 degrees of freedom, provided with a gripping mechanism, so as the robotic system is designed to manipulate several tools and allows to carry out the cleaning processes of the injectors.
  • the robot system is composed mainly of one anthropomorphous robotic manipulator ( 1 ) of at least 5 degrees of freedom, provided with a communication, acquisition and control system, and a gripping mechanism ( 2 ) which allows, in a sequential and programmed way, to take, manipulate, and release several tools ( 3 ) from a tool holder ( 4 ) to carry out the cleaning of the smelting furnace concentrate injector ( 5 ).

Abstract

At present, the flash furnace due to an increase in fusion forms accretions in the burner which causes that the “air umbrella” does not develop and in order to clean it manually the load must be lowered for safety reasons. One of the major disadvantages of all the tasks associated to the cleaning process is the exposure of the personnel to harsh environmental conditions. This in the medium and long term could generate serious occupational diseases to the operators in charge of carrying out such activity. Due to the above, a robot system and method have been developed for the automated cleaning of the burner thus minimizing the decrease of the load. The robotic system is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which allows to take, manipulate and release several tools from a tool holder to carry out the cleaning process of the smelting furnace.

Description

    CROSS-REFERENCE TO RELATED APPLICATIONS
  • This application claims the benefit of provisional patent application Ser. No. 60/734,969 filed 2005 Nov. 10 by the present inventor
    • FEDERAL SPONSORED RESEARCH
  • Not Applicable
    • SEQUENCE LISTING OR PROGRAM
  • Not Applicable
    • BACKGROUND—FIELD OF INVENTION
  • This invention relates to the use of robotic technology in mining industry, specifically in cleaning tasks in smelters.
    • BACKGROUND—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 matter and the slag are discharged to bins through batch processes by opening and closing the corresponding bleed. At present, the flash furnace due to an increase in fusion forms accretions in the burner which implies the air umbrella is not developed and to clean it manually the load should decrease for safety reason.
  • One of the major disadvantages of the tasks associated to the cleaning process is the exposure of the personnel to harsh environmental conditions. In the medium and long term this could generate serious occupational diseases to the operators involved in carrying out this activity.
  • Particularly the cleaning process has disadvantages from the point of view of safety as a result of the exposure of operators to spatters and molten metal projections. On the other hand, a decrease in the furnace processing capacity could be generated which means a decrease in the flash furnace production.
    • SUMMARY
  • A robot system and method have been developed for the automated cleaning of a concentrate injector in the flash furnace.
    • DRAWINGS—FIGURES
  • FIG. 1. General view of a robot system for the cleaning of the concentrate injector in the flash furnace
  • FIG. 2. General view of a robot system for the cleaning of the concentrate injector in the flash furnace
    • DRAWINGS—REFERENCE NUMERALS
  • 1 Robotic manipulator
  • 2. Gripping mechanism
  • 3. Tools
  • 4. Tool holder
  • 5. Smelting furnace concentrate injector
    • DETAILED DESCRIPTION
  • This invention relates to a new robot system as well as a robotic method for cleaning processes of the concentrate injector in flash furnaces, which are carried out automatically through an anthropomorphous robotic arm of at least 5 degrees of freedom, provided with a gripping mechanism, so as the robotic system is designed to manipulate several tools and allows to carry out the cleaning processes of the injectors.
  • With reference to FIG. 1 and FIG. 2, the robot system is composed mainly of one anthropomorphous robotic manipulator (1) of at least 5 degrees of freedom, provided with a communication, acquisition and control system, and a gripping mechanism (2) which allows, in a sequential and programmed way, to take, manipulate, and release several tools (3) from a tool holder (4) to carry out the cleaning of the smelting furnace concentrate injector (5).

Claims (20)

1. A robot system for the cleaning of the concentrate injector in the flash furnace comprising an anthropomorphous robotic arm of at least 5 degrees of freedom, one control, communication and programming unit, one gripper adapter, one pneumatic gripper, its fingers, one pneumatic gripper driving system, one electric supply system and a fixed and mobile tool holder wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom is provided with a gripping mechanism which allows in a sequential and programmed way to take, manipulate and release several tools or devices which are deposited in a fixed and/or mobile tool holder, located near the robotic manipulator, which are used to carry out the cleaning process of the concentrate injectors of smelting furnaces.
2. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.
3. A robot system for the cleaning of the concentrate injector in the flash 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.
4. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control analogue and/or digital input devices.
5. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein the robotic manipulator has a pneumatic, electric and/or hydraulic gripping mechanism to take, manipulate and release the several tools to be used according to the task to be performed.
6. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein the robotic manipulator is mounted on a fixed support which allows to move to approach and/or move away from the smelting furnace according to the task to be performed.
7. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein the anthropomorphous robotic manipulator has an electrical and/or hydraulic system driven by three-stage induction motors, with vectorial and/or scalar control.
8. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein it has the capacity to move and manipulate several tools in different paths within the work volume of the robotic manipulator.
9. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein it could be integrated to the cleaning process of injectors in any type of smelting furnace whether in smelting and/or conversion processes of copper or other metals (iron, zinc, nickel, silver, gold, tin, lead, etc.)
10. A robot system for the cleaning of the concentrate injector in the flash furnace according to claim 1, wherein the system may operate automatically, or semi-automatically, and also allows solutions scalability
11. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10 wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a pneumatic gripping mechanism which allows in a sequential and programmed way to take, manipulate and release several tools or devices which are deposited in a fixed and/or mobile tool holder, located near the robotic manipulator, which are used to carry out the cleaning process of the concentrate injectors of smelting furnaces.
12. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein the robotic manipulator has a pneumatic, electric and/or hydraulic gripping mechanism to take, manipulate and release the several tools to be used according to the task to be performed.
13. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.
14. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.
15. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.
16. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein the robotic manipulator is mounted on a fixed support which allows to move to approach and/or move away from the smelting furnace according to the task to be performed.
17. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein the anthropomorphous robotic manipulator has an electrical and/or hydraulic system driven by three-stage induction motors, with vectorial and/or scalar control.
18. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein it has the capacity to move and manipulate several tools in different paths within the work volume of the robotic manipulator.
19. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein it could be integrated to the cleaning process of injectors in any type of smelting furnace whether in smelting and/or conversion processes of copper or other metals (iron, zinc, nickel, silver, gold, tin, lead, etc.)
20. A robotic method for the cleaning of the concentrate injector in the flash furnace using the robot System of claim 1 to 10, wherein the system may operate automatically or semi-automatically, and also allows solution scalability.
US11/598,146 2005-11-10 2006-11-13 Robot system and method for copper concentrate injector cleaning in the flash furnace Abandoned US20070145649A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US11/598,146 US20070145649A1 (en) 2005-11-10 2006-11-13 Robot system and method for copper concentrate injector cleaning in the flash furnace

Applications Claiming Priority (2)

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US73496905P 2005-11-10 2005-11-10
US11/598,146 US20070145649A1 (en) 2005-11-10 2006-11-13 Robot system and method for copper concentrate injector cleaning in the flash furnace

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US11/598,145 Continuation-In-Part US20070144894A1 (en) 2005-11-10 2006-11-13 Robot system and method for cathode stripping in electrometallurgical and industrial processes

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070149098A1 (en) * 2005-11-10 2007-06-28 Hugo Salamanca Robot system and method for ball loading for loading into SAG and/or ball mills in ore concentration processes
US20070156287A1 (en) * 2005-11-10 2007-07-05 Hugo Salamanca Robot system and method for inspecting and repairing casts in smelting processes
US20090101179A1 (en) * 2005-11-10 2009-04-23 Hugo Salamanca Robot system and method for molybdenum roasting furnaces cleaning procedures
EP2255905A1 (en) * 2009-05-15 2010-12-01 TBR Engineering Metalltechnologie und Planungs Gmb Apparatus for conducting operations inside a metallurgical vessel
US20120086157A1 (en) * 2007-03-26 2012-04-12 Mars Metals, Inc. Apparatus for Removing Material from Surfaces of a Metals Processing Chamber
CN104227772A (en) * 2013-06-12 2014-12-24 萨特隆股份公司 Device For Supplying A Liquid Cooling Lubricant To A Cutting Edge Of A Lathe Tool

Citations (2)

* Cited by examiner, † Cited by third party
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

Patent Citations (2)

* Cited by examiner, † Cited by third party
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 (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070149098A1 (en) * 2005-11-10 2007-06-28 Hugo Salamanca Robot system and method for ball loading for loading into SAG and/or ball mills in ore concentration processes
US20070156287A1 (en) * 2005-11-10 2007-07-05 Hugo Salamanca Robot system and method for inspecting and repairing casts in smelting processes
US20090101179A1 (en) * 2005-11-10 2009-04-23 Hugo Salamanca Robot system and method for molybdenum roasting furnaces cleaning procedures
US7551981B2 (en) * 2005-11-10 2009-06-23 Hugo Salamanca Robot system and method for inspecting and repairing casts in smelting processes
US7567855B2 (en) * 2005-11-10 2009-07-28 Hugo Salamanca Robot system and method for ball loading for loading into SAG and/or ball mills in ore concentration processes
US20120086157A1 (en) * 2007-03-26 2012-04-12 Mars Metals, Inc. Apparatus for Removing Material from Surfaces of a Metals Processing Chamber
US8156623B1 (en) * 2007-03-26 2012-04-17 Mars Metals, Inc. Apparatus for removing material from surfaces of a metals processing chamber
EP2255905A1 (en) * 2009-05-15 2010-12-01 TBR Engineering Metalltechnologie und Planungs Gmb Apparatus for conducting operations inside a metallurgical vessel
CN104227772A (en) * 2013-06-12 2014-12-24 萨特隆股份公司 Device For Supplying A Liquid Cooling Lubricant To A Cutting Edge Of A Lathe Tool

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AS Assignment

Owner name: HOWARD HUGHES MEDICAL INSTITUTE, MARYLAND

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:ZHENG, YIXIAN;TSAI, MING-YING;REEL/FRAME:018905/0323;SIGNING DATES FROM 20061117 TO 20061120

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

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