US20070145650A1 - Robot system and method for sampling procedures in trucks and carts for concentrate transportation in metal smelting processes - Google Patents

Robot system and method for sampling procedures in trucks and carts for concentrate transportation in metal smelting processes Download PDF

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Publication number
US20070145650A1
US20070145650A1 US11/595,958 US59595806A US2007145650A1 US 20070145650 A1 US20070145650 A1 US 20070145650A1 US 59595806 A US59595806 A US 59595806A US 2007145650 A1 US2007145650 A1 US 2007145650A1
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United States
Prior art keywords
sampling
carts
robot system
metal smelting
concentrate
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Abandoned
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US11/595,958
Inventor
Hugo Salamanca
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Individual
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Priority to US11/595,958 priority Critical patent/US20070145650A1/en
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    • C—CHEMISTRY; METALLURGY
    • C21—METALLURGY OF IRON
    • C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D11/00—Process control or regulation for heat treatments
    • 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
    • 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—Arrangements of monitoring devices; Arrangements of safety devices
    • 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
    • C21C5/52—Manufacture of steel in electric furnaces
    • C21C2005/5288—Measuring or sampling devices
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/20—Recycling

Definitions

  • This invention relates to the use of robotic technology in mining industry to improve the representativeness of the samples obtained, specifically in the smelting area.
  • the main raw material is the concentrate.
  • the smelting plants usually treat the concentrate from their own plants or third parties, in such a way that when the concentrate belongs to third parties, a purchase is carried out and for this it is necessary during the reception stage to determine the concentration grade. This is done by taking samples of the concentrate from inside the hopper and/or cart by an extracting tube which is handled manually by one person who is in charge of going over the load and carrying out the sampling process.
  • the importance of the sample taken to the concentrate is based on the fact that almost all the decisions are based on the values obtained from the material subjected to sampling, noting that a sample means a part or a portion extracted from a group through methods which allow to consider the sample as representative of the group and being understood that the sampling is the action of collecting samples which represent the average quality or conditions of a group or the technique employed in this selection or the selection of a small part which is statistically determined to deduce the value of one or more characteristics of the group.
  • this activity determines the value to be paid to the third parties for the concentrate and the conditions for the raw material to enter the smelting process, this is the reason why eliminating the bias associated to the operator is vitally important when taking the samples.
  • Other important task in sampling is to distinguish the accident rate risks of the personnel carrying out the activity.
  • a robot system and method have been developed for automated sampling of concentrate in order to ensure the representativeness of the sampling by improving the control over the product to be commercialized.
  • FIG. 1 View of a robotic manipulator taking a sample of the concentrate in trucks and transportation carts.
  • FIG. 2 General view of a robot system for concentrate sampling.
  • This invention relates to a new robot system as well as a robotic method for concentrate sampling in trucks and transportation carts, which is carried out automatically through anthropomorphous robotic arms of at least 5 degrees of freedom, which are installed at one side of the sampling area.
  • the robot system is composed mainly of one robotic manipulator ( 1 ) of at least 5 degrees of freedom, provided with a communication, acquisition and control system, and a gripping mechanism ( 2 ) to allow to take the sampling device ( 3 ) from a tool holder ( 4 ), located at one of its sides, and move them through a defined path until reaching the sampling area ( 5 ) in which the sampling process over a mesh to be defined in the concentrate transportation in trucks and carts will take place ( 6 ).

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Manipulator (AREA)

Abstract

At present, concentrate sampling in trucks and transportation carts is carried out manually and the disadvantage of this is the fact that the system is less efficient as a result of the less representativeness of the samples obtained. Due to the above, a robot system and method have been developed which are able to carry out the sampling in trucks and carts for concentrate transportation in an automated way in order to ensure the representativeness of sampling by improving the control over the product to be commercialized. The robotic system is composed mainly of a robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which allows to take the sampling device from a tool holder Located at one of its sides, moving them through a defined path to the sampling area where the sampling process over a mesh to be defined will take place in a sequential and programmed way in concentrate transportation trucks and/or carts.

Description

    CROSS-REFERENCE TO RELATED APPLICATIONS
  • This application claims the benefit of provisional patent application Ser. No. 60/734,977 filed 2005 Nov. 10 by the present inventor
    • FEDERAL SPONSORED RESEARCH
  • Not Applicable
    • SEQUENCE LISTING OR PROGRAM
  • Not Applicable
    • BACKGROUND
  • 1. Field of Invention
  • This invention relates to the use of robotic technology in mining industry to improve the representativeness of the samples obtained, specifically in the smelting area.
  • 2. Prior Art
  • In metal smelting processes, the main raw material is the concentrate.
  • The smelting plants usually treat the concentrate from their own plants or third parties, in such a way that when the concentrate belongs to third parties, a purchase is carried out and for this it is necessary during the reception stage to determine the concentration grade. This is done by taking samples of the concentrate from inside the hopper and/or cart by an extracting tube which is handled manually by one person who is in charge of going over the load and carrying out the sampling process. The importance of the sample taken to the concentrate is based on the fact that almost all the decisions are based on the values obtained from the material subjected to sampling, noting that a sample means a part or a portion extracted from a group through methods which allow to consider the sample as representative of the group and being understood that the sampling is the action of collecting samples which represent the average quality or conditions of a group or the technique employed in this selection or the selection of a small part which is statistically determined to deduce the value of one or more characteristics of the group. In this regard, this activity determines the value to be paid to the third parties for the concentrate and the conditions for the raw material to enter the smelting process, this is the reason why eliminating the bias associated to the operator is vitally important when taking the samples. Other important task in sampling is to distinguish the accident rate risks of the personnel carrying out the activity.
  • Particularly, the task of taking samples of concentrates is carried out manually and the disadvantage of this is the fact the system is less efficient as a result of the less representativeness of the samples obtained.
    • SUMMARY
  • A robot system and method have been developed for automated sampling of concentrate in order to ensure the representativeness of the sampling by improving the control over the product to be commercialized.
    • DRAWINGS—FIGURES
  • In the drawings, closely related figures share the same numbers, with different alphabetic suffixes.
  • FIG. 1. View of a robotic manipulator taking a sample of the concentrate in trucks and transportation carts.
  • FIG. 2. General view of a robot system for concentrate sampling.
    • DRAWINGS—REFERENCE NUMERALS
      • 1. Robotic manipulator
      • 2. Gripping mechanism
      • 3. Sampling device
      • 4. Tool holder
      • 5. Sampling area
      • 6. Truck in sampling position
    DETAILED DESCRIPTION
  • This invention relates to a new robot system as well as a robotic method for concentrate sampling in trucks and transportation carts, which is carried out automatically through anthropomorphous robotic arms of at least 5 degrees of freedom, which are installed at one side of the sampling area.
  • With reference to FIG. 1 and FIG. 2, the robot system is composed mainly of one robotic manipulator (1) of at least 5 degrees of freedom, provided with a communication, acquisition and control system, and a gripping mechanism (2) to allow to take the sampling device (3) from a tool holder (4), located at one of its sides, and move them through a defined path until reaching the sampling area (5) in which the sampling process over a mesh to be defined in the concentrate transportation in trucks and carts will take place (6).

Claims (27)

1. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes 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, one vision system and one sampling device or apparatus 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 a sampling device and move it through a defined path to the sampling area in which a concentrate sampling process is carried out in a sequential and programmed way over a mesh to be defined in the concentrate transportation trucks and/or carts.
2. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes, according to claim 1, wherein the robotic manipulator has a gripping mechanism to take, manipulate and release in a sequential and programmed way an advanced vision system for surface inspection in order to carry out a surface verification procedure in different paths within the work volume of the robotic system.
3. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein the robotic manipulator has a gripping mechanism to take, manipulate and release in a sequential and programmed way a sampling device or apparatus from a fixed and/or mobile tool post located at one of its sides and moves it within the work volume of the robotic system.
4. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.
5. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes 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. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes 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.
7. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein the robotic manipulator, of at least 5 degrees of freedom is mounted on a fixed and/or mobile support.
8. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein the system has a tool post from which the anthropomorphous robotic manipulator of at least 5 degrees of freedom could take a sampling device or apparatus and move it through de defined path to the sampling area in the concentrate transportation truck or cart in which the sampling process over a mesh to be defined will take place.
9. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein the system has a sampling device or apparatus which is used to take samples from the concentrate transportation truck or cart.
10. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors, with vectorial and/or scalar control.
11. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein productivity and efficiency of the sampling process of concentrates and/or metals increases, by improving the representativeness of the sample and the quality control of the product to be commercialized.
12. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein it could be integrated not only to smelting processes of different metals such as copper, molybdenum, zinc, lead etc., but also it could be used for sampling activities, either individually or in collaboration, in a wide range of other industrial productive processes.
13. A robot system for sampling in concentrate transportation trucks and carts in metal smelting processes according to claim 1, wherein the system may operate automatically, or semiautomatically, and also allows solutions scalability.
14. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the system uses an anthropomorphous robotic arm of at least 5 degrees of freedom provided with a pneumatic gripping mechanism which allows in a sequential and programmed way to take, manipulate and release a sampling device or apparatus and move it to the sampling area in which in a sequential and programmed way the sampling process of concentrate over a mesh to be defined in the concentrate transportation trucks and/or carts will take place.
15. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the robotic manipulator has a gripping mechanism to take, manipulate and release in a sequential and programmed way an advanced vision system for surface inspection in order to carry out surface verification procedures in different paths within the work volume of the robotic system.
16. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the robotic manipulator has a gripping mechanism to take, manipulate and release in a sequential and programmed way a sampling device from a fixed and/or mobile tool post located at one of its sides and move it within the work volume of the robotic system.
17. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the robotic manipulator of at least 5 degrees of freedom is mounted on a fixed and/or mobile support.
18. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.
19. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.
20. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.
21. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the system has a tool holder in which the anthropomorphous robotic arm of at least 5 degrees of freedom can take a sampling device or apparatus and move it though a defined path to the sampling area in the concentrate transportation trucks or carts in which the sampling process of the concentrate over a mesh to be defined will take place.
22. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the system has a sampling device which is used for sampling processes in the concentrate transportation truck or cart.
23. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors with vectorial and/or scalar control.
24. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein productivity and efficiency of the sampling process of concentrates and/or minerals increases by improving the representativeness of the sample and the quality control of the product to be commercialized.
25. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein it could be integrated to smelting processes of different metals such as copper, molybdenum, zinc, lead etc., but also it could be used for sampling activities, either individually or compositum, in a wide range of other industrial productive processes.
26. A robotic method for sampling in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein the system may operate automatically or semiautomatically, and also allows solution scalability.
27. A sampling tool or device for sampling procedures in concentrate transportation trucks and carts in metal smelting processes using the robot System of claim 1 to 13, wherein such tool or device is located in the tool holder in order that the robotic manipulator may take it in a sequential and programmed way to carry out the sampling process and once this sampling activity is finished, it is repositioned in the tool holder.
US11/595,958 2005-11-10 2006-11-13 Robot system and method for sampling procedures in trucks and carts for concentrate transportation in metal smelting processes Abandoned US20070145650A1 (en)

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Cited By (4)

* 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
WO2016053126A1 (en) 2014-10-02 2016-04-07 Introsys - Integration For Robotic Systems - Integração De Sistemas Robóticos, S.A. Mobile service robot capable of collecting biological and soil samples for environmental monitoring

Citations (4)

* 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
US6601468B2 (en) * 2000-10-24 2003-08-05 Innovative Robotic Solutions Drive system for multiple axis robot arm
US20030229420A1 (en) * 2000-08-18 2003-12-11 Buckingham Robert Oliver Robotic positioning of a work tool or sensor

Patent Citations (4)

* 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
US20030229420A1 (en) * 2000-08-18 2003-12-11 Buckingham Robert Oliver Robotic positioning of a work tool or sensor
US6601468B2 (en) * 2000-10-24 2003-08-05 Innovative Robotic Solutions Drive system for multiple axis robot arm

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
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
WO2016053126A1 (en) 2014-10-02 2016-04-07 Introsys - Integration For Robotic Systems - Integração De Sistemas Robóticos, S.A. Mobile service robot capable of collecting biological and soil samples for environmental monitoring

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