US20070152384A1 - Robot system and method for fire refined bundling procedure in metal smelting processes - Google Patents
Robot system and method for fire refined bundling procedure in metal smelting processes Download PDFInfo
- Publication number
- US20070152384A1 US20070152384A1 US11/595,952 US59595206A US2007152384A1 US 20070152384 A1 US20070152384 A1 US 20070152384A1 US 59595206 A US59595206 A US 59595206A US 2007152384 A1 US2007152384 A1 US 2007152384A1
- Authority
- US
- United States
- Prior art keywords
- bundling
- fire refined
- robot system
- metal smelting
- smelting processes
- 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 76
- 239000002184 metal Substances 0.000 title claims description 51
- 229910052751 metal Inorganic materials 0.000 title claims description 51
- 238000003723 Smelting Methods 0.000 title claims description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000005266 casting Methods 0.000 claims abstract description 13
- 230000007613 environmental effect Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 2
- 238000001816 cooling Methods 0.000 claims description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 12
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims 6
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 claims 6
- 229910052802 copper Inorganic materials 0.000 claims 6
- 239000010949 copper Substances 0.000 claims 6
- 229910052742 iron Inorganic materials 0.000 claims 6
- 239000011133 lead Substances 0.000 claims 6
- 150000002739 metals Chemical class 0.000 claims 6
- 229910052725 zinc Inorganic materials 0.000 claims 6
- 239000011701 zinc Substances 0.000 claims 6
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims 4
- 239000000498 cooling water Substances 0.000 claims 3
- 230000006698 induction Effects 0.000 claims 3
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims 2
- 229910052759 nickel Inorganic materials 0.000 claims 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims 1
- 229910052737 gold Inorganic materials 0.000 claims 1
- 239000010931 gold Substances 0.000 claims 1
- -1 golden Chemical compound 0.000 claims 1
- 229910052709 silver Inorganic materials 0.000 claims 1
- 239000004332 silver Substances 0.000 claims 1
- 239000011135 tin Substances 0.000 claims 1
- 208000028571 Occupational disease Diseases 0.000 abstract description 2
- 230000007774 longterm Effects 0.000 abstract description 2
- 239000012141 concentrate Substances 0.000 description 3
- 239000012535 impurity Substances 0.000 description 2
- 238000007670 refining Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007788 liquid Substances 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
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 239000012629 purifying agent Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D5/00—Machines or plants for pig or like casting
- B22D5/02—Machines or plants for pig or like casting with rotary casting tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- C22B1/00—Preliminary treatment of ores or scrap
- C22B1/005—Preliminary treatment of scrap
-
- 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, specifically in the recovery of scrap material.
- smelting furnaces are used to cast metal concentrates for purifying and extracting them.
- the first stage of the productive process is to move the dry concentrate to one of these furnaces, which could be a flash furnace and/or a Teniente converter, where casting is at temperatures over 1.200° C.
- the heaviest layer is called matte and it is a metal enriched component.
- the slag is floating, which is a coat of impurities of the metal of interest. In this way and during successive stages, the stage rich in the metal of interest is sequentially cast and refined through several furnaces which allows to obtain a high purity metal.
- the fire refining stage is carried out in which the metal is processed in rotary furnaces, by adding special purifying agents which are called fluidizing agents to oxide and eliminate all the impurities with the resulting effect of very few non desired elements contained in the molten bath. Then, the oxygen is extracted with steam or oil injections with the final result of a high purity level.
- the furnace is inclined and in exact quantities the metal is poured in one of the ingot molds of the fire refined mold casting wheel. Once the metal is poured into the mold, the wheel rotates to advance the following mold to the position and other ingot is molded. This way, the wheel speed is adjusted in an accurate way to the optimum speed profile, ensuring a smooth positive and negative acceleration level of the molds. This is intended to produce high quality ingots with a minimum burr formation grade.
- the dislodging process (stripping and/or extraction) proceeds in which the molded ingots are lifted and sent to a cooling tank to avoid the excessive oxidation and to obtain a deep scrubbing.
- the molded ingots are counted and arranged in predetermined bundles.
- a robot system comprised of two manipulators to handle ingots, while one robot takes the ingot from the casting wheel to the water bath to cool off, the second manipulator takes the cooled off ingot to the bundling area.
- FIG. 1 shows a general view of the robot system for fire refined bundling procedure.
- FIG. 2 shows a general view of the robot system for fire refined bundling procedure.
- This invention relates to a new robot system as well as a robotic method for fire refined bundling procedures, which are mainly composed of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, with a gripping mechanism, so the robotic system itself is designed to take, manipulate and release ingots.
- the system is mainly composed of two anthropomorphous robotic manipulators of at least 5 degrees of freedom ( 1 ), provided with a communication, acquisition and control system, so as the robotic manipulators are mounted on a fixed and/or mobile system ( 2 ), and also provided with a gripping mechanism ( 3 ) to take, manipulate and release an ingot ( 4 ) to arrange fire refined bundles ( 5 ).
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manufacture And Refinement Of Metals (AREA)
Abstract
At present, the ingots from the fire refined mold casting wheel are taken and arranged manually to make the fire refined bundles. The tasks associated to this procedure are characterized by the exposure to the personnel to harsh environmental conditions. In the medium and long term, this could generate serious occupational diseases to the operators in charge of developing this task. Due to the above, a robot system and method have been developed to automate fire refined bundling.
The robotic system is composed mainly of a robotic manipulator of at least 5 degrees of freedom (1) which is mounted on a fixed and/or mobile system (2) and provided with a gripping mechanism (3) to take, manipulate and release an ingot (4) for fire refined bundling (5). In this regard, most of the problems associated to the safety of the people and to the productivity of the current manual process are eliminated.
Description
- This application claims the benefit of provisional patent application Ser. No. 60/734,988 filed 2005 Nov. 10 by the present inventor
- Not Applicable
- Not Applicable
- 1. Field of The Invention
- This invention relates to the use of robotic technology in mining industry, specifically in the recovery of scrap material.
- 2. Prior Art
- During metal obtaining and refining processes, smelting furnaces are used to cast metal concentrates for purifying and extracting them. The first stage of the productive process is to move the dry concentrate to one of these furnaces, which could be a flash furnace and/or a Teniente converter, where casting is at temperatures over 1.200° C. In this way, while the concentrate becomes a molten liquid mass, its components are being separated and combined then to form a two layer bath. The heaviest layer is called matte and it is a metal enriched component. Over this layer, the slag is floating, which is a coat of impurities of the metal of interest. In this way and during successive stages, the stage rich in the metal of interest is sequentially cast and refined through several furnaces which allows to obtain a high purity metal.
- In the last stage of the smelting process, the fire refining stage is carried out in which the metal is processed in rotary furnaces, by adding special purifying agents which are called fluidizing agents to oxide and eliminate all the impurities with the resulting effect of very few non desired elements contained in the molten bath. Then, the oxygen is extracted with steam or oil injections with the final result of a high purity level. Thus, when a metal load reaches the required purity level, the furnace is inclined and in exact quantities the metal is poured in one of the ingot molds of the fire refined mold casting wheel. Once the metal is poured into the mold, the wheel rotates to advance the following mold to the position and other ingot is molded. This way, the wheel speed is adjusted in an accurate way to the optimum speed profile, ensuring a smooth positive and negative acceleration level of the molds. This is intended to produce high quality ingots with a minimum burr formation grade.
- To finish the smelting process, the dislodging process (stripping and/or extraction) proceeds in which the molded ingots are lifted and sent to a cooling tank to avoid the excessive oxidation and to obtain a deep scrubbing.
- Finally, the molded ingots are counted and arranged in predetermined bundles.
- One of the major disadvantages of the tasks associated to the ingots bundling process from the mold casting wheels 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 task.
- Due to the above, a robot system and method have been developed to automate the procedure of fire refined bundling.
- A robot system comprised of two manipulators to handle ingots, while one robot takes the ingot from the casting wheel to the water bath to cool off, the second manipulator takes the cooled off ingot to the bundling area.
- In the drawings, closely related figures share the same numbers, with different alphabetic suffixes.
-
FIG. 1 shows a general view of the robot system for fire refined bundling procedure. -
FIG. 2 shows a general view of the robot system for fire refined bundling procedure. - 1 Robotic manipulator of at least 5 degrees of freedom
- 2 Fixed and/or mobile mounting system
- 3 Gripping mechanism
- 4 Ingot
- 5 Bundling area
- This invention relates to a new robot system as well as a robotic method for fire refined bundling procedures, which are mainly composed of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, with a gripping mechanism, so the robotic system itself is designed to take, manipulate and release ingots.
- With reference to
FIG. 1 andFIG. 2 , the system is mainly composed of two anthropomorphous robotic manipulators of at least 5 degrees of freedom (1), provided with a communication, acquisition and control system, so as the robotic manipulators are mounted on a fixed and/or mobile system (2), and also provided with a gripping mechanism (3) to take, manipulate and release an ingot (4) to arrange fire refined bundles (5).
Claims (32)
1. A robot system for fire refined bundling in metal smelting processes, comprising two anthropomorphous robotic arms of at least 5 degrees of freedom, with their corresponding control, communication and programming units, gripper adapters, gripper mechanisms, gripper mechanism driving systems and electric supply systems wherein the first 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 metal ingots from the mold casting wheel to the water bath to cool it, so once the ingot cools off, it is taken, manipulated and released from the water bath to the fire refined bundling area, in a sequential and programmed way, by the second anthropomorphous robotic manipulator of at least 5 degrees of freedom provided with a gripping mechanism, so the ingot is deposited on a mobile drawer rack containing them, located near the robotic manipulator.
2. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the first robotic manipulator could be mounted on a fixed and/or mobile system located between the mold casting wheel and the water bath, so it allows to approach and/or move away between the mold casting wheel and the cooling water bath according to the task to be performed.
3. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the second robotic manipulator could be mounted on a fixed and/or mobile system located between the fire refined bundling area and the water bath, so it may move to approach or move away between the fire refined bundling area and the cooling water bath according to the task to be performed.
4. A robot system for fire refined bundling 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 fire refined bundling 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 fire refined bundling 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 fire refined bundling in metal smelting processes, according to claim 1 , wherein the system has the capacity to move and manipulate the ingots, in a sequential and programmed way, in different paths within the work volume of the robotic manipulator.
8. A robot system for fire refined bundling 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.
9. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the system uses a gripping mechanism to take, manipulate and release the fire refined ingots.
10. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the system uses a gripping mechanism comprising at least 4 fingers, which allows to grasp and release the fire refined ingots.
11. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the anthropomorphous robotic manipulator has an electrical system driven by cage induction motors (with no slip rings), with vectorial control.
12. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein productivity and efficiency in the fire refined bundling procedure in the smelting process of different metals such as copper, iron, zinc, lead etc increases.
13. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the system could be integrated to fire refined bundling procedures of different metals of interest such as copper, iron, zinc, lead etc.
14. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the system could be integrated to bundling processes in any type of mold casting wheels of smelting furnace, whether copper smelting processes and of other metals (iron, zinc, nickel, lead, gold, tin, lead, etc.).
15. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein the system may operate automatically, or semiautomatically, and also allows solutions scalability.
16. A robot system for fire refined bundling in metal smelting processes, according to claim 1 , wherein it prevents the plant personnel from being subjected to a high physical demand and harsh environmental conditions.
17. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the first 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 the metal ingots from the mold casting wheel to a water bath to cool it down and later taken, manipulated and released from the water bath to the fire refined bundling area in a sequential and programmed way by the 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 the ingot which is deposited in a mobile drawer rack containing them, located near the robotic manipulator.
18. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the first robotic manipulator could be mounted on a fixed and/or mobile system located between the mold casting wheel and the water bath so as it allows to approach and/or move away between the mold casting wheel and the cooling area according to the task to be carried out.
19. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the second robotic manipulator could be mounted on a fixed and/or mobile system located between the fire refined bundling area and the water bath so as it may move to approach or move away between the fire refined bundling area and the cooling water bath according to the task to be performed.
20. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.
21. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.
22. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.
23. A robotic method for fire refined bundling in metal smelting processes using the robot system of claim 1 to 16, wherein the system has the capacity to move and manipulate the ingots in a sequential and programmed way in different paths within the work volume of the robotic manipulator.
24. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the anthropomorphous robotic manipulator has an electrical and/or hydraulic system driven by electric motors with vectorial control.
25. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the system uses a gripping mechanism to take, manipulate and release the fire refined ingots.
26. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the system uses a gripping mechanism comprising at least 4 fingers which allows to tight and release the fire refined ingots.
27. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors with vectorial and/or scalar control
28. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein productivity and efficiency in fire refined bundling processes in smelting processes of different metals such as copper, iron, zinc, lead, etc increases.
29. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the system could be integrated to fire refined bundling procedures of different metals of interest such as copper, iron, zinc, lead etc.
30. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein it could be integrated to fire refined bundling procedures in any type of mold casting wheel of the smelting furnace, whether in copper smelting processes or of other metals (iron, zinc, nickel, silver, golden, tin, lead, etc.).
31. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein the system may operate automatically or semi-automatically, and also allows solution scalability.
32. A robotic method for fire refined bundling in metal smelting processes using the robot System of claim 1 to 16, wherein it prevents the plant personnel from being subjected to a high physical demand and harsh environmental conditions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US11/595,952 US20070152384A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for fire refined bundling procedure in metal smelting processes |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US73498805P | 2005-11-10 | 2005-11-10 | |
| US11/595,952 US20070152384A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for fire refined bundling procedure in metal smelting processes |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/595,953 Continuation-In-Part US7746018B2 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for reposition and/or removal of base plates from cathode stripping machines in electrometallurgical processes |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/595,951 Continuation-In-Part US20090101179A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for molybdenum roasting furnaces cleaning procedures |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| US20070152384A1 true US20070152384A1 (en) | 2007-07-05 |
Family
ID=38223544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/595,952 Abandoned US20070152384A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for fire refined bundling procedure in metal smelting processes |
Country Status (1)
| Country | Link |
|---|---|
| US (1) | US20070152384A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070299556A1 (en) * | 2005-11-10 | 2007-12-27 | Hugo Salamanca | Robot system and method for scrap bundling in metal smelting and refining processes |
| US20090101179A1 (en) * | 2005-11-10 | 2009-04-23 | Hugo Salamanca | Robot system and method for molybdenum roasting furnaces cleaning procedures |
Citations (3)
| 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 |
-
2006
- 2006-11-13 US US11/595,952 patent/US20070152384A1/en not_active Abandoned
Patent Citations (3)
| 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 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070299556A1 (en) * | 2005-11-10 | 2007-12-27 | Hugo Salamanca | Robot system and method for scrap bundling in metal smelting and refining processes |
| US20090101179A1 (en) * | 2005-11-10 | 2009-04-23 | Hugo Salamanca | Robot system and method for molybdenum roasting furnaces cleaning procedures |
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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 |