US20070152385A1 - Robotic system and method for the cleaning of casting ladles in electric arc furnaces - Google Patents
Robotic system and method for the cleaning of casting ladles in electric arc furnaces Download PDFInfo
- Publication number
- US20070152385A1 US20070152385A1 US11/595,957 US59595706A US2007152385A1 US 20070152385 A1 US20070152385 A1 US 20070152385A1 US 59595706 A US59595706 A US 59595706A US 2007152385 A1 US2007152385 A1 US 2007152385A1
- Authority
- US
- United States
- Prior art keywords
- cleaning
- ladle
- electric furnace
- robot system
- robotic
- 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
- 238000004140 cleaning Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000010891 electric arc Methods 0.000 title description 2
- 238000005266 casting Methods 0.000 title 1
- 239000002893 slag Substances 0.000 claims abstract description 13
- 238000003723 Smelting Methods 0.000 claims abstract description 9
- 229910052751 metal Inorganic materials 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 150000002739 metals Chemical class 0.000 claims description 4
- 238000006243 chemical reaction Methods 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
- 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
- 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
- 230000006698 induction Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 241001062472 Stokellia anisodon Species 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000007774 longterm Effects 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
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000007254 oxidation reaction Methods 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
- B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
- B22D41/001—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like devices for cleaning ladles
-
- 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
- C21C5/4693—Skull removal; Cleaning of the converter mouth
-
- 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
- C21C5/5294—General arrangement or layout of the electric melt shop
-
- 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 electric arc furnaces.
- the smelting furnaces are used and are intended to smelt metals and/or concentrates of metals for purifying and extracting it. These furnaces use the heat generated by the oxidation reactions at high temperatures, obtaining 2 stages: a stage rich in valuable metal, called matte and other stage which is poor in valuable metal called slag.
- the smelting furnaces operate on a continuous basis, while the matte and the slag is unloaded to bins through batch processes through opening and closing the corresponding bleed.
- the slag generated from this smelting process feeds an electric furnace which is intended to treat the slag from the fusion and conversion furnaces.
- the slag from these other furnaces is constantly loaded through a reception ladle.
- the slag solidifies and adheres to the reception ladle which decreases the effective area through which the furnace is fed. This means that the furnace cannot be loaded on a constant basis if the ladle is not cleaned which means the furnace production is reduced.
- a robotic system and method have been developed for cleaning the ladle of the electric furnace, capable of carrying out such activity in an automated way.
- FIG. 1 General view of a robot system for cleaning the ladle in the electric furnace
- FIG. 2 General view of a robot system for cleaning the ladle in the electric furnace
- FIG. 3 General layout of a robotic system fro cleaning procedures of the ladle in the electric furnace
- This invention relates to a new robot system as well as a robotic method for cleaning procedures of the ladle in the electric furnace, which are carried out automatically through anthropomorphous robotic arms of at least 6 degrees of freedom for the cleaning of the ladle after each discharge of the bin.
- the robot system for the cleaning of the ladle in the electric furnace is composed mainly of one robotic manipulator of at least 6 degrees of freedom ( 1 ), provided with a communication, acquisition and control system and a gripping mechanism ( 2 ) to allow to take, manipulate, and release a tool ( 3 ), which is used for cleaning processes of all the ladle surface ( 4 ), after each discharge of the bin.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Furnace Charging Or Discharging (AREA)
Abstract
In the smelting process, the electric furnace is intended to treat the slag from other furnaces. The slag loading of the electric furnace is carried out using a ladle which cools down after unloading the slag which is adhered to the ladle making it difficult to reload the furnace. For this reason, the ladle must be cleaned on a regular basis. Due to the above, a robot system and method have been developed to clean the electric furnace ladle, which is capable of carrying out such activity automatically through the use of a robotic manipulator.
The robotic system is composed mainly of an anthropomorphous robotic manipulator of at least 6 degrees of freedom (1), and one cleaning tool (2) which allows to clean the ladle (3) each time the furnace is loaded (4).
Description
- This application claims the benefit of provisional patent application Ser. No. 60/734,980 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, specifically in the electric arc furnaces.
- 2. Prior Art
- In the metal smelting processes, the smelting furnaces are used and are intended to smelt metals and/or concentrates of metals for purifying and extracting it. These furnaces use the heat generated by the oxidation reactions at high temperatures, obtaining 2 stages: a stage rich in valuable metal, called matte and other stage which is poor in valuable metal called slag. In general terms, the smelting furnaces operate on a continuous basis, while the matte and the slag is unloaded to bins through batch processes through opening and closing the corresponding bleed.
- The slag generated from this smelting process feeds an electric furnace which is intended to treat the slag from the fusion and conversion furnaces. For these purposes, the slag from these other furnaces is constantly loaded through a reception ladle. When the slag cools off, it solidifies and adheres to the reception ladle which decreases the effective area through which the furnace is fed. This means that the furnace cannot be loaded on a constant basis if the ladle is not cleaned which means the furnace production is reduced.
- One of the main disadvantages of the tasks associated to the cleaning of ladles 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 this task.
- A robotic system and method have been developed for cleaning the ladle of the electric furnace, capable of carrying out such activity in an automated way.
- In the drawings, closely related figures share the same numbers, with different alphabetic suffixes.
-
FIG. 1 . General view of a robot system for cleaning the ladle in the electric furnace -
FIG. 2 . General view of a robot system for cleaning the ladle in the electric furnace -
FIG. 3 . General layout of a robotic system fro cleaning procedures of the ladle in the electric furnace - 1. Robotic manipulator
- 2. gripping mechanism
- 3. Cleaning Tool
- 4. Ladle
- This invention relates to a new robot system as well as a robotic method for cleaning procedures of the ladle in the electric furnace, which are carried out automatically through anthropomorphous robotic arms of at least 6 degrees of freedom for the cleaning of the ladle after each discharge of the bin.
- With reference to
FIG. 1 ,FIG. 2 , andFIG. 3 , the robot system for the cleaning of the ladle in the electric furnace is composed mainly of one robotic manipulator of at least 6 degrees of freedom (1), provided with a communication, acquisition and control system and a gripping mechanism (2) to allow to take, manipulate, and release a tool (3), which is used for cleaning processes of all the ladle surface (4), after each discharge of the bin.
Claims (24)
1. A robot system for cleaning the ladle in the electric 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 mechanism, one pneumatic gripper driving system, one electric supply system, one fixed or mobile tool holder, one device or tool for cleaning the reception ladles wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a gripping mechanism which allows in a sequential and programmed way to take the cleaning device or tool which are placed at the fixed and/or mobile tool holder located near the robotic manipulator and which will used for the cleaning of all the surface of the reception ladle after each discharge of the pot at the smelting furnace.
2. A robot system for cleaning the ladle in the electric furnace according to claim 1 , wherein the system has the capacity to take, manipulate and release the cleaning device or tool in different paths within the work volume of the robotic manipulator.
3. A robot system for cleaning the ladle in the electric furnace according to claim 1 , wherein the robotic manipulator is mounted on a fixed and/or mobile system which allows in a sequential and programmed way to approach or move away from the reception ladle of the slag cleaning furnace in order to carry out the cleaning process of the reception ladle.
4. A robot system for cleaning the ladle in the electric furnace 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 cleaning the ladle in the electric 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. A robot system for cleaning the ladle in the electric 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.
7. A robot system for cleaning the ladle in the electric furnace according to claim 1 , wherein the robotic manipulator has a gripping mechanism, whether pneumatic, electrical and/or hydraulic, so such device allows in a sequential and programmed way to take, manipulate and release the device or tool for cleaning the reception ladle.
8. A robot system for cleaning the ladle in the electric furnace according to claim 1 , wherein it uses a fixed and/or mobile tool holder from which the manipulator takes in a sequential and programmed way the device and tool to be used in the cleaning of reception ladles.
9. A robot system for cleaning the ladle in the electric furnace according to claim 1 , wherein it uses a device or tool located in the tool holder in such a way that the robotic manipulator takes it in a sequential and programmed way, for cleaning the reception ladles so as once this task is ended, it is deposited again in the tool holder.
10. A robot system for cleaning the ladle in the electric 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.
11. A robot system for cleaning the ladle in the electric furnace according to claim 1 , wherein it could be integrated to the cleaning process of any type of ladles for slag smelting, conversion and cleaning processes both copper and other metals such as iron, zinc, nickel, silver, gold, tin, lead, etc.
12. A robot system for cleaning the ladle in the electric furnace according to claim 1 , wherein the system may operate automatically, or semi-automatically, and also allows solutions scalability.
13. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom is provided with a gripping mechanism so as to take in a sequential and programmed way the cleaning device or tool which is placed on the fixed and/or mobile tool holder located near the robotic manipulator to be used for carrying out the cleaning process of all the surface of the reception ladle after each discharge of bin in the smelting furnace.
14. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the robotic manipulator has the capacity to take, manipulate and release the cleaning device or tool in different paths within the work volume of the robotic manipulator.
15. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.
16. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.
17. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control analogue and/or digital input devices.
18. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the robot manipulator is mounted on a fixed and/or mobile system which allows in a sequential and programmed way to approach and/or move away the reception ladle of the slag cleaning furnace to clean the reception ladle.
19. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the robotic manipulator may use a gripping mechanism, whether pneumatic, electric and/or hydraulic, in such a way that such device allows in a sequential and programmed way to take, manipulate and release the cleaning device or tool to be used in the cleaning process of the reception ladle.
20. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein it uses a fixed and/or mobile tool holder from which the robotic manipulator takes in a sequential and programmed way the device or tool to be used in the cleaning process of the reception ladle.
21. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein it uses a device or tool which is located in the tool holder so as the robotic manipulator takes it in a sequential and programmed way to carry out the cleaning processes of the reception ladles so as once such task has ended, it is deposited back into the tool holder.
22. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein it could be integrated to the cleaning of any type of ladles in the slag smelting, conversion and cleaning processes both of copper and other metals such as iron, zinc, nickel, silver, gold, tin, lead, etc.
23. A robotic method for cleaning the ladle in the electric furnace using the robot System of claim 1 to 12, wherein the system may operate automatically or semi-automatically, and also allows solution scalability.
24. Device or tool for cleaning the ladle in an electric furnace using the robot System of claim 1 to 12, wherein it has a geometry which fits the feeding ladle and it is located in the tool holder so as the robotic manipulator takes it in a sequential and programmed way to carry out the cleaning process of the ladle in the electrical furnace, so as once such task has ended it is deposited back into the tool holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US11/595,957 US20070152385A1 (en) | 2005-11-10 | 2006-11-13 | Robotic system and method for the cleaning of casting ladles in electric arc furnaces |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US73498005P | 2005-11-10 | 2005-11-10 | |
| US11/595,957 US20070152385A1 (en) | 2005-11-10 | 2006-11-13 | Robotic system and method for the cleaning of casting ladles in electric arc furnaces |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/595,958 Continuation-In-Part US20070145650A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for sampling procedures in trucks and carts for concentrate transportation in metal smelting processes |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/595,954 Continuation-In-Part US20070299556A1 (en) | 2005-11-10 | 2006-11-13 | Robot system and method for scrap bundling in metal smelting and refining processes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| US20070152385A1 true US20070152385A1 (en) | 2007-07-05 |
Family
ID=38223545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US11/595,957 Abandoned US20070152385A1 (en) | 2005-11-10 | 2006-11-13 | Robotic system and method for the cleaning of casting ladles in electric arc furnaces |
Country Status (1)
| Country | Link |
|---|---|
| US (1) | US20070152385A1 (en) |
Cited By (3)
| 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 |
| EP2255905A1 (en) * | 2009-05-15 | 2010-12-01 | TBR Engineering Metalltechnologie und Planungs Gmb | Apparatus for conducting operations inside a metallurgical vessel |
| WO2015066827A1 (en) * | 2013-11-05 | 2015-05-14 | Chesta Ingeniería S.A. | System for taking samples of liquid slag, molten metals or similar |
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 |
| US20030229420A1 (en) * | 2000-08-18 | 2003-12-11 | Buckingham Robert Oliver | Robotic positioning of a work tool or sensor |
-
2006
- 2006-11-13 US US11/595,957 patent/US20070152385A1/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 |
| US20030229420A1 (en) * | 2000-08-18 | 2003-12-11 | Buckingham Robert Oliver | Robotic positioning of a work tool or sensor |
Cited By (3)
| 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 |
| EP2255905A1 (en) * | 2009-05-15 | 2010-12-01 | TBR Engineering Metalltechnologie und Planungs Gmb | Apparatus for conducting operations inside a metallurgical vessel |
| WO2015066827A1 (en) * | 2013-11-05 | 2015-05-14 | Chesta Ingeniería S.A. | System for taking samples of liquid slag, molten metals or similar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20070180678A1 (en) | Robot system and method for bolt removal from SAG and/or ball mills in ore concentration processes | |
| US20070145649A1 (en) | Robot system and method for copper concentrate injector cleaning in the flash furnace | |
| US7567855B2 (en) | Robot system and method for ball loading for loading into SAG and/or ball mills in ore concentration processes | |
| US20070145648A1 (en) | Robotic system and method for the automation of slag and matte discharge from smelters | |
| CN102686353B (en) | Magazine for electrode caps | |
| US20070144894A1 (en) | Robot system and method for cathode stripping in electrometallurgical and industrial processes | |
| US20070152385A1 (en) | Robotic system and method for the cleaning of casting ladles in electric arc furnaces | |
| CN101821049A (en) | Forced pressure power supply torch | |
| US20070152616A1 (en) | Robot system and method for cathode selection and handling procedures after the harvest | |
| KR102204556B1 (en) | Method and device for automatic replacement of a discharge shell on a sliding closure of a metallurgical vessel | |
| WO2011114546A1 (en) | Remote control system for calcium carbide tapping operations | |
| US20070144006A1 (en) | Robotic system and method for a transfer station for cathodes and/or base plates | |
| US20090099688A1 (en) | Integral robot system and method for the dislodging process and/or anode handling from casting wheels | |
| US8440134B2 (en) | Furnace system | |
| US20070144005A1 (en) | Robot system and method for reposition and/or removal of base plates from cathode stripping machines in electrometallurgical processes | |
| US20070185610A1 (en) | Robot system and method for the application of dislodging material and pin positioning in casting wheels | |
| US20070147961A1 (en) | Robot system and method for maintenance of base plates in electrometallurgical and industrial processes | |
| CN107993966B (en) | Tubular PECVD (plasma enhanced chemical vapor deposition) online control system and control method | |
| US20070145650A1 (en) | Robot system and method for sampling procedures in trucks and carts for concentrate transportation in metal smelting processes | |
| CN203665201U (en) | Automatic metal piece taking and placing mechanism | |
| CN203478996U (en) | Feeding vehicle for waste copper smelting furnace | |
| US20070151580A1 (en) | Robot system and method for cathode washing in industrial and electrometallurgical processes | |
| US20070153260A1 (en) | Robot system and method for anode surface inspection and burr elimination in smelting and electrorefining processes | |
| US7551981B2 (en) | Robot system and method for inspecting and repairing casts in smelting processes | |
| US20090121061A1 (en) | Robot system and method for unblocking the primary crusher |
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 |