Abstract: The invention relates to a system and method for changing liners of a mill, the configuration of which allows the automated robotic manipulation of liners of mills for ore grinding in comminution processes. The configuration and operation of the system allows the task of manipulation to be improved, having a greater degree of freedom and/or flexibility in its movements, thereby providing a greater degree of certainty and efficiency to the method and thus optimising the time that the mill is halted for maintenance, and also preventing the risks to which maintenance staff may be exposed. The system comprises at least one support structure, at least one system for supplying and moving liners, at least one robotic manipulator system for manipulating the liners, at least one liner manipulation tool, at least one artificial vision system, and at least one control system.

Abstract: The present invention is directed to the use and application of robotics in mining and post-mining applications, including smelting and processes associated with electrodeposition, electrorefining, cleaning, and disposal. In addition, the application of robotics includes functions associated with maintenance and operation of equipment used in mining operations.

Abstract: The robotic system for the removal of bolts from haulage truck wheels is comprised mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom (1), with a system for tightening and removal (2) which allows taking bolts from a drawer rack (3) located on a mobile equipment (4). The operator indicates the beginning of the operations as well as the key positions for the activity development. The reposition of new bolts and the relocation of the mobile system is presently carried out by the operator. In this regard, most of the major problems associated to the safety of the personnel and a decreasing of availability are eliminated.

Abstract: The present invention is directed to the use and application of robotics in mining and post-mining applications, including smelting and processes associated with electrodeposition, electrorefining, cleaning, and disposal. In addition, the application of robotics includes functions associated with maintenance and operation of equipment used in mining operations.

Abstract: At present, the removal the sticks from the mineral feeding lines, as a result of the mineral extraction, is carried out manually or using mechanical equipment, which means a loss of efficiency of the grinding and crushing system, high exposure to the risks associated to the removal of foreign elements of grinding material, this method does not guarantee problems from this cause in the subsequent stages in the grinding and crushing process. Due to the above, a robot system and method have been developed for the removal of sticks from the conveyor belts. The robotic system is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which is supported by a vision system allowing, in a sequential and programmed way, to remove the sticks. In this regard, most of the problems associated to the safety of the personnel and the productivity of the current manual and/or mechanical process are eliminated.

Abstract: The present invention is directed to a robotized method for removing discharge from furnaces used for smelting. The method includes punching and tapping exit passages, sampling different materials, and cleaning exit channels.

Abstract: At present, the reposition of base plates in an electrochemical process in the cathode stripping machine system is carried out manually, which implies a loss in the efficiency, high exposure to risk associated with the removal of plates and additional labor force being used. Due to these drawbacks, a robotic system is developed for the reposition and/or removal of base plates from cathode stripping machine. The robotic system comprises an anthropomorphous robotic manipulator and a gripping mechanism which allows taking the base plates from a mobile drawer rack and moves it through a defined path to the transfer station in a synchronized way with the control system of the cathode stripping machine, it replaces the base plates as they are rejected. Thus, most of the major problems associated with the safety of the personnel and the productivity of the manual and/or mechanical process are eliminated.

Abstract: A robot system and method have been developed which are able to automatically load balls in semi-autogenous grinding mills so as to reduce the time used for maintenance. The robotic system is comprised of a robotic manipulator of at least 5 degrees of freedom, a grip mechanism which allows, in a sequential and programmed way, to take, manipulate and release a ball from a ball holder rack located at one of its sides.

Abstract: At present, the molybdenum sampling process in maxibags is carried out manually and it has the disadvantage of being carried out manually which causes the system efficiency to decrease due to the less representativeness of the samples obtained. Due to the above, a robot system and method have been developed for the sample taking of molybdenum in an automatic way so as to ensure the representativeness of the sampling as well as the control over the product to be commercialized. The robotic system is composed mainly of a robotic manipulator (1) of at least 5 degrees of freedom, and a gripping mechanism (2) which allows to take the sampling device (3) from a tool holder (4) located at on of its sides, moving it through a defined path to the sampling area (5), where the sampling process will take place, in a sequential and programmed way, to certain number of maxibags faces to be defined (7).

Abstract: A robot system and method for the repair and/or inspection of cast surfaces in an automated comprising a robotic manipulator of at least 4 degrees of freedom and a gripping mechanism which allows taking a repair device from a tool holder rack located at one of its sides and moving it through a defined path to a repair and inspection area, where a repair process will be carried out in a sequential and programmed way to a number of cast faces to be defined. Additionally, the system allows carrying out an inspection process of the surfaces in a sequential and programmed way through the use of a vision system by taking from a tool holder rack or carrying an advanced vision system for the inspection of surfaces.

Abstract: At present, the unblocking of the primary crusher is carried out manually or using mechanical equipment which means the crusher stops for a long time and is less available. There is also a high level of exposure to the risks associated to unblocking procedures. Due to the above, a robot system and method have been developed for unblocking primary crushers. The system is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, and a system to unclog or release the crusher. In this regard, most of the problems associated to the safety of the people and less availability decrease.

Abstract: At present, the cleaning procedures for roasting furnaces are carried out manually. Due to the demanding operating conditions for the plant personnel, there is a decrease in the furnace performance which means less productivity. Due to the above, a robot system and method have been developed for the cleaning of molybdenum roasting furnaces. The robotic system is composed mainly of an anthropomorphous robotic manipulator (1) of at least 5 degrees of freedom which is mounted on each floor of the furnace (2) and provided with a gripping mechanism (3) which allows to take a rugged device in a spraying or rotary brush system (4) which is lifted and moved to the window of the furnace to be used in the cleaning process for the roasting furnace through the localized cleaning in arms, harrows, passes, inner walls, plate and shaft of the roasting furnace. Once this is done, the gripping mechanism (3) withdraws and removes the tool system from the furnace window.

Abstract: At present, the tasks associated to the dislodging process and/or anode handling from casting wheels is characterized by the exposure of the personnel to harsh environmental conditions. As well as the use of take-off mechanisms with a high rate of failures. This, in the medium and long term, could generate serious occupational illnesses to the operators in charge of carrying out this activity such as decrease and/or delays in production. Due to the above, an integral robot system and method have been developed for the dislodging process and/or anode handling from casting wheels which allows to carry out this activity in an automated way. The robotic system is composed mainly of a robotic manipulator of at least 4 degrees of freedom which is mounted on a fixed and/or mobile system and is provided with a gripping mechanism to take anodes and deposit them in the cooling chain.

Abstract: The scrap, which is the residual left from the anodes used, is obtained as waste material from the electrorefining process. The scrap should be bundled for commercialization purposes, and the current bundling process is performed manually, which implies high operating costs and a high physical demand from operators. Due to the above, a robot system and method have been developed for carrying out automatic scrap bundling processes through the use of robotic manipulators. The robotic system is composed mainly of an anthropomorphous robotic manipulator of at least 6 degrees of freedom, and a gripping mechanism which allows to take the scraps and assemble the bundles.

Abstract: At present, the process of washing and unclogging the machines under maintenance of underground equipment or machinery is carried out manually or using mechanical equipment which means the equipment is stopped for a long time and it is then less available. Due to the above, a robot system and method have been developed for automated washing and unclogging procedures for underground machinery. The robotic system for washing and unclogging the machines under maintenance is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom (1), provided with a set of tools (2) which allows to wash and remove the material from the machine (3), all of the system is mounted on a structure specially designed for the activity (4). The operator indicates the beginning of the activity as well as the key parameters for the development of the activity. Due to the above, most of the problems associated to the safety of the personnel and the decrease of available times are eliminated.

Abstract: At present, the removal of the bolts which fasten the liners should be carried out manually as part of the maintenance procedure SAG mills should be subjected to. The disadvantage of this procedure is the fact it should be carried out manually which makes the system to lose efficiency due to the high maintenance periods. Due to the above, a robot system and method have been developed to carry out this task automatically, in order to automate the removal of bolts from SAG and/or ball mills and thus to decrease the time used for maintenance. The robotic system is composed mainly of a robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which allows, in a sequential and programmed way, to take, manipulate and release a number of fastening bolts from the SAG mill, which are moved through a defined path to a bolt receptacle.

Abstract: At present, the tasks associated to the application of dislodging material and/or repositioning of anode lifting pins from casting wheels are characterized by the exposure of the personnel to harsh environmental conditions. In the medium and long term, this could generate serious occupational diseases to the personnel in charge of carrying out this task. Due to the above, a robotic method and system have been developed for the application of dislodging material and/or verification of anode lifting pins from casting wheels. The robotic system is composed mainly of a robotic manipulator of at least 5 degrees of freedom which is mounted on a fixed and/or mobile system, and a gripping mechanism which allows to take a vision system to be used in the cast inspection process of the casting wheel. Once this is done, the gripping mechanism takes a device to be used for the dislodging material application before the metal discharge is carried out through the channel to the refine furnace.

Abstract: At present, the removal the sticks from the mineral feeding lines, as a result of the mineral extraction, is carried out manually or using mechanical equipment, which means a loss of efficiency of the grinding and crushing system, high exposure to the risks associated to the removal of foreign elements of grinding material, this method does not guarantee problems from this cause in the subsequent stages in the grinding and crushing process. Due to the above, a robot system and method have been developed for the removal of sticks from the conveyor belts. The robotic system is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, and a gripping mechanism which is supported by a vision system allowing, in a sequential and programmed way, to remove the sticks . In this regard, most of the problems associated to the safety of the personnel and the productivity of the current manual and/or mechanical process are eliminated.

Abstract: This invention refers to a new drilling and cutting system. This new drilling and cutting system is based on the production of a controlled and localized iron oxidation reaction with oxygen as a comburent and the iron as the fuel, through a continuous feeding with the resulting localized zone of high temperature (focus) which allows to cast the material to be drilled or cut. The system is composed by the nozzle which is intended to guide the iron and oxygen, which come from different paths, to the focus in which the oxidation reaction takes place. The liner is intended to guide the oxygen and the iron through different paths from the tractor system to the nozzle. The tractor system is intended to continuously feed the iron to the system, Iron deposit, Iron advance control, Oxygen feeding control and Oxygen dispenser.

Abstract: At present, the repair of casts as it is done today has the disadvantage of being carried out manually or in a semiautomatic way which means less efficiency in the system and the superficial inspection has the disadvantage of being carried out in many occasions with low levels of vision advanced technology application. Due to the above a robot system and method for the repair and/or inspection of cast surfaces in an automated way have been developed. The robotic system is composed mainly of a robotic manipulator of at least 4 degrees of freedom, and a gripping mechanism which allows to take the repair device from a tool holder rack located at one of its sides, moving it through a defined path to the repair and inspection area, where a repair process will be carried out in a sequential and programmed way to a number of cast faces to be defined.