公开(公告)号：US07551981B2

公开(公告)日：2009-06-23

申请号：US11598144

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： G05B19/18

CPC分类号： B25J9/1669 ,  G05B2219/32228 ,  G05B2219/37217 ,  G05B2219/39419 ,  G05B2219/45004

摘要： 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.

摘要翻译： 一种用于修复和/或检查自动化中的铸造表面的机器人系统和方法，包括至少4个自由度的机器人操纵器和夹持机构，该夹持机构允许从位于其一侧的工具架上的修理装置 并将其通过定义的路径移动到修理和检查区域，其中将以顺序和编程的方式对要定义的多个铸造面进行修复处理。 此外，该系统允许通过从工具架上取下或携带用于检查表面的先进视觉系统，通过使用视觉系统以顺序和编程的方式执行表面的检查过程。

公开(公告)号：US20070185610A1

公开(公告)日：2007-08-09

申请号：US11598143

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： B29C39/00

CPC分类号： B22D5/02 ,  B22D25/04 ,  B22D29/00

摘要： 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. Finally, the gripping mechanism takes a tool which is used to position the pins in the cast. In this regard, most of the problems associated to the safety of the people and the productivity of the current manual and/or mechanical process are eliminated.

摘要翻译： 目前，与使用移动材料和/或从铸轮重新定位阳极提升销相关的任务的特征在于人员暴露在恶劣的环境条件下。 在中长期来看，这可能对负责执行这项任务的人员产生严重的职业病。 由于上述原因，已经开发了用于移动材料的应用和/或阳极起重销从铸轮的验证的机器人方法和系统。 机器人系统主要由安装在固定和/或移动系统上的至少5个自由度的机器人操纵器组成，以及夹持机构，其允许在视觉系统的铸造检查过程中使用视觉系统 铸轮。 一旦这样做，夹紧机构在金属放电通过通道进行到精炼炉之前，将一种装置用于移动材料应用。 最后，夹紧机构采用用于将销定位在铸件中的工具。 在这方面，消除了与人的安全和当前手动和/或机械过程的生产力相关的大多数问题。

公开(公告)号：US20070152384A1

公开(公告)日：2007-07-05

申请号：US11595952

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： C21D11/00 ,  C21B7/24

CPC分类号： B22D5/02 ,  B25J11/00 ,  C22B1/005 ,  Y02P10/212

摘要： 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.

摘要翻译： 目前，手工采取和安排来自防火精炼模具铸造车轮的铸锭，使火精炼束。 与此程序相关的任务的特点是人员暴露于恶劣的环境条件。 在中长期来看，这可能对负责开展这项任务的经营者产生严重的职业病。 由于上述原因，已经开发了一种机器人系统和方法来自动化消防精炼捆绑。 机器人系统主要由安装在固定和/或移动系统（2）上的至少5个自由度（1）的机器人操纵器组成，并且设置有夹持机构（3），以操纵和释放 锭（4）用于火炼（5）。 在这方面，消除了与人民的安全和当前手工流程的生产力相关的大多数问题。

公开(公告)号：US20070299556A1

公开(公告)日：2007-12-27

申请号：US11595954

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： G06F19/00 ,  G05B19/02

CPC分类号： C22B1/005 ,  C22B7/00 ,  C22B15/0056 ,  Y02P10/214 ,  Y02P10/22

摘要： 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.

摘要翻译： 从所使用的阳极残留的废料作为来自电解精炼过程的废料获得。 废品应捆绑在一起用于商业化，目前的捆绑过程是手动执行的，这意味着运营成本高，运营商的物理需求量高。 由于上述原因，已经开发了通过使用机器人操纵器进行自动废料捆扎处理的机器人系统和方法。 机器人系统主要由至少6个自由度的人造机器人操纵器组成，并且夹持机构允许将废料和组合束。

公开(公告)号：US20070267043A1

公开(公告)日：2007-11-22

申请号：US11598175

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： G06F19/00 ,  B08B1/00 ,  B08B13/00

CPC分类号： B60S3/04 ,  B61K13/00

摘要： 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. An increase in the useful life of the equipment is obtained

摘要翻译： 目前，对地下设备或机械维修保养的机器进行清洗和清洗的过程是手动进行的，也可以使用机械设备，这意味着设备长时间停止，然后可用性较差。 由于上述原因，已经开发了用于地下机械的自动洗涤和断开程序的机器人系统和方法。 用于在维护中洗涤和断开机器的机器人系统主要由至少5个自由度（1）的人造机器人操纵器组成，其具有一组工具（2），其允许从机器中清洗和移除材料 （3），所有系统都安装在为活动（4）专门设计的结构上。 操作员指示活动的开始以及开发活动的关键参数。 由于上述原因，与人员安全相关的大多数问题与可用时间的减少相消除。 获得设备使用寿命的增加

公开(公告)号：US20070180678A1

公开(公告)日：2007-08-09

申请号：US11598096

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： B23P19/02

CPC分类号： B02C17/00 ,  B25J11/00 ,  Y10T29/49821

摘要： 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.

摘要翻译： 目前，固定衬垫的螺栓的拆除应手动进行，作为SAG磨机应承受的维护程序的一部分。 这个程序的缺点是手动执行这一事实，这使得系统由于维护时间较长而失去效率。 由于上述原因，已经开发了一种机器人系统和方法来自动执行该任务，以便自动从SAG和/或球磨机去除螺栓，从而减少用于维护的时间。 机器人系统主要由至少5个自由度的机器人操纵器组成，并且夹持机构以顺序和编程的方式从SAG磨机中取出，操作和释放多个紧固螺栓，这些紧固螺栓是 通过一个确定的路径移动到螺栓容器。

公开(公告)号：US20070152616A1

公开(公告)日：2007-07-05

申请号：US11598120

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： G05B19/19

CPC分类号： B25J9/0093 ,  C25C7/08

摘要： As a final stage of the current copper production process, the cathodes are inspected and sampled to determine its quality. Based on the inspection and the sampling the cathodes are selected and arranged according to the different qualities. Currently the inspection and selection of the cathodes in the loading site is carried out manually, which means that the operators must inspect and manipulate one by one the cathodes produced by the plant which requires a high physical effort and a great amount of labor force. Due to the above, a robot system and method have been developed for the selection and manipulation of cathodes in the site. 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 cathodes from a feeding system located at one of its sides and take it through a predefined path arranging them in groups according to their quality, the decision as to which quality group each cathode goes is taken by a superior order which could be automatic or manual. The system additionally has different racks in which the robotic system groups the cathodes according to the quality. In this regard, most of the problems associated to the current operation are eliminated

摘要翻译： 作为当前铜生产过程的最后阶段，对阴极进行检查和采样以确定其质量。 根据检测和采样，阴极根据不同的质量进行选择和排列。 目前，装载场所阴极的检查和选择是手动进行的，这意味着操作人员必须对工厂生产的阴极进行一个一个的检查和操作，这需要高度的身体力量和大量的劳动力。 由于上述原因，已经开发出了用于选择和操纵现场阴极的机器人系统和方法。 机器人系统主要由至少5个自由度的机器人操纵器组成，以及夹持机构，其允许从位于其一侧的进给系统取出阴极，并将其穿过预定的路径，按照 对于他们的质量，决定每个阴极所在的哪个质量组是由上级的，可以是自动的或手动的。 该系统另外具有不同的机架，其中机器人系统根据质量对阴极进行组合。 在这方面，与当前操作相关的大多数问题被消除

公开(公告)号：US20070152385A1

公开(公告)日：2007-07-05

申请号：US11595957

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： C21B7/24

CPC分类号： B22D41/001 ,  C21C5/4693 ,  C21C5/5294 ,  Y02P10/216

摘要： 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).

摘要翻译： 在冶炼过程中，电炉旨在处理其他炉子的炉渣。 电炉的炉渣装载使用在卸下附着在钢包上的炉渣后冷却的浇包进行，炉渣难以重新加载炉子。 因此，钢包必须定期清洁。 由于上述原因，已经开发了一种机器人系统和方法来清洁电炉杓，其能够通过使用机器人操纵器自动执行这种活动。 机器人系统主要由至少6自由度的人造机器人操纵器（1）组成，以及一个清洁工具（2），每次清理工具（2），每当炉子被装载时（4）就可以清理钢包（3）。

公开(公告)号：US20070151580A1

公开(公告)日：2007-07-05

申请号：US11598121

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： B08B7/04 ,  B08B3/00

CPC分类号： B08B3/02 ,  B08B2203/007 ,  B08B2230/01

摘要： At present, cathode washing presents some disadvantages such as the fact the fixed nozzles impact all the face with the same strength and the range is limited, among other things. A robot system and robotic method for the automatic washing of cathodes have been developed. The robotic system is composed mainly of a robotic manipulator (1) of at least 6 degrees of freedom and a gripping mechanism (2) which allows to take a pressurized hot water and/or vapor injection device (3), from a tool holder rack located at one of its sides, by moving it through a defined path to the washing unit, where in a synchronized way with the take off carousel the washing process will take place, in a sequential and programmed way through the application of pressurized hot water and/or vapor to a number of cathodes faces to be defined (4). In this regard, the washing of cathodes will be carried out by using a robotic system which will be connected to the existing pressure vapor and hot water lines.

摘要翻译： 目前，阴极洗涤存在一些缺点，例如固定喷嘴以相同的强度冲击所有的面，并且范围受到限制。 已经开发了用于自动洗涤阴极的机器人系统和机器人方法。 机器人系统主要由至少6个自由度的机器人操纵器（1）和夹持机构（2）组成，所述夹持机构（2）允许从工具架支架（3）中取出加压的热水和/或蒸气喷射装置（3） 位于其一侧，通过将其移动通过到洗涤单元的限定的路径，其中以与脱离转盘同步的方式，以顺序和编程的方式通过施加加压热水和洗涤过程进行洗涤过程， /或蒸汽到要限定的多个阴极面（4）。 在这方面，阴极的洗涤将通过使用将连接到现有的压力蒸汽和热水管线的机器人系统进行。

公开(公告)号：US20070149098A1

公开(公告)日：2007-06-28

申请号：US11595959

申请日：2006-11-13

申请人： Hugo Salamanca

发明人： Hugo Salamanca

IPC分类号： B66C1/00 ,  B24B1/00

CPC分类号： B02C17/205 ,  B25J11/00

摘要： At present, ball loading into SAG mills should be carried out as part of the maintenance procedure that SAG mills should be subjected to. The disadvantage of this procedure is that the automatic dosing unit regularly clogs, and it must be loaded manually. Similarly, the low storage capacity requires the continuous use of the crane. Due to the above, a robot system and method have been developed which are able to carry out this task automatically, in order to automate the ball loading operation in SAG mills by reducing the time used for maintenance. The robotic system is composed mainly of a robotic manipulator (1) of at least 5 degrees of freedom, and a grip mechanism (2) which allows, in a sequential and programmed way, to take, manipulate and release, from a ball holder rack (3) located at one of its sides, a certain number of grinding balls to be defined later (4), which are moved through a defined path to the inside of the SAG mill (5) in which they are deposited.

摘要翻译： 目前，SAG磨机的球载荷应作为SAG磨机应承受的维护程序的一部分进行。 该过程的缺点是自动计量单元定期堵塞，并且必须手动加载。 类似地，低存储容量需要连续使用起重机。 由于上述原因，已经开发了能够自动执行该任务的机器人系统和方法，以便通过减少维护所用的时间来自动化SAG轧机中的滚珠加载操作。 机器人系统主要由至少5个自由度的机器人操纵器（1）组成，并且夹持机构（2）以顺序和程序化的方式从球保持器支架中取出，操纵和释放 （3）位于其一侧，一定数量的待定义的研磨球（4），其通过限定的路径移动到其沉积的SAG磨机（5）的内部。