| 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.
|
