Robot system and method for ball loading for loading into SAG and/or ball mills in ore concentration processes
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United States of America Patent
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Jul 28, 2009
Grant Date -
Jun 28, 2007
app pub date -
Nov 13, 2006
filing date -
Nov 10, 2005
priority date (Note) -
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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.
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