Patent ID: 7567855
Filing Date: 2009-07-28
Classification: B02C,B25J

Abstract:
1. A robot system for ball loading into semi-autogenous grinding and/or ball mills in ore concentration processes comprising an anthropomorphous robotic arm of at least 5 degrees of freedom, a control, communication and programming unit, a gripper adapter, a pneumatic gripper with fingers, a pneumatic gripper driving system, and an electric supply system and a slide-type ball loading system; said pneumatic gripper allows the sequential and programmed taking, manipulation and release of a grinding ball from a ball holder rack located at one of side of the semi-autogenous grinding mills; said anthropomorphous robotic arm moves said ball through a defined path to said loading system, in which said ball is deposited in the inner part of the semi-autogenous grinding mill; and said anthropomorphous robotic arm includes an electrical system driven by three-stage induction motors with vectorial and/or scalar control.