Patent ID: 8880220

Claim:
A method for removing discharge from a smelting furnace using tools manipulated by an anthropomorphous robotic manipulator of at least 5 degrees of freedom; said manipulator and said tools capable of withstanding the temperatures and environmental conditions of the smelting furnace and said manipulator including a gripper, a control system, and at least one sensor; said method comprising the steps of: said manipulator locating in a tool holder, the location of which is sensed by a sensor, and gripping a punching tool, punching a passage in said furnace with said punching tool, and returning said punching tool to said tool holder; said manipulator locating in a tool holder, the location of which is sensed by a sensor, and gripping a sampling tool, extracting a slag or matte sample, delivering said sample to a sampling area, and returning said sampling tool to said tool holder; said manipulator locating in a tool holder, the location of which is sensed by a sensor, and gripping a plugging tool, locating and gripping plugging material, plugging said passage, and returning said plugging tool to said tool holder; and said manipulator locating in a tool holder, the location of which is sensed by a sensor, and gripping a cleaning tool, cleaning channels of said furnace, the location for cleaning sensed by a sensor, and returning said cleaning tool to said tool holder; wherein said gripper includes a clasping device for holding a tool such that said tool is precluded from rotational movement, said manipulator rests on a rotational plate, and movement of said manipulator, said rotational plate, and said gripper may be pre-programmed or remotely controlled based on data sensed by one or more sensors.