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Review
. 2022;74(11):4009-4014.
doi: 10.1007/s11837-022-05446-2. Epub 2022 Sep 7.

Advances in Robotic Tapping and Plugging of Non-Ferrous Smelting Furnaces: The MIRS Robotic Tapping Machine

Rodrigo Madariaga  1 , Luis Arevalo  2 , Thomas Gabardi  1 , Phillip Mackey  3
Affiliations
Review

Advances in Robotic Tapping and Plugging of Non-Ferrous Smelting Furnaces: The MIRS Robotic Tapping Machine

Rodrigo Madariaga et al. JOM (1989). 2022.

Abstract

The operation of a metallurgical furnace requires the safe opening and closing of the furnace taphole. In this operation, the molten phase in the furnace is allowed to flow through the tap-hole for transfer to a ladle or another vessel before the tap-hole needs to be safely closed. Until now, non-ferrous tapping operations have largely been performed by an operator. Safe operations around the tap-hole require good process control of the smelting furnace, the proper tap-hole design for the required duty, and high-quality, robust tapping equipment. This paper briefly describes a new robotic tapping and plugging machine for the slag tapping operation on a large copper flash smelting furnace. The operating features and performance aspects are also summarized. Studies that indicate the applicability of this technology in operations other than slag tapping at a flash furnace are described.

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Conflict of interest statement

Conflict of interestThe authors declare that they have no conflict of interest.

Figures

Fig. 1
Fig. 1
Schematic diagram of taphole.
Fig. 2
Fig. 2
KUKA KR 210 R2700-2 F Robot (Robo suit not shown).
Fig. 3
Fig. 3
Robot tapping with lance.
Fig. 4
Fig. 4
Positioning the mud gun.
Fig. 5
Fig. 5
Ceiling-mounted robot with linear rail.
Fig. 6
Fig. 6
Left, drill component. Right, lance component.
Fig. 7
Fig. 7
Design for use on a furnace endplate.
See this image and copyright information in PMC

References

    1. Madariaga RM, Arevalo LE, Gabardi TL, Mackey PJ. Paper presented at the TMS Annual Meeting for Furnace Tapping 2022 Anaheim Convention Center. California: Springer; 2022. Advances in robotic tapping and plugging non-ferrous smelting furnaces: The MIRS robotic tapping machine; p. 15.
    1. L.B. Meneses Potenciamiento horno flash fundicion Chuquicamata. In: Paper presented at the IIMCH FURE seminar, Hotel Marriott, Santiago, Chile, 2018.
    1. D. Morales, C. Morales, and S. Nunez, Tap-hole opening: Advances and improvements. In: Paper presented at the furnace tapping conference, SAIMM, Kruger National Park, South Africa, 2018, pp. 14

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