Investigating and interpreting the performance of flexible robot in controlling the condensation flotation of copper complex Shahr-E Babak

In the condensation unit of the National Iranian Copper Company, a flotation operation is carried out to improve the copper concentrate. In this operation, by adding a substance called lacquer and blowing high pressure air into the mills, the pH of the concentrate is reached to an optimal level of 11.5 to 12.5. Obviously, if the pH of the concentrate output from the mill is outside this range, copper perforation has failed and the concentrate is known as waste. Therefore, one of the most important operations in copper perforation is floatation. At present, there are pipes for drainage of lacquer and blowing of compressed air into the condensing mills, with the discharge amount monitored through the control room. The control room controls these concentrations based on the pH characteristic of the concentrate pH contained in the mill and lowers or increases the amount of lime and compressed air. Problems such as high precision, user control room, and the need for a lot of manpower will make it a way to replace the robot with a human. From the direction of operation, the addition of lighter and compressed air is controlled by the electrical keys, and also the pH of the concentrate present in the mill is also displayed on a monitor. This paper presents an idea for using a robot instead of human control, which makes the robot control the copper flotation control by flexing the arms. The robot presented in this article is simulated by Webots software and simulation results are presented with this article.