A robot automatic raking system for rod-shaped high-purity titanium crystals

Abstract

This invention relates to the field of titanium crystal processing technology and discloses an automated robotic material handling system for rod-shaped high-purity titanium crystals. The system includes a material handling bin and robotic arms. An imaging measurement device is installed on one side of the material handling bin, and a hoisting truss is installed on the top of the bin for guiding the rod-shaped high-purity titanium crystals into it. The detection end of the imaging measurement device faces the movement path of the rod-shaped high-purity titanium crystals. Lifting devices for connecting the rod-shaped high-purity titanium crystals are slidably mounted on the hoisting truss. The robotic arms are symmetrically arranged on both sides of the material handling bin. The lifting devices move along the laying direction of the hoisting truss. The material handling system, through the coordinated operation of the hoisting truss, imaging measurement device, dual robotic arms, belt conveyor, and spray pipes, replaces traditional manual clamping, material handling, cleaning, and transfer processes, completing an automated operation process. By standardizing processing and production standards, it is highly adaptable to the large-scale production of high-purity titanium crystals.

Description

Technical Field

[0001] This invention relates to the field of titanium crystal processing technology, specifically to an automated robotic material handling system for rod-shaped high-purity titanium crystals. Background Technology

[0002] Currently, the processing of high-purity titanium crystal rods relies heavily on manual operation. Key processes such as material clamping, surface peeling, debris cleaning, and material transfer all require manual participation throughout, resulting in significant problems such as high labor costs, high labor intensity, and low work efficiency. Furthermore, pollutants such as water vapor and metal debris generated during processing are directly exposed to the work environment, and operators must maintain close contact with materials and processing areas, posing significant risks to occupational health and production safety.

[0003] The processing quality of purely manual material stripping is greatly affected by the operator's skill level, working condition, and sense of responsibility. It is difficult to achieve precise quantitative control over the stripping thickness and cutting force, which can easily lead to quality defects such as excessive loss of titanium crystal raw materials, incomplete surface peeling, and poor processing consistency. At the same time, quality control elements such as batch information, dimensional measurement data, and product appearance records cannot be accurately linked to the materials and stored systematically. The processing process is not traceable, and there is no quantitative basis for quality control, making it difficult to meet the standardized, refined, and traceable processing requirements of high-end titanium crystal materials.

[0004] The existing semi-automatic material handling equipment has a limited level of automation and still requires a lot of manual assistance and intervention. It has not formed a closed-loop operation process and does not have the functions of processing data collection, binding and traceability, so it cannot fundamentally solve the inherent defects of the manual material handling mode.

[0005] Therefore, it does not meet the existing requirements, so we propose a robotic automated material handling system for rod-shaped high-purity titanium crystals. Summary of the Invention

[0006] This invention provides an automated robotic material handling system for rod-shaped high-purity titanium crystals, which has the advantages of high automation and controllable material handling accuracy, and solves the problems mentioned in the background art.

[0007] This invention provides the following technical solution: an automated robotic material handling system for rod-shaped high-purity titanium crystals, comprising a material handling bin and robotic arms. An imaging measurement device is installed on one side of the material handling bin, and a hoisting truss is installed on the top of the bin for pulling the rod-shaped high-purity titanium crystals into its interior. The detection end of the imaging measurement device faces the movement path of the rod-shaped high-purity titanium crystals. A lifting device for connecting the rod-shaped high-purity titanium crystals is slidably mounted on the hoisting truss. The robotic arms are symmetrically arranged on both sides of the material handling bin, with their working ends inserted into the bin and equipped with milling cutters for material handling. The lifting devices move along the laying direction of the hoisting truss and can drive the rod-shaped high-purity titanium crystals to rotate. The lifting devices connect to the rod-shaped high-purity titanium crystals and move through the hoisting truss. After being scanned by the imaging measurement device, the crystals enter the material handling bin. The imaging measurement device detects the outline data of the rod-shaped high-purity titanium crystals. The two robotic arms adjust their handling position and force based on the detection data, with the outermost layer of the rod-shaped high-purity titanium crystals being handled from opposite directions.

[0008] As an optional solution for the automated material handling system for rod-shaped high-purity titanium crystal robots described in this invention, the working end of the robotic arm is provided with a U-shaped guard plate, and the cutting head of the milling cutter disk penetrates through the U-shaped guard plate and is located between the two arms of the U-shaped guard plate.

[0009] As an optional solution of the automated robotic material handling system for rod-shaped high-purity titanium crystals described in this invention, the hoisting truss is provided with a reserved space for parking electric stacker trucks on the side away from the material handling bin, and a limit plate is provided on the reserved space.

[0010] As an optional solution of the robotic automated material handling system for rod-shaped high-purity titanium crystals described in this invention, it further includes a belt conveyor. The belt conveyor is installed in the material handling bin, with one end of the belt conveyor extending outside the material handling bin, and a receiving device is installed at the end of the belt conveyor away from the material handling bin.

[0011] More specifically, the belt conveyor located outside the hopper gradually rises, and the belt conveyor is a belt conveyor with skirts and baffles, and the rising angle of the belt conveyor ranges from 0° to 30°.

[0012] As an optional solution of the automated robotic material handling system for rod-shaped high-purity titanium crystals described in this invention, the belt conveyor is equipped with a spray pipe for spraying and rinsing its conveying path. The spraying area of ​​the spray pipe covers the conveying path of the belt conveyor. The spray pipe located in the material handling bin is also used for spraying and rinsing the rod-shaped high-purity titanium crystals and the robotic arm.

[0013] More specifically, a water collection tank is provided directly below the belt conveyor to collect spray water and prevent water from splashing onto the ground during the material handling process.

[0014] As an optional solution of the robotic automated material handling system for rod-shaped high-purity titanium crystals described in this invention, it further includes a control center, which is used to receive imaging data from an imaging measurement device and control the robotic arm to handle the material handling based on the imaging results.

[0015] More specifically, the control center communication connection has at least one operation screen, which issues instructions to the control center, enabling the control center to complete the parameter setting, mode switching, start / stop, and reset of the material handling system.

[0016] The present invention has the following beneficial effects: 1. In this invention, the material handling system uses a hoisting truss, imaging measurement equipment, dual-sided robotic arms, belt conveyor and spray pipe to work together to replace the traditional manual clamping, material handling, cleaning and transfer processes, thus completing the automated operation process. Through standardized processing and production standards, it is greatly adapted to the large-scale production of high-purity titanium crystal.

[0017] 2. In this invention, imaging measurement equipment is used to quickly acquire the outline and size data of the bar stock. The control center calculates and drives the two-sided robotic arms to adaptively adjust the stripping position, cutting force and feed speed in real time to achieve uniform peeling in opposite directions. The remaining thickness of the stripped material can be precisely set to eliminate defects such as excessive wear, uneven stripping and incomplete peeling. The product consistency meets the high-end titanium crystal processing standards.

[0018] 3. In this invention, the material unloading operation is completed in a closed unloading hopper. Operators do not need to come into close contact with the processing area, effectively isolating harmful factors such as moisture, metal shavings, and cutting dust, reducing safety and health risks from the source, significantly improving on-site working conditions. Moreover, the system adopts a modular integrated design, with a compact footprint and reasonable layout, which is conducive to later maintenance, repair, and future functional expansion and upgrades.

[0019] 4. In this invention, the belt conveyor with skirted baffles, in conjunction with the spray pipe, can fully recover debris and residue onto the belt conveyor, significantly improving the utilization rate of titanium crystal materials; moreover, the spray pipe simultaneously cleans the silo, robotic arm, and conveyor belt, reducing blockages and residues, and lowering the equipment failure rate.

[0020] 5. In this invention, the control center accurately binds and stores batch information, measurement data, processing parameters, product images and materials for a long time, supports querying, exporting and tracing, realizes full traceability of the processing process and quantifiable quality control, and meets the refined and compliant requirements of high-end material production. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of a robotic automated material handling system for rod-shaped high-purity titanium crystals according to the present invention; Figure 2 This is a three-dimensional structural diagram of the control center in this invention; Figure 3 This is a top view schematic diagram of an automated robotic material handling system for rod-shaped high-purity titanium crystals according to the present invention. Figure 4 This is a three-dimensional structural diagram of the material feeding hopper in this invention; Figure 5 This is a three-dimensional structural diagram of the hoisting truss in this invention; Figure 6 This is a three-dimensional structural diagram of the limiting impact plate in this invention; Figure 7 This is a three-dimensional structural diagram of the belt conveyor in this invention; Figure 8 This is a three-dimensional structural diagram of the spray pipe in this invention.

[0022] In the diagram: 1. Material unloading bin; 10. Imaging measurement equipment; 11. Lifting truss; 110. Lifting tool; 111. Limiting impact plate; 2. Robotic arm; 20. U-shaped guard plate; 21. Milling cutter disc; 3. Belt conveyor; 30. Material receiving device; 31. Spray pipe; 310. Water collection tank; 4. Control center; 40. Operation screen. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1: like Figures 1 to 8 As shown, an automated robotic material handling system for rod-shaped high-purity titanium crystals includes a material handling bin 1 and a robotic arm 2. A lifting truss 11 for pulling rod-shaped high-purity titanium crystals into the bin is installed at the top of the bin 1. A lifting device 110 for connecting the rod-shaped high-purity titanium crystals is slidably mounted on the lifting truss 11. The lifting device 110 moves along the laying direction of the lifting truss 11 and can drive the rod-shaped high-purity titanium crystals to rotate. The lifting device 110 receives and hangs the rod-shaped high-purity titanium crystals at the end of the lifting truss 11 away from the bin 1, and moves along the lifting truss 11 into the bin 1. At this time, the lifting device 110 is located at the top of the bin 1, and the rod-shaped high-purity titanium crystals are suspended in the center of the bin 1. After the lifting device 110 moves into the bin 1, it can also drive the rod-shaped high-purity titanium crystals to rotate within the bin 1 to facilitate subsequent material handling operations. It should be noted that a door that can be closed and opened is provided on one side of the material loading bin 1. When the door is open, the lifting device 110 can carry the rod-shaped high-purity titanium crystals into the material loading bin 1. After the lifting device 110 moves into place, the door is closed, so that the inside of the material loading bin 1 is in a relatively sealed environment.

[0025] like Figure 2 As shown, an imaging measurement device 10 is provided on one side of the material loading bin 1. The detection end of the imaging measurement device 10 is directed toward the moving path of the rod-shaped high-purity titanium crystal. Before the rod-shaped high-purity titanium crystal is brought into the material loading bin 1 by the lifting device 110, the imaging measurement device 10 scans the rod-shaped high-purity titanium crystal that it passes. During the scanning and imaging, the lifting device 110 needs to stop moving and rotate with the rod-shaped high-purity titanium crystal so that the imaging measurement device 10 can generate a full-view image of the rod-shaped high-purity titanium crystal.

[0026] like Figure 4 As shown, the hoisting truss 11 has a reserved space for parking electric stacker trucks on the side away from the material hopper 1, and a limit plate 111 is provided on the reserved space.

[0027] like Figure 5 As shown, the robotic arm 2 is symmetrically arranged on both sides of the material feeding bin 1. The working end of the robotic arm 2 is inserted into the interior of the material feeding bin 1 and is equipped with a milling cutter disc 21 for feeding. The working end of the robotic arm 2 continuously approaches the rod-shaped high-purity titanium crystal located in the center of the material feeding bin 1, so as to feed the rod-shaped high-purity titanium crystal from the outside to the inside through the milling cutter disc 21 at its working end. It should be noted that: the working end of the robotic arm 2 is equipped with a U-shaped guard plate 20, and the cutting head of the milling cutter 21 passes through the U-shaped guard plate 20 and is located between the two arms of the U-shaped guard plate 20; the U-shaped guard plate 20 can prevent the high-purity titanium crystal rods from splashing to both sides of the milling cutter 21 during material handling, thereby improving the safety of material handling operations. At the same time, the two sides of the material handling bin 1 are made of transparent material walls so that the operator can observe the status of the high-purity titanium crystal rods in real time.

[0028] The working principle of this embodiment is as follows: First, the rod-shaped high-purity titanium crystals that need to be unloaded are moved to the reserved position of the hoisting truss 11 by the electric stacker truck. The electric stacker truck stops by the limiting impact plate 111 so that the hoisting device 110 can connect the rod-shaped high-purity titanium crystals. Subsequently, after the lifting device 110 is connected to the rod-shaped high-purity titanium crystal, it moves along the lifting truss 11. When it carries the rod-shaped high-purity titanium crystal past the imaging measurement device 10, the lifting device 110 drives the rod-shaped high-purity titanium crystal to rotate so that the imaging measurement device 10 can completely scan the rod-shaped high-purity titanium crystal to output the detection pattern. After scanning, the rod-shaped high-purity titanium crystal enters the material unloading bin 1 and stops moving in the center of the material unloading bin 1. Finally, the robotic arm 2 continuously approaches the rod-shaped high-purity titanium crystal through the milling cutter disc 21, thereby stripping the rod-shaped high-purity titanium crystal from the outside to the inside. After the stripping is completed, the lifting device 110 moves the rod-shaped high-purity titanium crystal out of the stripping bin 1 and moves it back to the reserved position so that the electric stacker can remove the rod-shaped high-purity titanium crystal after the stripping is completed.

[0029] Example 2 is based on Example 1; like Figures 1 to 8 As shown, it also includes a belt conveyor 3. The belt conveyor 3 is installed in the material feeding bin 1. One end of the belt conveyor 3 extends outside the material feeding bin 1, and a receiving device 30 is installed at the end of the belt conveyor 3 away from the material feeding bin 1. The titanium crystal material that is fed off falls onto the belt conveyor 3 and is transported by the belt conveyor 3 to the receiving device 30 outside the material feeding bin 1, thereby completing the automatic collection of titanium crystal.

[0030] like Figure 1 As shown, belt conveyor 3 is a belt conveyor with skirts and baffles; the skirt and baffle structure of the belt conveyor with large-angle baffles can effectively prevent the leakage of titanium crystal materials.

[0031] like Figure 7 As shown, the belt conveyor 3 located outside the feeding bin 1 gradually rises. The rising angle of the belt conveyor 3 ranges from 0° to 30°. The larger the rising angle of the belt conveyor 3, the more it can be adapted to the receiving device 30 with a larger capacity.

[0032] like Figure 8 As shown, the belt conveyor 3 is equipped with a spray pipe 31 for spraying and rinsing its conveying path. A water collection tank 310 is located directly below the belt conveyor 3. The water collection tank 310 is used to recover the spray water and supply water to the spray pipe 31. The spraying area of ​​the spray pipe 31 covers the conveying path of the belt conveyor 3. The spray pipe 31 located in the material handling bin 1 is also used to spray and rinse the rod-shaped high-purity titanium crystals and the robot arm 2. During the material handling process, the spray pipe 31 is used to clean the interior of the material handling bin 1, the working end of the robot arm 2, and the surface of the belt conveyor 3 to remove the titanium crystal debris. This ensures that all residual titanium crystals can be rinsed onto the belt conveyor 3 so that they can be transferred to the next process as the belt conveyor 3 rotates, avoiding material waste, keeping the equipment clean, and ensuring the stability of the subsequent operation of the system.

[0033] The working principle of this embodiment is as follows: First, while the robot arm 2 is unloading material via the milling cutter disc 21, a spray pipe 31 located directly below the rod-shaped high-purity titanium crystals draws water from an additional water source, preferably purified water, and sprays it into the unloading bin 1 to wash the surface of the rod-shaped high-purity titanium crystals and the working end of the robot arm 2. This ensures that the unloaded titanium crystals are washed onto the conveyor belt of the belt conveyor 3. Subsequently, the belt conveyor 3 transports the titanium crystal material to the outside of the unloading bin 1. As the titanium crystals move with the belt conveyor 3, the spray pipe 31 covering the path of the belt conveyor 3 continuously washes the titanium crystals on the belt conveyor 3, thus simultaneously cleaning the belt conveyor 3, the rod-shaped high-purity titanium crystals, and the working end of the robot arm 2. Finally, the flushed water flows into the water collection pool 310 through the gaps in the belt conveyor 3 itself, thus preventing water from splashing onto the ground during the unloading process.

[0034] Example 3 is based on Example 1; like Figures 1 to 8 As shown, it also includes a control center 4, which is communicatively connected to at least one operation screen 40. The operation screen 40 issues commands to the control center 4, enabling the control center 4 to complete the parameter setting, mode switching, start / stop, and reset of the material handling system. The operation screen 40 is mainly used by operators to input processing-related information and issue various operation commands. At the same time, it displays processing data and system operating status in real time, and synchronously stores batch information, measurement data, and product photos during the processing, realizing the retention and traceability of all processing data. Operators can complete all operations such as parameter setting, mode switching, start / stop, and reset through this area, which is the core component of the system's human-machine interaction.

[0035] The control center 4 is used to receive imaging data from the imaging measurement device 10 and control the robot arm 2 to pick up materials based on the imaging results. The control center 4 accurately binds and stores batch information, measurement data, processing parameters, product images and materials for a long time, supports querying, exporting and tracing, realizes full traceability of the processing process and quantifiable quality control, and meets the refined and compliant requirements of high-end material production.

[0036] The lifting device 110 connects to the rod-shaped high-purity titanium crystal and moves through the lifting truss 11. After being scanned by the imaging measurement device 10, it enters the material unloading bin 1. The imaging measurement device 10 detects the outline data of the rod-shaped high-purity titanium crystal. The two robotic arms 2 adjust the unloading position and force according to the detection data, and unload the outermost layer of the rod-shaped high-purity titanium crystal from opposite directions. The unloading thickness of the robotic arms 2 can be flexibly adjusted. Generally, after the routine unloading operation is completed, the remaining thickness of the rod-shaped high-purity titanium crystal is 3cm.

[0037] The imaging measurement device 10 has a built-in 3D imaging measurement device, which adopts the technical principle of existing metrology-grade 3D scanning. It can take a comprehensive picture and accurately measure the size of the rod-shaped titanium crystal, quickly obtain key size data such as the diameter and length of the titanium crystal, and has high measurement accuracy. It can completely capture the fine features of the titanium crystal surface, providing accurate parameter support for subsequent material stripping operations. When the imaging measurement device 10 is scanning, the lifting device 110 scans and displays the rod-shaped high-purity titanium crystal by rotating it 90° in one direction. The scanning is completed after rotating the rod-shaped high-purity titanium crystal four times.

[0038] In summary, according to the above embodiments, in this invention, the contour of the rod-shaped high-purity titanium crystal is scanned by the imaging measurement device 10, and the detection data is uploaded to the control center 4. The control center 4 adjusts the robotic arm 2 according to the real-time state of the rod-shaped high-purity titanium crystal, effectively reducing the errors caused by manual recording and judgment. Through standardized operation, the quality control requirements of high-end titanium crystal processing are met. By using two symmetrical robotic arms 2 with a double-sided opposing material-removing mode of the milling cutter disc 21, and in conjunction with the rotation of the rod-shaped titanium crystal, the entire titanium crystal can be quickly and uniformly peeled off without manual intervention. The material-removing efficiency is significantly improved compared with traditional manual material removal, greatly increasing the processing capacity. Through the spray pipe 31 synchronized with the belt conveyor 3, the residual titanium crystal on the belt conveyor 3 can be thoroughly cleaned, avoiding material waste. Moreover, the belt conveyor 3 adopts a belt conveyor with skirts and baffles, which is not easy to spill or clog, is easy to maintain, reduces the equipment failure rate, and extends the service life of the equipment.

[0039] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples; within the framework of the invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.

[0040] This invention is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A robotic automated material handling system for rod-shaped high-purity titanium crystals, characterized in that: The device includes a material handling bin (1) and a robotic arm (2). An imaging measurement device (10) is provided on one side of the material handling bin (1). A hoisting truss (11) for pulling rod-shaped high-purity titanium crystals into the bin is provided on the top of the material handling bin (1). The detection end of the imaging measurement device (10) is directed toward the moving path of the rod-shaped high-purity titanium crystals. A lifting device (110) for connecting the rod-shaped high-purity titanium crystals is slidably installed on the hoisting truss (11). The robotic arm (2) is symmetrically arranged on both sides of the material handling bin (1). The working end of the robotic arm (2) is inserted into the interior of the material handling bin (1) and is provided with a milling cutter disc (21) for material handling. The lifting device (110) moves along the laying direction of the lifting truss (11) and can drive the rod-shaped high-purity titanium crystal to rotate. The lifting device (110) connects to the rod-shaped high-purity titanium crystal and moves through the lifting truss (11). After being scanned by the imaging measurement device (10), it enters the material unloading bin (1). The imaging measurement device (10) detects the outline data of the rod-shaped high-purity titanium crystal. The two robotic arms (2) adjust the unloading position and force according to the detection data, and unload the material from the outermost layer of the rod-shaped high-purity titanium crystal.

2. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 1, characterized in that: It also includes a belt conveyor (3), which is installed in the feeding bin (1). One end of the belt conveyor (3) extends out of the feeding bin (1), and a receiving device (30) is provided at the end of the belt conveyor (3) away from the feeding bin (1).

3. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 1, characterized in that: It also includes a control center (4), which is used to receive imaging data from the imaging measurement device (10) and control the robot (2) to remove materials according to the imaging results.

4. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 1, characterized in that: The working end of the robotic arm (2) is provided with a U-shaped guard plate (20), and the cutting head of the milling cutter (21) passes through the U-shaped guard plate (20) and is located between the two arms of the U-shaped guard plate (20).

5. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 1, characterized in that: The hoisting truss (11) has a reserved space for parking electric stacker cars on the side away from the material hopper (1), and a limit plate (111) is provided on the reserved space.

6. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 2, characterized in that: The belt conveyor (3) located outside the material feeding bin (1) gradually rises. The belt conveyor (3) is a belt conveyor with a skirt and baffles. The rising angle of the belt conveyor (3) ranges from 0° to 30°.

7. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 2, characterized in that: The belt conveyor (3) is provided with a spray pipe (31) for spraying and rinsing its conveying path, and the spraying area of ​​the spray pipe (31) covers the conveying path of the belt conveyor (3).

8. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 7, characterized in that: The spray pipe (31) located in the material hopper (1) is also used for spraying and rinsing the rod-shaped high-purity titanium crystals and the robotic arm (2).

9. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 7, characterized in that: A water collection tank (310) is provided directly below the belt conveyor (3), and the water collection tank (310) is used to recycle the spray water.

10. The automated robotic material handling system for rod-shaped high-purity titanium crystals according to claim 3, characterized in that: The control center (4) is connected to at least one operation screen (40), wherein the operation screen (40) issues instructions to the control center (4), enabling the control center (4) to complete the setting of material handling system parameters, mode switching, start and stop, and reset.

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