Intelligent feeding equipment and method for compressed copper plates of high-temperature copper smelting furnace

Abstract

The application discloses a kind of high-temperature copper smelting furnace compressed copper plate intelligent feeding equipment and method.The equipment includes PLC control system, portal truss, flexible servo gripper mechanism, drum table, hopper elevator, visual detection device and displacement sensor.The method is: MES order system transmits customer order information to PLC control system, calculates the weight of compressed copper plate to be grabbed;Drum table transports compressed copper plate to the specified position of weighing, obtains the size information and weight information of compressed copper plate;Then flexible servo gripper mechanism moves to the center position above compressed copper plate, displacement sensor detects the thickness information of compressed copper plate, and flexible servo gripper mechanism grabs compressed copper plate;3-axis portal truss sends compressed copper plate into hopper lifting mechanism, and hopper lifting mechanism pours compressed copper plate into high-temperature copper smelting furnace.The application has the characteristics of high feeding efficiency, low labor cost, high automation degree, reliable performance, strong maintainability and easy operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control technology, in particular to a compressed copper plate intelligent feeding equipment and method for high-temperature copper smelting furnace. BACKGROUND

[0002] The compressed copper plate is a raw material for copper smelting, which is mostly used for smelting copper wires, copper pipes and other materials. In the production process, the compressed copper plate raw material is irregular in shape, with uneven surface and uneven weight. Manual feeding with a forklift is low in efficiency and poses a great risk to the health and safety of workers in a high-temperature and high-dust environment. In order to ensure product quality, production efficiency and personnel safety, visual detection and 3-axis gantry truss are widely used in the production line of the copper plate intelligent feeding equipment.

[0003] The visual detection technology uses computer vision and image processing algorithms to analyze and process the surface image of the compressed copper plate, identify the outline of the compressed copper plate, and calculate the specific size of the copper plate. Common visual detection algorithms include edge detection, texture analysis, shape matching, etc. By collecting high-resolution image data and combining advanced image processing algorithms, high-precision and high-efficiency detection of the compressed copper plate can be achieved.

[0004] The copper plate intelligent feeding equipment for copper smelting furnace uses a 3-axis gantry truss and a flexible servo gripper mechanism to realize automatic grabbing and feeding of the compressed copper plate. By combining with the visual system or other sensors, the position and attitude of the compressed copper plate can be perceived and recognized. Then, according to the preset grabbing rules and algorithms, the flexible servo gripper mechanism can grab and feed the compressed copper plate in a specified manner, thereby improving production efficiency, reducing manual operation, ensuring the stability and safety of feeding.

[0005] By combining computer vision, image processing and servo control, the compressed copper plate production line can realize efficient, accurate, safe and automated feeding process, thereby improving product quality and production efficiency. Therefore, system design, algorithm optimization and equipment debugging according to specific application scenarios and requirements are key issues to achieve the best detection and feeding effect. SUMMARY

[0006] The present application aims to provide a compressed copper plate intelligent feeding equipment and method for high-temperature copper smelting furnace, which can reduce labor costs, improve feeding efficiency, improve work environment safety and reduce the risk of personnel injury.

[0007] The technical solution to achieve the purpose of the present application is a compressed copper plate intelligent feeding equipment for high-temperature copper smelting furnace, which comprises a PLC control system, a gantry truss, a flexible servo gripper mechanism, a roller table, a hopper elevator, a visual detection device and a displacement sensor.

[0008] The PLC control system is the control center of the intelligent feeding equipment, and controls the operation of each component;

[0009] The flexible servo gripper mechanism is installed on the portal truss, and is used for clamping and conveying the compressed copper plate;

[0010] The roller table is used for conveying and weighing the compressed copper plate, and the weighing information is stored in the PLC control system;

[0011] The hopper elevator is used for pouring the compressed copper plate into the high-temperature copper refining furnace;

[0012] The visual detection device is used for acquiring the size information of the compressed copper plate, and storing the size information in the PLC control system;

[0013] The flexible servo gripper mechanism is installed on the portal truss, and is used for clamping and conveying the compressed copper plate;

[0014] A compressed copper plate intelligent feeding method of a high-temperature copper refining furnace, comprising the following steps:

[0015] Step 1, the MES order system transmits customer order information to the PLC control system, and the PLC control system calculates the weight of the compressed copper plate to be grabbed according to the customer order information;

[0016] Step 2, the PLC control system controls the roller table to convey the compressed copper plate from the material preparation area to the designated position for weighing;

[0017] Step 3, the visual detection device acquires the size information of the compressed copper plate, and stores the size information in the PLC control system;

[0018] Step 4, the roller table weighs the compressed copper plate in real time, and stores the weighing information in the PLC control system;

[0019] Step 5, the flexible servo gripper mechanism moves to the center position above the compressed copper plate through the 3-axis portal truss, and the horizontal plane of the 3-axis portal truss is X and Y axes, and the vertical direction is Z axis;

[0020] Step 6, the displacement sensors at the four corners of the flexible servo gripper mechanism detect the thickness information of the compressed copper plate, and store the thickness information in the PLC control system;

[0021] Step 7, the Z axis of the 3-axis portal truss drives the flexible servo gripper mechanism to probe to the thickest position of the compressed copper plate;

[0022] Step 8, the flexible servo gripper mechanism controls the width of the gripper mechanism according to the length and width size information of the compressed copper plate, and grabs the compressed copper plate;

[0023] Step 9, the 3-axis gantry truss sends the compressed copper plate grabbed by the flexible servo gripper mechanism into the hopper lifting mechanism;

[0024] Step 10, the hopper lifting mechanism rises, and the compressed copper plate is poured into the high-temperature copper refining furnace, and then the hopper lifting mechanism returns to the bottom origin position.

[0025] Further, in step 1, the MES order system transmits customer order information to the PLC control system, and the PLC control system calculates the weight of the compressed copper plate to be grabbed according to the customer order information, as follows:

[0026] Step 1.1, the MES order system receives customer order information, including product model, product quantity, and customer information;

[0027] Step 1.2, the MES order system transmits order information to the PLC control system of the high-temperature copper refining furnace copper plate intelligent feeding equipment;

[0028] Step 1.3, the PLC control system retrieves the corresponding formula program from the database according to the order requirements, calculates the weight of the compressed copper plate to be grabbed, and transmits it to the PLC control system.

[0029] Further, in step 3, the vision detection device obtains the size information of the compressed copper plate and stores it in the PLC control system, as follows:

[0030] Step 3.1, the vision detection device obtains the image of the compressed copper plate;

[0031] Step 3.2, image preprocessing, including image denoising, image enhancement and image smoothing;

[0032] Step 3.3, calibrate the camera, calibrate the camera, and associate the pixels in the image with the actual size;

[0033] Step 3.4, image analysis, using image processing and analysis to identify the outline of the compressed copper plate, including edge detection, thresholding and contour extraction;

[0034] Step 3.5, size calculation, based on the coordinates of the compressed copper plate outline, calculate the length and width size parameters of the compressed copper plate;

[0035] Step 3.6, calculate the geometric center, use the outline information of the compressed copper plate to calculate the geometric center, and transmit the center point coordinates to the PLC control system.

[0036] Further, in step 4, the roller table performs real-time weighing on the compressed copper plate and stores the weighing information in the PLC control system, as follows:

[0037] Real-time weighing of the compressed copper plate on the roller table, transmitting data to the PLC control system for formula calculation.

[0038] Further, the flexible servo gripper mechanism in step 5 moves to the center position above the compressed copper plate through the 3-axis gantry truss, as follows:

[0039] The 3-axis gantry truss moves the flexible servo gripper mechanism to the center position above the compressed copper plate according to the geometric center coordinates of the compressed copper plate provided by the PLC control system.

[0040] Further, the displacement sensors at the four corners of the flexible servo gripper mechanism in step 6 detect the thickness information of the compressed copper plate and store the thickness information in the PLC control system, as follows:

[0041] Step 6.1, data acquisition, start the displacement sensors at the four corners of the flexible servo gripper mechanism to measure the distance of the four corners of the compressed copper plate, output the corresponding displacement data;

[0042] Step 6.2, data processing, transmit the displacement data output by the displacement sensors to the PLC control system for processing;

[0043] Step 6.3, use the measured displacement data of the four corners to calculate the thickest thickness of the copper plate, as follows:

[0044] Since the thinnest place is the farthest from the ground, the minimum value of the displacement of the four corners is taken to calculate the thickest thickness of the copper plate, and the calculation formula is: thickest thickness = maximum measured height - minimum displacement;

[0045] Step 6.4, result output, output the calculated thickest thickness result to the PLC control system.

[0046] Further, the flexible servo gripper mechanism in step 8 controls the width of the gripper mechanism to grab the compressed copper plate through the length and width size information of the compressed copper plate, as follows:

[0047] Step 8.1, the PLC control system processes the size information data of the compressed copper plate through the program written, calculates the width value of the flexible servo gripper mechanism that needs to control the gripper to clamp;

[0048] Step 8.2, the flexible servo gripper mechanism controls the width of the gripper mechanism according to the calculated width value to grab the compressed copper plate.

[0049] Further, the 3-axis gantry truss in step 9 sends the compressed copper plate grabbed by the flexible servo gripper mechanism into the hopper lifting mechanism, as follows:

[0050] Step 9.1, the flexible servo gripper mechanism performs Z-axis lifting action to lift the compressed copper plate;

[0051] Step 9.2, the PLC control system generates a control signal and sends the instruction to the 3-axis gantry crane through the data interface;

[0052] Step 9.3, the 3-axis gantry crane moves the flexible servo gripper mechanism to the target position above the hopper elevator, and puts the compressed copper plate into the hopper elevator frame.

[0053] Further, the hopper lifting mechanism in step 10 rises, and the compressed copper plate is poured into the high-temperature copper refining furnace, and then the hopper lifting mechanism returns to the bottom origin position, as follows:

[0054] Step 10.1, the PLC control system executes the material pouring program to send the compressed copper plate into the copper refining furnace for refining work;

[0055] Step 10.2, the PLC control system controls the hopper lifting mechanism to return to the bottom origin position and waits for the next operation instruction.

[0056] Compared with the prior art, the present application has the following advantages: (1) reduces the need for manual intervention, improves production efficiency, and reduces safety accidents; (2) the copper furnace copper plate intelligent feeding equipment can work continuously without rest, greatly improving the production rate; (3) the present application reduces human error, and automation reduces the risk of human error and reduces errors caused by fatigue or negligence; (4) the 3-axis gantry can accurately and stably grasp the compressed copper plate, ensuring the stability and safety during operation, thereby reducing equipment damage and reducing mechanical injury accidents that may occur during manual handling of the compressed copper plate; (5) visual recognition of the size of the compressed copper plate can accurately grasp the product with the 3-axis gantry with a flexible servo gripper mechanism, reducing the need for a large amount of manual measurement and reducing labor costs; (6) factory managers can monitor the production process in real time, including order execution, output, efficiency, etc., and the system can generate production reports, which is helpful for optimizing and improving the production process. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 is a flowchart of a compressed copper plate intelligent feeding method for a high-temperature copper refining furnace of the present application.

[0058] Figure 2 is a structural schematic diagram of a compressed copper plate intelligent feeding equipment for a high-temperature copper refining furnace in the present application. DETAILED DESCRIPTION

[0059] The present application provides a compressed copper plate intelligent feeding equipment for a high-temperature copper refining furnace, which comprises a PLC control system, a gantry crane, a flexible servo gripper mechanism, a roller table, a hopper elevator, a visual detection device and a displacement sensor.

[0060] The PLC control system is the control center of the intelligent feeding equipment, and controls the operation of each component;

[0061] The flexible servo gripper mechanism is installed on the portal truss, and is used for clamping and conveying the compressed copper plate;

[0062] The roller table is used for conveying and weighing the compressed copper plate, and the weighing information is stored in the PLC control system;

[0063] The hopper elevator is used for pouring the compressed copper plate into the high-temperature refining copper furnace;

[0064] The visual detection device is used for acquiring the size information of the compressed copper plate, and the size information is stored in the PLC control system;

[0065] The four corners of the flexible servo gripper mechanism are respectively provided with a displacement sensor, which is used for detecting the thickness information of the compressed copper plate, and the thickness information is stored in the PLC control system.

[0066] The application also provides a compressed copper plate intelligent feeding method of a high-temperature refining copper furnace.

[0067] Step 1, the MES order system transmits customer order information to the PLC control system, and the PLC control system calculates the weight of the compressed copper plate to be grabbed according to the customer order information;

[0068] Step 2, the PLC control system controls the roller table to convey the compressed copper plate from the material preparation area to the specified position for weighing;

[0069] Step 3, the visual detection device acquires the size information of the compressed copper plate, and the size information is stored in the PLC control system;

[0070] Step 4, the roller table weighs the compressed copper plate in real time, and the weighing information is stored in the PLC control system;

[0071] Step 5, the flexible servo gripper mechanism moves to the center position above the compressed copper plate through the 3-axis portal truss, the horizontal plane of the 3-axis portal truss is X and Y axes, and the vertical direction is Z axis;

[0072] Step 6, the displacement sensors at the four corners of the flexible servo gripper mechanism detect the thickness information of the compressed copper plate, and the thickness information is stored in the PLC control system;

[0073] Step 7, the Z axis of the 3-axis portal truss drives the flexible servo gripper mechanism to probe to the thickest position of the compressed copper plate;

[0074] Step 8, the flexible servo gripper mechanism controls the width of the gripper mechanism according to the length and width size information of the compressed copper plate, and grabs the compressed copper plate;

[0075] Step 9, the 3-axis gantry truss sends the compressed copper plate grabbed by the flexible servo gripper mechanism to the hopper lifting mechanism;

[0076] Step 10, the hopper lifting mechanism rises, and the compressed copper plate is poured into the high-temperature copper refining furnace, and then the hopper lifting mechanism returns to the bottom origin position.

[0077] As a specific example, in step 1, the MES order system transmits customer order information to the PLC control system, and the PLC control system calculates the weight of the compressed copper plate to be grabbed according to the customer order information, as follows:

[0078] Step 1.1, the MES order system receives customer order information, including product model, product quantity, and customer information;

[0079] Step 1.2, the MES order system transmits order information to the PLC control system of the high-temperature copper refining furnace copper plate intelligent feeding equipment;

[0080] Step 1.3, the PLC control system retrieves the corresponding formula program from the database according to the order requirements, calculates the weight of the compressed copper plate to be grabbed, and transmits it to the PLC control system.

[0081] As a specific example, in step 3, the vision detection device obtains the size information of the compressed copper plate and stores it in the PLC control system, as follows:

[0082] Step 3.1, the vision detection device obtains the image of the compressed copper plate;

[0083] Step 3.2, image preprocessing, including image denoising, image enhancement and image smoothing;

[0084] Step 3.3, calibrate the camera, calibrate the camera, and associate the pixels in the image with the actual size;

[0085] Step 3.4, image analysis, using image processing and analysis to identify the outline of the compressed copper plate, including edge detection, thresholding and contour extraction;

[0086] Step 3.5, size calculation, based on the coordinates of the compressed copper plate outline, calculate the length and width size parameters of the compressed copper plate;

[0087] Step 3.6, calculate the geometric center, use the outline information of the compressed copper plate to calculate the geometric center, and transmit the center point coordinates to the PLC control system.

[0088] As a specific example, in step 4, the roller table performs real-time weighing on the compressed copper plate and stores the weighing information in the PLC control system, as follows:

[0089] The compressed copper plate on the roller table is weighed in real time, and the data is transmitted to the PLC control system for formula calculation.

[0090] As a specific example, the flexible servo gripper mechanism in step 5 moves to the center position above the compressed copper plate through the 3-axis gantry truss, specifically as follows:

[0091] The 3-axis gantry truss moves the flexible servo gripper mechanism to the center position above the compressed copper plate according to the geometric center coordinates of the compressed copper plate provided by the PLC control system.

[0092] Further, the displacement sensors at the four corners of the flexible servo gripper mechanism in step 6 detect the thickness information of the compressed copper plate and store the thickness information in the PLC control system, specifically as follows:

[0093] Step 6.1, data acquisition, start the displacement sensors at the four corners of the flexible servo gripper mechanism, measure the distance of the four corners of the compressed copper plate, and output the corresponding displacement data;

[0094] Step 6.2, data processing, transmit the displacement data output by the displacement sensors to the PLC control system for processing;

[0095] Step 6.3, using the measured displacement data of the four corners, calculate the thickest thickness of the copper plate, specifically as follows:

[0096] Since the thinnest place is the farthest from the ground, the minimum value of the displacement of the four corners is taken to calculate the thickest thickness of the copper plate, and the calculation formula is: thickest thickness = maximum measured height - minimum displacement;

[0097] Step 6.4, result output, output the calculated thickest thickness result to the PLC control system.

[0098] As a specific example, the flexible servo gripper mechanism in step 8 controls the width of the gripper mechanism to grab the compressed copper plate through the length and width size information of the compressed copper plate, specifically as follows:

[0099] Step 8.1, the PLC control system processes the size information data of the compressed copper plate through the program written, and calculates the width value of the flexible servo gripper mechanism that needs to control the gripper to clamp;

[0100] Step 8.2, the flexible servo gripper mechanism controls the width of the gripper mechanism according to the calculated width value to grab the compressed copper plate.

[0101] As a specific example, the 3-axis gantry truss in step 9 sends the compressed copper plate grabbed by the flexible servo gripper mechanism into the hopper lifting mechanism, specifically as follows:

[0102] Step 9.1, the flexible servo gripper mechanism performs the lifting action of the Z axis to lift the compressed copper plate;

[0103] Step 9.2, the PLC control system generates a control signal and sends the instruction to the 3-axis gantry through the data interface;

[0104] Step 9.3, the 3-axis gantry moves the flexible servo gripper mechanism to the target position above the hopper elevator, and puts the compressed copper plate into the hopper elevator frame.

[0105] As a specific example, the hopper lifting mechanism in step 10 rises, and the compressed copper plate is poured into the high-temperature copper refining furnace, and then the hopper lifting mechanism returns to the bottom origin position, as follows:

[0106] Step 10.1, the PLC control system executes the material pouring program to send the compressed copper plate into the copper refining furnace for refining work;

[0107] Step 10.2, the PLC control system controls the hopper lifting mechanism to return to the bottom origin position and waits for the next operation instruction.

[0108] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0109] Embodiment 1

[0110] In combination Figure 2 , the embodiment of the compressed copper plate intelligent feeding equipment of the high-temperature copper refining furnace includes a PLC control system, a gantry, a flexible servo gripper mechanism, a roller table, a hopper elevator, a visual detection device, and a displacement sensor;

[0111] The PLC control system is the control center of the intelligent feeding equipment and controls the operation of each component;

[0112] The gantry is installed with the flexible servo gripper mechanism for clamping and conveying the compressed copper plate;

[0113] The roller table is used for conveying and weighing the compressed copper plate and storing the weighing information into the PLC control system;

[0114] The hopper elevator is used for pouring the compressed copper plate into the high-temperature copper refining furnace;

[0115] The visual detection device is used for obtaining the size information of the compressed copper plate and storing the size information into the PLC control system;

[0116] The flexible servo gripper mechanism is installed with one displacement sensor at each corner for detecting the thickness information of the compressed copper plate and storing the thickness information into the PLC control system.

[0117] In combination Figure 1The embodiment of the application discloses a high-temperature copper smelting furnace compressed copper plate intelligent feeding method, which comprises the following steps:

[0118] Step 1, the MES order system transmits customer order information to the PLC control system, and the PLC control system calculates the weight of the compressed copper plate to be grabbed according to the customer order information, as follows:

[0119] Step 1.1, the MES order system receives customer order information, including product model, product quantity and customer information;

[0120] Step 1.2, the MES order system transmits the order information to the PLC control system of the high-temperature copper smelting furnace copper plate intelligent feeding equipment;

[0121] Step 1.3, the PLC control system retrieves the corresponding formula program from the database according to the order requirement, calculates the weight of the compressed copper plate to be grabbed, and transmits it to the PLC control system.

[0122] Step 2, the PLC control system controls the roller table to convey the compressed copper plate from the standby area to the designated position for weighing;

[0123] Step 3, the vision detection device acquires the size information of the compressed copper plate and stores the size information into the PLC control system, as follows:

[0124] Step 3.1, the vision detection device acquires the image of the compressed copper plate;

[0125] Step 3.2, image preprocessing, including image denoising, image enhancement and image smoothing, to improve image quality and reduce the influence of noise on detection results;

[0126] Step 3.3, calibrate the camera, calibrate the camera, and associate the pixels in the image with the actual size;

[0127] Step 3.4, image analysis, using image processing and analysis techniques to identify the outline of the compressed copper plate, including edge detection, thresholding and contour extraction;

[0128] Step 3.5, size calculation, based on the coordinates of the compressed copper plate outline, calculate the length, width and other size parameters of the compressed copper plate;

[0129] Step 3.6, calculate the geometric center, use the outline information of the compressed copper plate to calculate its geometric center, and transmit the center point coordinates to the PLC control system.

[0130] Step 4, the roller table weighs the compressed copper plate in real time, and stores the weighing information into the PLC control system, as follows:

[0131] Real-time weighing of the compressed copper plate on the roller table, transmitting data to the PLC control system for formula calculation.

[0132] Step 5, the flexible servo gripper mechanism moves to the center position above the compressed copper plate through the 3-axis gantry truss, as follows:

[0133] The 3-axis gantry truss moves the flexible servo gripper mechanism to the center position above the compressed copper plate according to the geometric center coordinates of the compressed copper plate provided by the PLC control system.

[0134] Step 5, the flexible servo gripper mechanism moves to the center position above the compressed copper plate through the 3-axis gantry truss;

[0135] Step 6, the displacement sensors at the four corners of the flexible servo gripper mechanism detect the thickness information of the compressed copper plate and store the thickness information in the PLC control system, as follows:

[0136] Step 6.1, data acquisition, start the displacement sensors at the four corners of the flexible servo gripper mechanism, measure the distance of the four corners of the compressed copper plate, and output the corresponding displacement data;

[0137] Step 6.2, data processing, transmit the displacement data output by the displacement sensors to the PLC control system for processing;

[0138] Step 6.3, use the measured displacement data of the four corners to calculate the thickest thickness of the copper plate, as follows:

[0139] Since the thinnest place will be the farthest from the ground, take the minimum value of the displacement of the four corners to calculate the thickest thickness of the copper plate, the calculation formula is:

[0140] Thickest thickness = maximum measured height - minimum displacement

[0141] Step 6.4, result output, output the calculated thickest thickness result to the PLC control system.

[0142] Step 7, the 3-axis gantry truss Z-axis drives the flexible servo gripper mechanism to descend to the thickest thickness position of the compressed copper plate;

[0143] Step 8, the flexible servo gripper mechanism controls the width of the gripper mechanism through the length and width size information of the compressed copper plate to grab the compressed copper plate, as follows:

[0144] Step 8.1, the PLC control system processes the size information data of the compressed copper plate through the program written in the PLC program, calculates the width value of the flexible servo gripper mechanism that needs to control the gripper to clamp;

[0145] Step 8.2, the flexible servo gripper mechanism controls the width of the gripper mechanism according to the calculated width value, and grabs the compressed copper plate.

[0146] Step 9, the 3-axis gantry truss sends the compressed copper plate grabbed by the flexible servo gripper mechanism to the hopper lifting mechanism, as follows:

[0147] Step 9.1, the flexible servo gripper mechanism performs a Z-axis lifting action to lift the compressed copper plate;

[0148] Step 9.2, the PLC control system generates a control signal and sends the instruction to the 3-axis gantry truss through the data interface;

[0149] Step 9.3, the 3-axis gantry truss moves the flexible servo gripper mechanism to the target position above the hopper lifting machine, and places the compressed copper plate into the hopper lifting machine frame.

[0150] Step 10, the hopper lifting mechanism rises and pours the compressed copper plate into the high-temperature copper refining furnace, and then returns to the bottom origin position, as follows:

[0151] Step 10.1, the PLC control system executes the pouring program to send the compressed copper plate into the copper refining furnace for refining work;

[0152] Step 10.2, the PLC control system controls the hopper lifting mechanism to return to the bottom origin position and waits for the next operation instruction.

[0153] Example 2

[0154] The compressed copper plate intelligent feeding method of the high-temperature copper refining furnace in this embodiment is as follows:

[0155] S1: The MES order system receives customer order information. This includes the specifications, quantity and other related information of the copper wire after refining. The order system passes the order information to the high-temperature copper refining furnace copper plate intelligent feeding equipment to calculate the feeding formula according to the order requirements.

[0156] S2: The PLC executes the program to control the motor through the frequency converter to drive the roller to rotate, and transports the compressed copper plate in the preparation area to the designated position for weighing. The frequency converter communicates with the PLC through the PROFINET bus and can adjust the frequency arbitrarily to change the conveying speed of the roller.

[0157] S3: The visual detection of the compressed copper plate length and width size information is stored in the system. First, image preprocessing is needed, including image denoising, image enhancement, image smoothing and other techniques to improve image quality and reduce the influence of noise on the detection result.

[0158] Then calibrate the camera, calibrate the camera, associate the pixels in the image with actual dimensions. Image analysis, use image processing and analysis techniques to identify the outline of the compressed copper plate. This can include edge detection, thresholding, contour extraction, etc. Size calculation, based on the coordinates of the compressed copper plate outline, the length, width and other size parameters can be calculated. These size parameters can be used in subsequent steps. Based on the geometric center, using the outline information of the copper plate, the geometric center is calculated, which is a mean point located at the center of the copper plate, and the center point coordinates are transmitted to the PLC controller.

[0159] MES system interacts with product order information, including product model, product quantity, customer information and model information.

[0160] The system transmits order information to the high-temperature copper smelting furnace copper plate intelligent feeding equipment, so as to feed according to the order requirements (compressed copper plate weight); according to the order information obtained by analysis, the high-temperature copper smelting furnace copper plate intelligent feeding equipment executes the corresponding formula program, and grabs the compressed copper plate of corresponding weight to meet the order requirements. Each different specification of copper wire needs different formula program. Corresponding to the weight of different compressed copper plates. Through order information data, the program can be freely switched. In the system, the formula of the smelted product is all imported into the database. When a product model is called, the program executes the SQL statement to call the formula data in the database to the PLC controller.

[0161] S4: The roller table stores the real-time weight information of the compressed copper plate into the system, and through the above database formula and the real-time weight information of the compressed copper plate, the PLC control system calls the data formula to execute the auxiliary material weighing, and adds various smelting raw materials to match the smelting of the batch of compressed copper plate raw materials. (The smelting of the product copper wire is based on the smelting of the raw material compressed copper plate and various chemical materials, so the real-time weight of the compressed copper plate needs to be known, and the weight of other chemical materials is calculated through the internal formula data and imported into the high-temperature copper smelting furnace).

[0162] S5: The outline of the compressed copper plate is recognized by the above-mentioned visual system, and the center position of the copper plate is calculated based on the geometric center algorithm, and the PLC calls the center position coordinates. The 3-axis gantry frame moves to the center position above the compressed copper plate according to the coordinates provided by the PLC, and prepares for the next step of work.

[0163] S6: The four corner displacement sensors of the flexible servo gripper mechanism detect the thickness information of the compressed copper plate and store it in the system. Four sensors are started simultaneously to measure the distance of the four corners of the copper plate. The sensors output corresponding displacement data. The displacement data output by the sensors is transmitted to the computer or control system for further processing through data processing. The measured displacement data of the four corners is used. The method of calculating the thickness of the copper plate is to take the minimum value of the displacement of the four corners, because the thinnest place will be the farthest from the ground. The calculation formula is: the thickest thickness = the maximum measured height - the minimum displacement. The calculated thickest thickness result is output to the PLC control system data recorder for subsequent calling.

[0164] S7: The 3-axis gantry Z-axis with flexible servo gripper mechanism starts to descend to the calculated height. The four corner displacement data is used to calculate the thickest thickness of the copper plate. The method is to take the minimum value of the displacement of the four corners, and the data is transmitted to the PLC internal program to control the 3-axis gantry Z-axis with flexible servo gripper mechanism to start descending.

[0165] S8: The flexible servo gripper mechanism controls the width of the gripper to grab the compressed copper plate through size information. First, the size information data of the compressed copper plate detected by the vision system is transmitted to the PLC. Profinet communication protocol is used for data transmission. At the same time, the size information data from the vision system is processed in the PLC program to calculate the width value of the servo motor that needs to control the gripper to clamp.

[0166] S9: After the copper plate is grabbed, it is sent to the hopper elevator. After the compressed copper plate is clamped by the flexible servo gripper mechanism, the Z-axis lifting action is performed to lift the compressed copper plate to avoid collision accidents caused by mechanism interference during movement, causing equipment damage. The PLC program generates a control signal, which is sent to the servo motor controller through a suitable interface. The servo motor is controlled to move to the target position (above the hopper elevator), and then the compressed copper plate is placed in the hopper elevator frame.

[0167] S10: The hopper lifting mechanism rises to pour the compressed copper plate into the high-temperature copper refining furnace. First, the hopper elevator senses that there is material in the frame, and then the hopper elevator rises program is executed by PLC control to stably lift the compressed copper plate material to the top of the high-temperature copper refining furnace. When all the above actions are completed, the sensors sense that there is no interference around and the hopper elevator is in place, and then the PLC controls the pouring program to guide the compressed copper plate into the copper refining furnace for refining work.

[0168] In the description of the present application, it is to be understood that the structure, proportion, size, etc. shown in the drawings attached to the specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and are not used to limit the implementation conditions of the present application, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technology disclosed by the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "first", "second" and the like in the specification are only for the convenience of clear description, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship, without substantially changing the technical content, is also considered as the implementation scope of the present application.

[0169] The terms "first", "second", "third", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0170] In the description of the present application, it is to be understood that, unless otherwise specified and limited, the terms "mounting", "setting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication between the two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0171] For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent replacement and improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the claims of the present application.

Claims

1. A high-temperature copper smelting furnace compressed copper plate intelligent feeding equipment, characterized in that, It comprises a PLC control system, a gantry truss, a flexible servo gripper mechanism, a roller table, a hopper elevator, a visual detection device, and displacement sensors. The PLC control system is the control center of the intelligent feeding equipment and controls the operation of each component. The flexible servo gripper mechanism is installed on the gantry truss and used for clamping and conveying the compressed copper plate. The roller table is used for conveying and weighing the compressed copper plate and storing the weighing information in the PLC control system. The hopper elevator is used for pouring the compressed copper plate into the high-temperature copper refining furnace. The visual detection device is used for obtaining the size information of the compressed copper plate and storing the size information in the PLC control system. Each of the four corners of the flexible servo gripper mechanism is provided with a displacement sensor for detecting the thickness information of the compressed copper plate and storing the thickness information in the PLC control system. The working steps of the intelligent feeding equipment for the compressed copper plate of the high-temperature copper refining furnace are as follows: Step 1: The MES order system transmits customer order information to the PLC control system, which calculates the weight of the compressed copper plate to be grabbed according to the customer order information. Step 2: The PLC control system controls the roller table to convey the compressed copper plate from the material preparation area to the designated position for weighing. Step 3: The visual detection device obtains the size information of the compressed copper plate and stores the size information in the PLC control system, specifically as follows: Step 3.1: The visual detection device obtains the image of the compressed copper plate. Step 3.2: Image preprocessing, including image denoising, image enhancement, and image smoothing. Step 3.3: Camera calibration, calibrating the camera to associate the pixels in the image with the actual size. Step 3.4: Image analysis, using image processing and analysis to identify the outline of the compressed copper plate, including edge detection, thresholding, and contour extraction. Step 3.5: Size calculation, based on the coordinates of the compressed copper plate outline, calculating the length and width size parameters of the compressed copper plate. Step 3.6: Calculate the geometric center, use the outline information of the compressed copper plate to calculate the geometric center, and transmit the center point coordinates to the PLC control system. Step 4: The roller table weighs the compressed copper plate in real time and stores the weighing information in the PLC control system. Step 5: The flexible servo gripper mechanism moves to the center position above the compressed copper plate through the 3-axis gantry truss, with X and Y axes on the horizontal plane of the 3-axis gantry truss and Z axis in the vertical direction. Step 6: The displacement sensors at the four corners of the flexible servo gripper mechanism detect the thickness information of the compressed copper plate and store the thickness information in the PLC control system, specifically as follows: Step 6.1: Data acquisition, start the displacement sensors at the four corners of the flexible servo gripper mechanism to measure the distance of the four corners of the compressed copper plate and output the corresponding displacement data. Step 6.2: Data processing, transmit the displacement data output by the displacement sensors to the PLC control system for processing. Step 6.3: Calculate the thickest thickness of the copper plate using the measured displacement data of the four corners, specifically as follows: Since the thinnest place is the farthest from the ground, the thickest thickness of the copper plate is calculated by taking the minimum value of the displacement of the four corners, and the calculation formula is: thickest thickness = maximum measured height - minimum displacement. Step 6.4, Result output, output the calculated thickest thickness result to the PLC control system; Step 7, the Z-axis of the 3-axis gantry truss drives the flexible servo gripper mechanism to descend to the thickest thickness position of the compressed copper plate; Step 8, the flexible servo gripper mechanism controls the width of the gripper mechanism through the length and width size information of the compressed copper plate, and grabs the compressed copper plate; Step 9, the 3-axis gantry truss sends the compressed copper plate grabbed by the flexible servo gripper mechanism into the hopper lifting mechanism; Step 10, the hopper lifting mechanism rises, pours the compressed copper plate into the high-temperature refining copper furnace, and then the hopper lifting mechanism returns to the bottom origin position.

2. A method for intelligent feeding of compressed copper plates in a high-temperature copper smelting furnace, characterized by, The following steps are included: Step 1, the MES order system transmits customer order information to the PLC control system, and the PLC control system calculates the weight of the compressed copper plate that needs to be grabbed according to the customer order information; Step 2, the PLC control system controls the roller table to transport the compressed copper plate from the material preparation area to the designated position for weighing; Step 3, the vision detection device obtains the size information of the compressed copper plate and stores it in the PLC control system, as follows: Step 3.1, the vision detection device obtains the image of the compressed copper plate; Step 3.2, image preprocessing, including image denoising, image enhancement and image smoothing; Step 3.3, camera calibration, calibrate the camera to associate the pixels in the image with the actual size; Step 3.4, image analysis, use image processing and analysis to identify the outline of the compressed copper plate, including edge detection, thresholding and contour extraction; Step 3.5, size calculation, based on the coordinates of the compressed copper plate outline, calculate the length and width size parameters of the compressed copper plate; Step 3.6, calculate the geometric center, use the outline information of the compressed copper plate to calculate the geometric center, and transmit the center point coordinates to the PLC control system; Step 4, the roller table weighs the compressed copper plate in real time and stores the weighing information in the PLC control system; Step 5, the flexible servo gripper mechanism moves to the center position above the compressed copper plate through the 3-axis gantry truss, the horizontal plane of the 3-axis gantry truss is X and Y axes, and the vertical direction is Z axis; Step 6, the displacement sensors at the four corners of the flexible servo gripper mechanism detect the thickness information of the compressed copper plate and store it in the PLC control system, as follows: Step 6.1, data acquisition, start the displacement sensors at the four corners of the flexible servo gripper mechanism to measure the distance of the four corners of the compressed copper plate and output the corresponding displacement data; Step 6.2, data processing, transmit the displacement data output by the displacement sensors to the PLC control system for processing; Step 6.3, calculate the thickest thickness of the copper plate using the measured displacement data of the four corners, as follows: Since the thinnest place is the farthest from the ground, take the minimum value of the displacement of the four corners to calculate the thickest thickness of the copper plate, the calculation formula is: thickest thickness = maximum measured height - minimum displacement; Step 6.4, result output, output the calculated thickest thickness result to the PLC control system; Step 7, the Z-axis of the 3-axis gantry truss drives the flexible servo gripper mechanism to descend to the thickest thickness position of the compressed copper plate; Step 8, the flexible servo gripper mechanism controls the width of the gripper mechanism by compressing the length and width size information of the copper plate, and grabs the compressed copper plate; Step 9, the 3-axis gantry truss sends the compressed copper plate grabbed by the flexible servo gripper mechanism into the hopper lifting mechanism; Step 10, the hopper lifting mechanism rises, pours the compressed copper plate into the high-temperature copper refining furnace, and then the hopper lifting mechanism returns to the bottom origin position.

3. The intelligent feeding method of compressed copper plate for high-temperature copper smelting furnace according to claim 2, characterized in that, In step 1, the MES order system transmits customer order information to the PLC control system, and the PLC control system calculates the weight of the compressed copper plate to be grabbed according to the customer order information, as follows: Step 1.1, the MES order system receives customer order information, including product model, product quantity, and customer information; Step 1.2, the MES order system transmits order information to the PLC control system of the high-temperature copper refining furnace copper plate intelligent feeding equipment; Step 1.3, the PLC control system retrieves the corresponding formula program from the database according to the order requirements, calculates the weight of the compressed copper plate to be grabbed, and transmits it to the PLC control system.

4. The method for intelligent feeding of compressed copper plates of a high-temperature copper smelting furnace according to claim 2, characterized in that, In step 4, the roller table performs real-time weighing on the compressed copper plate and stores the weighing information into the PLC control system, as follows: Real-time weighing of the compressed copper plate on the roller table, data transmission to the PLC control system for formula calculation.

5. The method for intelligent feeding of compressed copper plates of a high-temperature copper smelting furnace according to claim 2, characterized in that, In step 5, the flexible servo gripper mechanism moves to the center position above the compressed copper plate through the 3-axis gantry truss, as follows: The 3-axis gantry truss moves the flexible servo gripper mechanism to the center position above the compressed copper plate according to the geometric center coordinates of the compressed copper plate provided by the PLC control system.

6. The method for intelligent feeding of compressed copper plates of a high-temperature copper smelting furnace according to claim 2, characterized in that, In step 8, the flexible servo gripper mechanism controls the width of the gripper mechanism by compressing the length and width size information of the copper plate, and grabs the compressed copper plate, as follows: Step 8.1, the PLC control system processes the size information data of the compressed copper plate through the program, calculates the width value of the flexible servo gripper mechanism that needs to control the gripper to clamp; Step 8.2, the flexible servo gripper mechanism controls the width of the gripper mechanism according to the calculated width value, and grabs the compressed copper plate.

7. The method for intelligent feeding of compressed copper plates of a high-temperature copper smelting furnace according to claim 2, characterized in that, In step 9, the 3-axis gantry truss sends the compressed copper plate grabbed by the flexible servo gripper mechanism into the hopper lifting mechanism, as follows: Step 9.1, the flexible servo gripper mechanism performs Z-axis lifting action to lift the compressed copper plate; Step 9.2, the PLC control system generates a control signal and sends the instruction to the 3-axis gantry truss through the data interface; Step 9.3, the 3-axis gantry truss moves the flexible servo gripper mechanism to the target position above the hopper elevator, and puts the compressed copper plate into the hopper elevator frame.

8. The method for intelligent feeding of compressed copper plates of a high-temperature copper smelting furnace according to claim 2, characterized in that, In step 10, the hopper lifting mechanism rises, pours the compressed copper plate into the high-temperature copper refining furnace, and then the hopper lifting mechanism returns to the bottom origin position, as follows: Step 10.1, the PLC control system executes the pouring program, sends the compressed copper plate into the copper refining furnace, and performs refining work; Step 10.2, the PLC control system controls the hopper lifting mechanism to return to the bottom origin position and waits for the next operation instruction.

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