Cathode copper plate stripping machine

Abstract

The invention provides a cathode copper plate stripping machine which is characterized in that a cathode plate with a vertical plate surface is suspended on a conveying line, and a suction cup on a suction cup frame connected with a mechanical arm is communicated with a vacuum air source; the mechanical arm drives the suction face of the suction cup on the suction cup frame to be sucked to the plate face of the cathode copper plate and suck the cathode copper plate to make displacement movement separated from the plate face of the cathode plate, the suction force is relieved when the mechanical arm swings downwards till the inner side plate face of the cathode copper plate and the conveying unit form an acute angle, and the cathode copper plate is located on the conveying unit. The mechanical arm drives the suction cup frame to move, so that the suction cup directly adsorbs the cathode copper plate to strip the cathode copper plate from the cathode plate, the cathode copper plate is stably placed on the conveying unit, the stripping efficiency is improved, and meanwhile the cathode copper plate is prevented from being scratched or collided and damaged in the stripping process.

Description

Technical Field

[0001] The invention relates to the technical field of cathode copper stripping, and in particular to a cathode copper plate stripping machine. Background Art

[0002] Electrolytic copper is simply the electrolytic refining of copper. The purification of copper refers to the purification to 99.95% after electrolysis. The specific method is: the crude copper (containing 99% copper) is pre-made into a thick plate as the anode, the pure copper is made into a thin sheet as the cathode, and a mixture of sulfuric acid (H2SO4) and copper sulfate (CuSO4) is used as the electrolyte. After the power is turned on, the copper dissolves from the anode into copper ions (Cu) and moves to the cathode. After reaching the cathode, it obtains electrons and precipitates pure copper (also called electrolytic copper or cathode copper plate) at the cathode. Impurities in the crude copper, such as iron and zinc that are more active than copper, will dissolve into ions (Zn and Fe) along with the copper. Since these ions are less likely to precipitate than copper ions, the potential difference can be properly adjusted during electrolysis to avoid the precipitation of these ions on the cathode. Impurities that are less active than copper, such as gold and silver, are deposited at the bottom of the electrolytic cell. The cathode copper plate produced in this way is of extremely high quality and can be used to make electrical products. After the cathode copper plate is electrolyzed on the cathode plate, it needs to be peeled off from the cathode plate. In the traditional copper electrolysis process, the electrolysis time of crude copper is about 22.5 hours. In order to complete the production cycle within one day, it is generally necessary to peel off the cathode copper plate and return the cathode plate to the tank within 1.5 hours. The copper plate is mainly peeled by manual or semi-automatic peeling machines. The efficiency of manual peeling is low. It takes a lot of manpower to complete the peeling process within 1.5 hours, and the peeling quality is poor. The peeling knife of the existing peeling machine can easily damage the copper plate, causing it to deform or wrinkle, and the copper plate is easily damaged by bumps when it falls directly on the conveyor after being peeled.

[0003] The technical solution disclosed in the patent entitled "A stripping suction cup device, clamping device and process method for a starting electrode sheet" (CN111826685A) includes a clamping device 1 and a stripping robot 2 arranged on both sides of the clamping device 1. The clamping device 1 clamps a cathode copper plate 4, and the stripping robot 2 strips the cathode copper plate through a suction cup. The above solution uses a suction cup adsorption method to avoid scratching the copper plate, but the cathode copper plate 4 needs to be placed on the two support blocks 1-5 of the clamping device 1 through the previous process, and the process is relatively cumbersome. Summary of the invention

[0004] The object of the present invention is to provide a cathode copper plate stripping machine which can efficiently strip the cathode copper plate while preventing the cathode copper plate from being scratched or damaged during stripping.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A cathode copper plate peeling machine, a cathode plate with a vertical plate surface is suspended on a conveying line, the cathode copper plate is attached to the plate surfaces on both sides of the cathode plate, and mechanical arms are correspondingly arranged on the plate surface sides of the cathode copper plate, the mechanical arm includes a mechanical large arm hingedly connected to a frame at one end, a mechanical small arm is hingedly connected to the other end of the mechanical large arm, a suction cup frame is arranged at the end of the mechanical small arm away from the mechanical large arm, the suction cup on the suction cup frame is connected to a vacuum air source, a clamping mechanism for a conductive rod for clamping the cathode plate is arranged above the cathode plate, a conveying unit for transporting the cathode copper plate is arranged below or beside the cathode plate, the mechanical arm drives the suction surface of the suction cup on the suction cup frame to be adsorbed on the plate surface of the cathode copper plate and adsorbs the cathode copper plate to perform a displacement movement separated from the plate surface of the cathode plate, the mechanical arm adsorbs the cathode copper plate and drives the inner plate surface of the cathode copper plate to swing downward until the inner plate surface of the cathode copper plate forms an acute angle with the conveying unit, and the suction is released, causing the cathode copper plate to sit on the conveying unit.

[0007] The present invention mainly arranges suction cups with strong adsorption force on both sides of the cathode plate, cooperates with the rotation of the mechanical arm and the mechanical arm, drives the suction cup frame to move so that the suction cup directly adsorbs the cathode copper plate to peel it from the cathode plate, and stably places it on the conveying unit, thereby improving the stripping efficiency and preventing the cathode copper plate from being scratched or damaged by bumps during stripping. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a schematic diagram of a cathode plate and a cathode copper plate;

[0009] Figure 2 , 3 They are the side view and the front view of the cathode copper plate stripping of the stripping machine;

[0010] Figure 4 This is an isometric view of the robotic arm;

[0011] Figure 5 , 6 They are the side view and top view of the suction cup respectively;

[0012] Figure 7 for Figure 6 Sectional view at MM;

[0013] Figures 8 to 12 The schematic diagrams of the position relationship of the suction cup adsorbing the cathode copper plate during the peeling process are shown in sequence;

[0014] Fig.13 is an isometric view of the clamping mechanism;

[0015] Fig.14 A schematic diagram of a conveying unit. DETAILED DESCRIPTION

[0016] See also Figures 1 to 14In the cathode copper plate peeling machine shown, a cathode plate B with a vertical plate surface is suspended on the conveying line, and a cathode copper plate A is attached to the plate surfaces of both sides of the cathode plate B. A mechanical arm 10 is provided corresponding to the plate surface side of both sides of the cathode copper plate A. The mechanical arm 10 includes a mechanical arm 11 with one end hingedly connected to the frame 1, and a mechanical arm 12 is hingedly connected to the other end of the mechanical arm 11. A suction cup frame 20 is provided at the end of the mechanical arm 12 away from the mechanical arm 11. The suction cup 21 on the suction cup frame 20 is connected to the vacuum air source. A vacuum air source is connected to the cathode plate B. The clamping mechanism 30 of the conductive rod B' is provided, and a conveying unit 40 for transporting the cathode copper plate A is provided under or beside the cathode plate B. The robot arm 10 drives the suction surface of the suction cup 21 on the suction cup frame 20 to adsorb on the plate surface of the cathode copper plate A and adsorb the cathode copper plate A to make a displacement movement separated from the plate surface of the cathode plate B. The robot arm 10 adsorbs the cathode copper plate A and drives the inner plate surface of the cathode copper plate A to swing downward until the inner plate surface of the cathode copper plate A forms an acute angle with the conveying unit 40, and the suction is released, so that the cathode copper plate A is seated on the conveying unit 40.

[0017] In the above scheme, the cathode plates B are suspended side by side on the conveying line and are moved in sequence to the stripping station where the robot arm 10 is located. After the cathode plate B to be stripped is transported to the set position of the stripping station, the conveying line stops conveying, and the clamping mechanism 30 first clamps the conductive rod B' of the cathode plate B, and then the robot arm 10 starts to drive the suction cup frame 20 to strip the cathode copper plate A. The clamping mechanism 30 clamps the conductive rod B' to ensure that the cathode plate B does not shake significantly during the stripping process, that is, the height position of the cathode plate B is determined, the plate surface is located in the plumb plane, and the position of the cathode plate B in the length direction of the conductive rod B' is determined.

[0018] When the mechanical arms 10 on both sides of the surface of the cathode plate B simultaneously drive the suction cups 21 to absorb and peel off the cathode copper plate A, the cathode copper plate A on one side of the cathode plate B may be successfully peeled off while the cathode copper plate A on the other side is not successfully peeled off (the suction force of the suction cups 21 on this side is insufficient). At this time, the suspended cathode plate B is subjected to unbalanced force, and the clamping mechanism 30 clamps the conductive rod B' of the cathode plate B to ensure that the angle between the cathode plate B and the original plumb line is a smaller angle, which can ensure that the cathode copper plate A on the side with no attenuation of suction is reliably peeled off from the cathode plate B. When the suction cups 21 absorb the cathode copper plate A for peeling and swing downward until the inner surface of the cathode copper plate A forms an acute angle with the conveying unit 40, the suction is released to allow the cathode copper plate A to fall onto the conveying unit 40, which can prevent the cathode copper plate A from being damaged due to collision. Moreover, during the downward swinging of the suction cup 21 to the cathode copper plate A, the plate surface of the cathode copper plate A on the suction side should be kept facing upward, so that the cathode copper plate A that falls onto the conveying unit 40 can be easily identified in the subsequent inspection process, and the subsequent sorting, packing and other processes can be carried out more conveniently.

[0019] Regarding the specific structure of the suction cup 21, Figures 5 to 7 As shown, the suction cup 21 includes a central tube column 213, one end of the central tube column 213 is connected to the ventilation pipe 23 connected to the suction cup frame 20, the outer wall of the central tube column 213 is connected to the bellows section 212, the free end of the bellows section 212 is connected to the conical annular disk 211, the inner hole end of the annular disk 211 is connected to the small-diameter end of the bellows section 212 and forms a trumpet-shaped suction port area, the free end of the central tube column 213 in the free state is located within the tube cavity section of the bellows section 212, and the free end of the central tube column 213 is displaced to the position of the annular disk 211 when the cathode copper plate A is adsorbed.

[0020] In the above scheme, there is an air vent in the center of the pipe of the central tube column 213. When the suction cup 21 is adsorbed, the conical annular disk surface 211 first contacts the surface of the cathode copper plate A, and then the vacuum air source provides suction to cause the corrugated tube section 212 to shrink along its own tube length direction and drive the central tube column 213 in its tube cavity section to move toward the cathode copper plate A until the end face of the free end of the central tube column 213 abuts against the surface of the cathode copper plate A, completing the adsorption action.

[0021] Specifically, the cross section of the bellows section 212 is V-shaped or W-shaped, and the small diameter portion of the bellows section 212 is connected to the middle portion of the outer wall of the central column 213 and the inner hole end of the annular disk 211 respectively. Figures 5 to 7 The solution adopted by the bellows section 212 shown in the figure is that the bellows section 212 has a V-shaped cross section, that is, the upper tube wall 2121 and the lower tube wall 2122 are connected in a manner of pointing to the tube core at an angle.

[0022] As another embodiment, the free end of the central column 213 has a unit airflow channel 2131 that penetrates the tube wall. The unit airflow channel 2131 is composed of radial grooves arranged on the free end face of the central column 213, and the unit airflow channels 2131 are evenly distributed within the circumferential range of the free end face of the central column 213. Preferably, the unit airflow channel 2131 is in a "human" shape, with the single groove end located on the side where the inner hole wall of the central column 213 is located, and a "concave" shaped groove 2132 extending toward the ventilation end of the central column 213 is provided at the "human" intersection between the single groove end and the double groove end of the unit airflow channel 2131.

[0023] In the above scheme, when the suction cup 21 performs the adsorption action so that the free end face of the central column 213 abuts against the surface of the cathode copper plate A, the "human"-shaped unit airflow channel 2131 connects the vent hole in the central column 213 with the tube cavity of the bellows section 212, that is, the airflow can flow from the tube cavity of the bellows section 212 through the unit airflow channel 2131 to the vent hole in the central column 213, and the adsorption area actually provided by the suction cup 21 is expanded from the original area of ​​the vent hole in the central column 213 to the tube end area of ​​the bellows section 212. The smaller aperture of the vent hole in the central column 213 is conducive to increasing the pressure provided after the vacuum air source is connected. On this basis, the vacuum threshold that the vacuum air source can provide is basically fixed. Therefore, the larger the area of ​​the suction surface of the suction cup 21 on the cathode copper plate A, the stronger the suction force that the suction cup 21 can provide.

[0024] In order to further expand the adsorption area that the suction cup 21 can provide, the suction surface of the annular disk surface 211 is provided with unit convex strips 2111 evenly distributed in the circumferential range, the length direction of the unit convex strips 2111 is distributed along the radial direction of the adsorption surface of the annular disk surface 211, and the height of the unit convex strips 2111 relative to the adsorption surface is lower than the height of the annular convex ring 2112 on the outer edge of the annular disk surface 211, so as to ensure the sealing between the convex ring 2112 and the plate surface of the cathode copper plate A when the suction cup 21 is adsorbed. An annular shallow groove 2113 is provided on the adsorption surface between the convex ring 2112 and the outer end of the unit convex strip 2111. Figure 7 for Figure 6 MM section position, in the above scheme, the air flow can flow from the air flow channel formed between the adjacent unit convex strips 2111 on the suction surface of the annular disk 211 to the bellows section 212, and further flow to the vent hole of the central column 213. The actual adsorption area provided by the suction cup 21 is further expanded to the range enclosed by the convex circle 2112 on the outer edge of the entire annular disk 211.

[0025] Preferably, the central pipe column 213, the bellows section 212 and the annular disk 211 are integrally formed of rubber.

[0026] In order to improve the success rate of peeling, the mechanical arm 11 and the mechanical arm 12 are swung to drive the displacement direction of the suction cup frame 20 to be perpendicular to the plate surface of the cathode copper plate A at the suctioned part. Fig. 9 As shown, in the above state, after the upper edge of the cathode copper plate A is partially peeled off, the resistance encountered by the entire cathode copper plate A during peeling is smaller.

[0027] In order to improve the success rate of suction and peeling by the suction cup 21, the suction surface of the suction cup 21 is adsorbed on the upper part of the plate surface near the upper edge of the cathode copper plate A. In the above scheme, the suction cup 21 is adsorbed on the plate surface near the upper edge of the cathode copper plate A, and the lower edge of the cathode copper plate A away from the adsorption position of the suction cup 21 is used as a fulcrum. Compared with directly adsorbing the center of the plate surface of the cathode copper plate A, the force arm of the adsorption force applied near the upper edge of the cathode copper plate A is longer relative to the fulcrum, and the lever principle is used to achieve a higher success rate of peeling.

[0028] As another preferred embodiment, a detection sensor is provided at the position of the robot arm 10, and the detection direction of the detection sensor points to the plate surface of the cathode plate B. In the above scheme, if the detection sensor detects that the distance between the suction cup 21 and the cathode copper plate A remains unchanged, that is, the cathode copper plate A is successfully peeled off, the robot arm 10 continues to perform the action to place the cathode copper plate A on the conveying unit 40; if the detection sensor detects that the distance between the suction cup 21 and the cathode copper plate A gradually increases, the robot arms 10 on both sides of the plate surface of the cathode plate B simultaneously perform reverse actions, that is, the robot arm 10 that has not successfully peeled off again brings the suction cup 21 close to and adsorbs it to the plate surface of the cathode copper plate A, and the robot arm 10 that has successfully peeled off continues to adsorb the cathode copper plate A to move it and abut it on the plate surface of the cathode plate B, so as to ensure that the force on both sides of the plate surface of the cathode plate B is balanced when the peeling action is performed again. If the above action is repeated 2 or 3 times and still not completely peeled off, the conveying line will transport the cathode plate B to the next process and remind the staff to perform special treatment to avoid excessively affecting the overall efficiency of the peeling process.

[0029] In a more specific solution, the suction cup frame 20 is hinged to the mechanical arm 12 through a first hinge shaft 201, a cylinder 22 is fixed to the mechanical arm 12, the rod end of the telescopic rod of the cylinder 22 is hinged through a second hinge shaft 202, and the first hinge shaft 201 and the second hinge shaft 202 are arranged in parallel with each other. The suction cup frame 20 rotates slightly around the mechanical arm 12 under the drive of the cylinder 22, so that the layout space of the entire mechanical arm 10 is more flexible and easier to adapt to various peeling production lines.

[0030] Preferably, the hinge axis between the mechanical arm 11 and the frame 1 is located above the side of the cathode plate B, which can more conveniently avoid spatial interference between the mechanical arm 10 and other equipment such as the conveying unit 40 when the mechanical arm 10 moves. The clamping mechanism 30 includes two clamping arms 31 disposed on both sides of the conductive rod B'. The clamping arm 31 is L-shaped as a whole, and its upper end is hinged on the frame 1. The clamping end of the lower part is symmetrically arranged relative to the conductive rod B' to ensure the stability of the clamping mechanism 30 clamping the conductive rod B'.

Claims

1. A cathode copper plate stripping machine, characterized in that: A cathode plate (B) with a vertical plate surface is suspended on the conveying line, and cathode copper plates (A) are attached to the plate surfaces on both sides of the cathode plate (B). Mechanical arms (10) are correspondingly arranged on the plate surfaces on both sides of the cathode copper plate (A). The mechanical arm (10) includes a mechanical arm (11) with one end hingedly connected to a frame (1), a mechanical arm (12) is hingedly connected to the other end of the mechanical arm (11), and a suction cup frame (20) is arranged at one end of the mechanical arm (12) away from the mechanical arm (11). The suction cup (21) on the suction cup frame (20) is connected to a vacuum air source. A cathode clamping device is arranged above the cathode plate (B). A clamping mechanism (30) for a conductive rod (B') of a cathode plate (B) is provided, and a conveying unit (40) for conveying a cathode copper plate (A) is provided below or beside the cathode plate (B). A mechanical arm (10) drives the suction surface of a suction cup (21) on a suction cup frame (20) to be adsorbed on the plate surface of the cathode copper plate (A) and adsorb the cathode copper plate (A) to make a displacement movement to separate from the plate surface of the cathode plate (B). The mechanical arm (10) adsorbs the cathode copper plate (A) and drives the inner plate surface of the cathode copper plate (A) to swing downward until the inner plate surface of the cathode copper plate (A) forms an acute angle with the conveying unit (40), and then the suction is released.

2. The cathode copper plate stripping machine according to claim 1, characterized in that: The suction cup (21) comprises a central tube column (213), one end of which is connected to a vent pipe (23) connected to a suction cup frame (20), a bellows section (212) being connected to the outer wall of the central tube column (213), a conical annular disk surface (211) being connected to the free end of the bellows section (212), an inner hole end of the annular disk surface (211) being connected to the small-diameter end of the bellows section (212) and forming a trumpet-shaped suction port area, the free end of the central tube column (213) being located within the tube cavity section of the bellows section (212) in a free state, and the free end of the central tube column (213) being displaced to the position of the annular disk surface (211) when adsorbing the cathode copper plate (A).

3. The cathode copper plate stripping machine according to claim 2, characterized in that: The cross section of the bellows section (212) is V-shaped or W-shaped, and the small diameter portion of the bellows section (212) is connected to the middle portion of the outer wall of the central column (213) and the inner hole end of the annular disk (211) respectively.

4. The cathode copper plate stripping machine according to claim 3, characterized in that: The free end of the central tube column (213) is provided with a unit air flow channel (2131) penetrating the tube wall.

5. The cathode copper plate stripping machine according to claim 4, characterized in that: The unit airflow channel (2131) is composed of radial grooves arranged on the free end surface of the central tube column (213), and the unit airflow channel (2131) is evenly distributed within the circumferential range of the free end surface of the central tube column (213).

6. The cathode copper plate stripping machine according to claim 5, characterized in that: The unit airflow channel (2131) is in the shape of a "human" with the single groove end being located on the side where the inner hole wall of the central tube column (213) is located, and a "concave" groove (2132) extending toward the ventilation end of the central tube column (213) is provided at the intersection of the "human" shape between the single groove end and the double groove end of the unit airflow channel (2131).

7. The cathode copper plate stripping machine according to claim 2, characterized in that: The suction surface of the annular disk (211) is provided with unit convex strips (2111) uniformly distributed in the circumferential range, the strip length direction of the unit convex strips (2111) is distributed along the radial direction of the suction surface of the annular disk (211), and the height of the unit convex strips (2111) relative to the suction surface is lower than the height of the annular convex ring (2112) on the outer edge of the annular disk (211), and an annular shallow groove (2113) is provided on the suction surface between the convex ring (2112) and the outer end of the unit convex strips (2111).

8. The cathode copper plate stripping machine according to claim 2 or 3 or 4 or 5 or 6, characterized in that: The central pipe column (213), the bellows section (212) and the annular disk surface (211) are integrally formed of rubber.

9. The cathode copper plate stripping machine according to claim 1, characterized in that: When the mechanical big arm (11) and the mechanical small arm (12) swing, the displacement direction of the driving suction cup frame (20) is perpendicular to the plate surface of the cathode copper plate (A) at the suctioned part.

10. The cathode copper plate stripping machine according to claim 1 or 9, characterized in that: The suction surface of the suction cup (21) is adsorbed on the upper plate surface of the cathode copper plate (A) adjacent to its upper edge.

11. The cathode copper plate stripping machine according to claim 1, characterized in that: A detection sensor is arranged at the position of the mechanical arm (10), and the detection direction of the detection sensor points to the plate surface of the cathode plate (B).

12. The cathode copper plate stripping machine according to claim 1, characterized in that: The suction cup frame (20) is hinged to the mechanical arm (12) via a first hinge shaft (201); a cylinder body of a cylinder (22) is fixed to the mechanical arm (12); a rod end of a piston rod of the cylinder (22) is hinged via a second hinge shaft (202); and the first hinge shaft (201) and the second hinge shaft (202) are arranged in parallel with each other.

13. The cathode copper plate stripping machine according to claim 1, characterized in that: The hinge axis between the mechanical arm (11) and the frame (1) is located above the side of the cathode plate (B), and the clamping mechanism (30) includes two clamping arms (31) arranged on both sides of the conductive rod (B'). The clamping arm (31) is L-shaped as a whole, and its upper end is hinged on the frame (1), and its lower clamping end is symmetrically arranged relative to the conductive rod (B').

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