Automatic washing and plate shearing system for cobalt electroplating

Abstract

The invention belongs to the technical field of cobalt metal preparation, and relates to an electric cobalt automatic washing and plate shearing system. Comprising a mini stacking type AGV, a six-axis robot, an intelligent travelling crane, a gantry type truss robot, a washing system (including a pickling tank, a washing tank and a scalding tank), a plate shearing system (including a plate shearing machine and a clipping machine), a gripper, a customized material frame, a running track and a ground charging type charging station. Aiming at the problems of low washing and plate shearing carrying efficiency, high labor intensity and the like, an integrated automatic system is designed, automatic cobalt plate washing, unmanned carrying, automatic sorting, automatic plate shearing machine feeding and barreling can be achieved, and the labor cost and potential safety hazards are greatly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of cobalt metal preparation, and in particular relates to an automatic washing and shearing system for electrolytic cobalt. Background Art

[0002] In view of the process characteristics of closed electrowinning of cobalt chloride, electrolytic cobalt plates are generally manually removed from the trough, including subsequent processes such as stripping, washing and shearing. The workers have high labor intensity, low labor efficiency and high labor costs. In addition, the edges of electrolytic cobalt plates are sharp, and mechanical injuries such as scratches, cuts and smashes are very likely to occur during contact, which brings great safety hazards. Some processes of electrolytic cobalt production can be mechanized and automated, but the automation process of the entire system is rarely reported. Summary of the invention

[0003] In view of the above defects, the present invention provides an automatic washing and shearing system for electrolytic cobalt, that is, an intelligent logistics system integrating AGV, six-axis robot, truss robot and intelligent crane equipment, which can realize automatic washing of cobalt plates, unmanned handling, automatic picking, automatic feeding of shearing machines and barreling. The specific solutions are as follows:

[0004] The process flow is as follows: cobalt plate framing - washing - cooling - selecting - polishing - cutting plates - cutting strips - assembling blocks.

[0005] The steps include:

[0006] (1) Manually place material 1 within the mechanical limit (AGV docking station), and manually call the AGV to transport material 1 from the AGV docking station to the cobalt plate temporary storage station;

[0007] (2) When the cobalt plate framing station is vacant, the AGV is automatically called to transport the material from the cobalt plate temporary storage station to the cobalt plate framing station;

[0008] (3) The intelligent crane lifts the empty frame from the empty pallet + empty pallet temporary storage station and sends it to the empty frame waiting to be framed station. The conveyor line transports the empty frame to the framing station, and the robot + vision completes the framing;

[0009] (4) When there is an empty pallet at the cobalt plate framing station, the AGV is automatically called to take the empty pallet from the cobalt plate framing station and send it to the empty pallet recovery station;

[0010] (5) After the frame is installed, the conveyor line transports material 2 to the cleaning area, and the intelligent crane lifts material 2 and washes it with acid, clean water, and hot water;

[0011] (6) After cleaning is completed, material three is placed in the transfer area; the AGV is automatically called to transport material three to the cooling area;

[0012] (7) After cooling is completed, the AGV transports Material Three from the cooling area to the picking area; the robot + vision completes the picking;

[0013] (8) After picking is completed, the to-be-polished cobalt plates are transported to the polishing station for manual polishing, and then transported back to the picking area after polishing;

[0014] (9) The AGV transports Material Four from the picking area to the area to be sheared; the AGV sends the empty frame + empty pallet from the picking area to the empty pallet + empty pallet temporary storage position;

[0015] (10) The gantry robot places single cobalt plates one by one onto the shearing machine to automatically shear them into strip-shaped cobalt;

[0016] (11) The double-layer double-speed chain picks up the strip-shaped cobalt at Point One and transports it above Point Two of the double-layer double-speed chain. The robot picks up the strip-shaped cobalt and sends it to the cutting machine to cut the strip-shaped cobalt into finished blocks;

[0017] (12) The robot sucks up the cobalt blocks from the grasping area and places them into the funnel for assisting in filling the barrel. After reaching the required weight, it seals the barrel, and the AGV takes away the goods and delivers an empty barrel.

[0018] Preferably, in steps (1), (5), (6), and (9), the four materials are respectively: Material One: in the form of a pallet + filled with cobalt plates + unwashed material; Material Two: in the form of a frame + filled with cobalt plates + unwashed material; Material Three: in the form of a frame + filled with cobalt plates + washed material; Material Four: in the form of a pallet + filled with cobalt plates + washed material.

[0019] Preferably, in steps (1), (2), (4), (6), (7), and (9), the AGV for transporting materials uses laser navigation, with a navigation accuracy of ±5 - 10 mm, a maximum lifting height of 1600 mm, a standard load of 2000 kg, a minimum turning radius of 2400 mm (plus the pallet), a walking speed of 1 - 2 m / s under the rated load, and is equipped with an automatic charging station for online charging.

[0020] Preferably, for the automatic charging station of the AGV, its power density is 400 mW / cm 3 , DC output voltage: 0 - 60 V, rated output current: 0 - 500 A, charge-discharge ratio 1:4 (charge for 2 hours, use for 8 hours).

[0021] Preferably, for the six-axis robot in cobalt plate picking in step (7), it is a 6-axis multi-joint robot, with a wrist that can carry a weight of 70 kg, a repeat positioning accuracy of 0.06 mm, a radius of 2146 mm, and a vibration acceleration of 4.9 m / s 2 , and the robot is equipped with 3D vision to pick out defects such as water stains, dirt, and oil stains on the surface of the cobalt plates that affect the composition according to the set program, and uses side suction, one basket in 10 minutes.

[0022] Preferably, the intelligent overhead crane for lifting the empty frame in step (3) has a rated load of 2T, a lifting height of 2.5m, a lifting speed of 0 - 12m / min, a trolley running speed of 0 - 20m / min, and a gantry running speed of 0 - 32m / min. It intelligently transports the empty frame through a gripper with an electromagnet.

[0023] Preferably, in steps (10), (11), and (12), the gantry truss robot for plate shearing consists of a column, an X-axis, a Y-axis, a Z-axis, a fixture at the end of the Z-axis, and a control system. The maximum effective strokes (mm) of its X-axis, Y-axis, and Z-axis are: 120000, 22000, and 2000 respectively; the maximum moving speeds (m / s) are 3, 2, and 2 respectively; the maximum accelerations (m / s²) are 2, 2, and 1 respectively; the maximum load at the end of the Z-axis is 75000N; and the repeat positioning accuracy is ±0.05mm.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] (1) It can achieve automated cobalt plate washing, unmanned handling, automated sorting, automated feeding of the plate shearing machine, and barrel filling.

[0026] (2) It greatly reduces the number of workers for cobalt electrowashing and plate shearing, reduces the labor intensity, and lowers the labor cost in the workshop.

[0027] (3) It avoids mechanical injuries such as scratches, cuts, and bruises caused by the sharp surface of the cobalt plate during manual handling, and improves the system safety. Brief Description of the Drawings

[0028] The present invention will be further described below in conjunction with the drawings and embodiments.

[0029] Figure 1 It is the process flow chart of the embodiment of the present invention.

[0030] Embodiment 1

[0031] This patent provides an automated washing and plate shearing system production line for electrowinning cobalt plates, including four operation modules: electrowinning cobalt plate framing, electrowinning cobalt plate washing, electrowinning cobalt plate sorting, and electrowinning cobalt plate shearing, which realizes automated framing and washing of electrowinning cobalt plates, unmanned handling, automated sorting, automated feeding of the plate shearing machine, and barrel filling, reduces the labor intensity and labor cost, and improves the system safety.

[0032] The transportation of materials, pallets, washing frames, etc. is all completed by AGV trolleys; the framing and sorting of electrowinning cobalt plates are all completed by a six-axis robot + vision; the lifting of the empty frame, the washing and lifting of electrowinning cobalt plates are all completed by an intelligent overhead crane; the shearing and barrel filling of electrowinning cobalt plates are completed by a gantry truss robot.

[0033] (1) Frame loading of electrowinning cobalt plates: Manually place the pallet full of unwashed electrowinning cobalt plates at the AGV connection station, and manually call the AGV to transport them to the cobalt plate temporary storage station; when there is an empty space at the cobalt plate frame loading station, automatically call the AGV to transport them to the cobalt plate frame loading station; the intelligent crane lifts the empty frame from the empty pallet + empty pallet temporary storage station and sends it to the empty frame waiting for frame loading station, the conveyor line transports the empty frame to the frame loading station, and the robot + vision complete the frame loading; when there is an empty pallet at the cobalt plate frame loading station; automatically call the AGV to pick up the empty pallet from the cobalt plate frame loading station and send it to the empty pallet recycling station; The AGV for transporting materials uses laser navigation, with a navigation accuracy of ±5 - 10 mm, a maximum lifting height of 1600 mm, a standard load of 2000 kg, a minimum turning radius of 2400 mm (plus the pallet), a walking speed of 1 - 2 m / s under the rated load, and is equipped with an automatic charging station for on-line charging.

[0034] (2) Washing of electrowinning cobalt plates: After frame loading, the conveyor line transports the washing frame containing unwashed cobalt plates to the area to be washed, the intelligent crane lifts it, and pickles it one by one in the pickling tank according to the required washing process time, rinses it with clean water in the water rinsing tank, and scalds it in the hot water tank; after washing, place it in the area to be transferred, and automatically call the AGV to transport it to the cooling area. The rated load of the intelligent crane is 2T, the lifting height is 2.5m, the lifting speed is 0 - 12 m / min, the trolley running speed is 0 - 20 m / min, the trolley running speed is 0 - 32 m / min, and the empty frame is intelligently transported through the gripper with an electromagnet.

[0035] (3) Selection of electrowinning cobalt plates: After the washed electrowinning cobalt plates are fully cooled, the AGV transports them from the cooling area to the sorting area, and the six-axis robot + vision complete the sorting. The selected cobalt plates to be polished are transported to the polishing station for manual polishing, and after polishing, they are transported back to the sorting area. The six-axis robot for cobalt plate selection is a 6-axis multi-joint robot, the wrist can carry a weight of 70 kg, the repeat positioning accuracy is 0.06 mm, the radius is 2146 mm, and the vibration acceleration is 4.9 m / s 2 . Using the 3D vision of the robot, select the defects on the surface of the cobalt plate that affect the composition, such as water stains, dirt, oil stains, etc. according to the set program, and pick them up from the side, one basket every 10 minutes.

[0036] (4) Electrowinning Cobalt Plate Shearing: The AGV transports the selected qualified cobalt plates from the picking area to the area awaiting shearing, and the AGV delivers the empty frame + empty pallet from the picking area to the temporary storage position for the empty pallet + empty pallet; The gantry robot places single electrowinning cobalt plates one by one onto the shearing machine for automatic shearing into strip-shaped cobalt; The double-layer double-speed chain picks up the strip-shaped cobalt at point one and transports it to above point two of the double-layer double-speed chain, and the robot picks up the strip-shaped cobalt and cuts it into finished blocks at the cutting machine; The robot sucks up the cobalt blocks from the grasping area and places them into the funnel for assisting in barrel filling. After reaching the required weight, it is sealed, and the AGV picks up the goods and delivers an empty barrel. The gantry robot used for shearing consists of a column, X-axis, Y-axis, Z-axis, a fixture at the end of the Z-axis, and a control system. The maximum effective stroke (mm) of its X-axis, Y-axis, and Z-axis is: 120000, 22000, and 2000; The maximum moving speed (m / s) is 3, 2, and 2; The maximum acceleration (m / s²) is 2, 2, and 1; The maximum load at the end of the Z-axis is 75000N; The repeat positioning accuracy is ±0.05mm.

[0037] Implementation Case 2

[0038] (1) Manually place Material 1 (in the form of a pallet + full of cobalt plates + unwashed material) with a total weight of 1.6T at the AGV connection station, and manually call the AGV. The AGV transports Material 1 to the cobalt plate temporary storage station at a walking speed of 1.5m / s.

[0039] (2) When there is an available space at the cobalt plate framing station, automatically call the AGV. The AGV transports Material 1 (in the form of a pallet + full of cobalt plates + unwashed material) to the cobalt plate framing station at a walking speed of 1.5m / s.

[0040] (3) The intelligent crane lifts the empty frame from the temporary storage position of the empty frame + empty pallet and sends it to the empty frame awaiting framing station. The lifting speed of the intelligent crane is 8m / min, the trolley running speed is 12m / min, and the gantry running speed is 20m / min. The empty frame is transported to the framing station through the conveyor line, and the six-axis robot loads the cobalt plates of Material 1 (in the form of a pallet + full of cobalt plates + unwashed material) into the frame one by one until the frame is full.

[0041] (4) When there is an empty pallet at the cobalt plate framing station; automatically call the AGV. The AGV picks up the empty pallet from the cobalt plate framing station at a walking speed of 1.5m / s and delivers it to the empty pallet recycling station.

[0042] (5) After framing, the conveyor line transports Material 2 (in the form of a frame + full of cobalt plates + unwashed material) to the area awaiting cleaning. The intelligent crane lifts Material 2 and performs pickling, rinsing with clean water, and rinsing with hot water one by one. The lifting speed of the intelligent crane is 10m / min, the trolley running speed is 15m / min, and the gantry running speed is 30m / min.

[0043] (6) After the cleaning is completed, place Material Three (in the form of a frame + filled with cobalt plates + cleaned material) in the area awaiting transfer; automatically call the AGV, and the AGV will transport Material Three to the cooling area at a walking speed of 1.5 m / s.

[0044] (7) After the cooling is completed, the AGV will transport Material Three from the cooling area to the picking area at a walking speed of 1.5 m / s. Picking is carried out by a six-axis robot + 3D vision system. Defects such as water stains, dirt, and oil stains on the surface of the cobalt plates that affect the components are selected according to the set program. Side suction is used, and one basket is processed every 15 minutes.

[0045] (8) After the selection is completed, the cobalt plates to be polished are transferred to the polishing station for manual polishing, and then transferred back to the selection area after polishing.

[0046] (9) The AGV transports Material Four (a tray + filled with cobalt plates + cleaned material form) from the picking area to the area awaiting plate cutting; the AGV transports the empty frame + empty tray from the picking area to the temporary storage position of the empty frame + empty tray at a walking speed of 1.5 m / s.

[0047] (10) The gantry robot places single cobalt plates one by one onto the plate cutting machine to automatically cut them into strip-shaped cobalt.

[0048] (11) The double-speed chain picks up the strip-shaped cobalt at Point One and transports it above Point Two of the double-speed chain. The robot picks up the strip-shaped cobalt and cuts it into finished blocks at the cutting machine.

[0049] (12) The robot sucks up the cobalt blocks from the grasping area and places them into the funnel for assisting in filling the barrel. After reaching the required weight, it is sealed, and the AGV takes away the goods and delivers an empty barrel.

[0050] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic electrolytic cobalt washing and shearing system, characterized in that: The steps include: (1) Manually place material 1 within the mechanical limit (AGV docking station), and manually call the AGV to transport material 1 from the AGV docking station to the cobalt plate temporary storage station; (2) When the cobalt plate framing station is vacant, the AGV is automatically called to transport the material from the cobalt plate temporary storage station to the cobalt plate framing station; (3) The intelligent crane lifts the empty frame from the empty pallet + empty pallet temporary storage station and sends it to the empty frame waiting to be framed station. The conveyor line transports the empty frame to the framing station, and the robot + vision completes the framing; (4) When there is an empty pallet at the cobalt plate framing station, the AGV is automatically called to take the empty pallet from the cobalt plate framing station and send it to the empty pallet recovery station; (5) After the frame is installed, the conveyor line transports material 2 to the cleaning area, and the intelligent crane lifts material 2 and washes it with acid, clean water, and hot water; (6) After cleaning is completed, material three is placed in the transfer area; the AGV is automatically called to transport material three to the cooling area; (7) After cooling is completed, AGV transports material 3 from the cooling area to the picking area; the robot + vision completes the picking; (8) After the selection is completed, the electrolytic cobalt plate to be polished is transferred to the polishing station for manual polishing, and then transferred to the selection area after the polishing is completed; (9) AGV transports material 4 from the picking area to the shearing area; AGV transports the empty frame + empty pallet from the picking area to the empty pallet + empty pallet temporary storage area; (10) The truss robot places the individual electrolytic cobalt plates one by one into the shearing machine for automatic shearing into cobalt strips; (11) The double-layer double-speed chain receives the cobalt strips at point 1 and transports them to the top of point 2 of the double-layer double-speed chain. The robot takes the cobalt strips to the shearing machine and cuts the cobalt strips into finished blocks; (12) The robot picks up the cobalt block from the gripping area and places it into the auxiliary barrel hopper. When the required weight is reached, the hopper is sealed. The AGV takes away the goods and delivers the empty barrel.

2. The electric cobalt automatic washing and shearing system according to claim 1 is characterized in that: In steps (1), (5), (6) and (9), the four materials are respectively: Material 1: tray + full of cobalt plates + uncleaned material form; Material 2: frame + full of cobalt plates + uncleaned material form; Material 3: frame + full of cobalt plates + cleaned material form; Material 4: tray + full of cobalt plates + cleaned material form.

3. The electric cobalt automatic washing and shearing system according to claim 1 is characterized in that: The AGV that transports materials uses laser navigation with a navigation accuracy of ±5 to 10mm, a maximum lifting height of 1600mm, a standard load of 2000kg, a minimum turning radius of 2400mm (plus pallet), a walking speed of 1 to 2m / s under rated load, and is equipped with an automatic charging station for online charging.

4. The electro-cobalt automatic washing and shearing system according to claim 1 is characterized in that: AGV automatic charging station with a power density of 400mW / cm 3 , DC output voltage: 0~60V, rated output current: 0~500A, charge and discharge ratio 1:

4.

5. The electro-cobalt automatic washing and shearing system according to claim 1 is characterized in that: The six-axis robot selected by Cobalt Plate is a 6-axis multi-joint robot with a wrist that can carry a weight of 70kg, a repeat positioning accuracy of 0.06mm, a radius of 2146mm, and a vibration acceleration of 4.9m / s 2 The robot adds 3D vision and selects defects such as water stains, dirt, oil stains and other defects that affect the composition of the cobalt plate according to the set program. It uses side suction and can select one basket in 10 minutes.

6. The electro-cobalt automatic washing and shearing system according to claim 1 is characterized in that: The intelligent crane for lifting empty frames has a rated load of 2T, a lifting height of 2.5m, a lifting speed of 0-12m / min, a trolley running speed of 0-20m / min, and a large trolley running speed of 0-32m / min. It intelligently transports empty frames through a gripper with an electromagnet.

7. The electric cobalt automatic washing and shearing system according to claim 1 is characterized in that: The gantry truss robot for shearing is composed of a column, X-axis, Y-axis, Z-axis, Z-axis end fixture and a control system. The maximum effective strokes (mm) of the X-axis, Y-axis and Z-axis are: 120000, 22000 and 2000; the maximum moving speeds (m / s) are 3, 2 and 2; the maximum accelerations (m / s) are 2, 2 and 1; the maximum load at the end of the Z-axis is 75000N; the repeatability accuracy is ±0.05mm.

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