Intelligent sampling control system and method for anode copper

Abstract

The invention provides an intelligent anode copper sampling control system and method, and belongs to the technical field of automatic control, the system comprises two groups of pits arranged side by side left and right, rails are arranged in the pits, flat cars capable of moving along the rails are arranged on the rails, and the flat cars are used for bearing anode copper; the robot is arranged between the two groups of pits and can grab, rotate and accurately place anode copper; the machine tool is arranged behind the robot and is provided with a platform on which anode copper can be placed; the two groups of grating detection devices are respectively arranged at the edges of the two groups of pits and are used for detecting whether the flat car reaches a specified position; the anode copper transportation control system, the robot control system and the machine tool control system communicate with one another through the master control system to control transportation, feeding and discharging, drilling sampling and copper scrap collection of anode copper.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and particularly to an intelligent sampling control system and method for anode copper. Background Art

[0002] Sampling of anode copper is a key link in quality control of the metallurgical industry. However, there are many challenges in traditional manual sampling methods. The primary problem is how to improve the automation level and efficiency of the whole process while ensuring the accuracy and representativeness of sampling. This involves multiple complex technical problems: how to accurately locate and identify different batches of anode copper to ensure the continuity and integrity of sampling; how to achieve precise robot grasping and placement during the sampling process to avoid human errors; when drilling for samples, how to simultaneously solve problems such as cooling, anti-oxidation, and copper chip collection to ensure the sample quality and environmental cleanliness; in addition, how to achieve the selection of random sampling points during the automation process to improve the representativeness of the samples. These problems are interrelated and form a complex technical contradiction: how to ensure or even exceed the accuracy and reliability of manual sampling while increasing the automation level. This contradiction runs through the whole process of anode copper sampling, from batch management, transportation positioning, to drilling sampling, cleaning and collection. Each link requires innovative technical solutions to balance the relationship between automation efficiency and sampling quality. Summary of the Invention

[0003] In a first aspect, the present invention provides an intelligent sampling control system for anode copper, mainly including:

[0004] Two groups of pits arranged side by side left and right. There are tracks in the pits, and a flatbed truck that can move along the tracks is provided on the tracks. The flatbed truck is used to carry anode copper; a robot is arranged between the two groups of pits, and the robot can grasp, rotate and accurately place the anode copper; a machine tool is arranged behind the robot, and the machine tool has a platform on which the anode copper can be placed; two groups of grating detection devices are respectively arranged at the edges of the two groups of pits to detect whether the flatbed truck reaches the designated position; the anode copper transportation control system, the robot control system, and the machine tool control system communicate with each other through the total control system to control the transportation, loading and unloading, drilling sampling and copper chip collection of the anode copper.

[0005] Further, the track is fixed in the pit through track fasteners, and roller devices corresponding to the track positions are fixedly arranged in parallel at the lower end of the flatbed truck. The roller devices drive the flatbed truck to move smoothly along the track.

[0006] Further, the robot achieves flexible operation through multi-degree-of-freedom joints and is equipped with an intelligent control system and a special gripping fixture. It automatically grabs, rotates, and places the anode copper according to a preset program and sensor signals. The special gripping fixture can firmly grip the anode copper and avoid damaging its surface.

[0007] Further, a positioning structure is provided on the platform of the machine tool for fixing the position of the anode copper. The robot accurately places the anode copper in a specified area on the platform. The machine tool is also equipped with a drill bit and a copper chip vacuum suction device, which are respectively used for drilling and sampling the anode copper and sucking copper chips.

[0008] Further, the grating detection device includes a pair of gratings, which are respectively arranged on the movement path of the flatbed truck for detecting the position of the flatbed truck and controlling the flatbed truck to stop within the gripping range of the robot in combination with the anode copper transportation control system.

[0009] Further, the anode copper transportation control system, the robot control system, and the machine tool control system are respectively provided with programmable logic controllers, which communicate and exchange data with the total control system through industrial Ethernet. The total control system coordinates each control system to achieve automatic control of the entire sampling process.

[0010] Further, when the robot grabs the anode copper, the two groups of flatbed trucks remain stationary; when the robot places the anode copper on the machine tool, the flatbed truck at the loading end moves forward to move the next anode copper to be grabbed into the working range of the robot.

[0011] Further, the drill bit of the machine tool is a hollow drill bit, and the copper chip vacuum suction device is connected to the hollow drill bit. The copper chips generated during the drilling process are sucked into the copper chip vacuum suction device through the hollow drill bit.

[0012] In a second aspect, the present invention provides an intelligent sampling control method for anode copper, mainly including:

[0013] Obtain the batch information of the anode copper, where the batch information includes the quantity of the anode copper in this batch;

[0014] Judge whether the quantity of the anode copper on the flatbed truck at the loading end reaches the quantity of the anode copper in this batch. If so, control the flatbed truck at the loading end to move to the rear end of the track; if not, wait for the forklift to continue loading.

[0015] After the flatbed truck at the loading end reaches the rear end of the track, control the flatbed truck at the loading end to move forward to make the anode copper enter the working range of the robot.

[0016] Control the robot to grasp the anode copper, obtain the position information and angle information of the anode copper through visual recognition, and adjust the motion parameters of the robot according to the obtained information;

[0017] Control the robot to stably place the anode copper at the designated position of the machine tool, and judge whether the anode copper is placed in place through a pressure sensor;

[0018] After the robot resets, control the machine tool to start drilling and sampling the anode copper, and send a random sampling point instruction to the machine tool through the host computer;

[0019] During the drilling process, use low-temperature anhydrous ethanol to cool and anti-oxidize the processing point, and collect the copper chips through a vacuum device;

[0020] When the drilling and sampling of one anode copper is completed, the machine tool sends a drilling completion instruction to the robot, and the robot transports the anode copper to the designated position of the flatbed truck at the blanking end;

[0021] Repeat the above steps until the drilling and sampling of all anode copper in this batch are completed, and judge whether the completed quantity meets the batch requirements through the host computer;

[0022] If the completed quantity meets the requirements of this batch, control the robot and the drill press to cooperate to clean the copper chips, transport the copper chips to the collection box, and the sampling of the anode copper in this batch is completed.

[0023] The technical solution provided by the present invention may include the following beneficial effects:

[0024] The present invention discloses an intelligent sampling control system and its control method for anode copper. Through steps such as obtaining batch information, controlling the movement of the flatbed truck, robot grasping and placing, and machine tool drilling and sampling, the full automation of the anode copper sampling process is realized. The present invention uses visual recognition technology to accurately locate the anode copper, uses a pressure sensor to ensure proper placement, and improves the representativeness of sampling through random sampling point instructions. During the drilling process, low-temperature anhydrous ethanol is used for cooling and anti-oxidation, and a vacuum device is used to collect copper chips, effectively improving the processing quality and environmental cleanliness. The present invention also realizes batch management and quantity control, ensuring the continuity and integrity of the sampling process. Through the cooperation of the robot and the drill press for cleaning, the production efficiency is further improved. This method significantly improves the automation level, accuracy and efficiency of anode copper sampling, and provides an innovative solution for quality control in the metallurgical industry. Description of the Drawings

[0025] Figure 1 It is a three-dimensional schematic diagram of the intelligent sampling control system for anode copper in the present invention;

[0026] Figure 2 It is a partial cross-sectional view of the pit, track and flatbed truck in the present invention;

[0027] Figure 3 This is a top view of the intelligent sampling control system for anode copper of the present invention, with the operation and movement ranges of the robot and flatbed truck marked;

[0028] Figure 4 This is a schematic diagram of the drill bit part of the machine tool in the present invention;

[0029] Figure 5 This is a schematic diagram of the 3D camera on the robot fixture in the present invention;

[0030] Figure 6 This is a hierarchical control diagram of the intelligent sampling control system for anode copper of the present invention;

[0031] Figure 7 This is a working flow chart of the intelligent sampling control system for anode copper of the present invention;

[0032] Figure 8 This is a flow chart of a method for intelligent sampling control of anode copper of the present invention;

[0033] In the figure: 01 - main control console; 10 - ground; 11 - machine tool; 12 - pit; 13 - anode copper; 14 - robot; 15 - ethanol spraying device; 20 - control cabinet; 21 - grating detection device; 30 - flatbed truck; 301 - blanking end flatbed truck; 302 - loading end flatbed truck; 31 - roller device; 32 - track fastener; 33 - track; 40 - robot operation range; 41 - flatbed truck movement range; 411 - rear end of the track; 412 - front end of the track; 51 - machine tool controller; 52 - air extractor; 53 - copper chip collection box. Detailed implementation manners

[0034] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this specification without making creative efforts shall fall within the scope of protection of this specification.

[0035] As Figure 1 shown, the present invention provides an intelligent sampling control system for anode copper, including: ground 10, machine tool 11, pit 12, robot 14, control cabinet 20, grating detection device 21, flatbed truck 30, roller device 31, track fastener 32 and track 33.

[0036] Two groups of pits 12 are arranged side by side left and right, and each group of pits 12 is provided with a track 33, as Figure 2As shown, the track 33 is fixed to the bottom of the pit 12 through track fasteners 32 to ensure the stability and durability of the track 33. A flatbed truck 30 is installed on the track 33, and multiple groups of roller devices 31 are fixedly arranged symmetrically in parallel at the lower end of the flatbed truck 30. The roller devices 31 correspond to the positions of the track 33 one by one. The flatbed truck 30 is used to carry the anode copper 13, and the flatbed truck 30 is driven to slide along the track 33 by the rolling of the roller devices 31. Baffles are provided at the front positions of the two flatbed trucks near the rear end 411 of the track for placing the anode copper 13.

[0037] The control cabinet 20 is fixed at the end of the track 33, used to provide the driving power for the flatbed truck 30 and realize motion control. Through the control cabinet 20, the moving speed, direction and stop position of the flatbed truck 30 can be set, and several pieces of anode copper 13 placed on the flatbed truck 301 at the loading end are transported from the loading point (the front end 412 of the track) to within the robot working range 40, and the flatbed truck 302 at the unloading end is also moved to the designated position to receive the processed anode copper 13.

[0038] To further improve the degree of automation, the system also includes a robot 14 arranged between the pits 12 and near the rear end 411 of the track. The robot 14 is fixed to the ground 10, and the robot 14 adopts a multi-degree-of-freedom design and has the functions of grasping, rotating, moving and precise placement. Figure 5 As shown, a special grasping fixture and a 3D vision camera 16 are equipped at the end of the robot 14, which can firmly grasp the anode copper 13 of different specifications and avoid damaging the surface of the anode copper 13 through sensor signals. The robot 14 and the flatbed truck 30 work together to achieve the efficient handling and precise positioning of the anode copper 13.

[0039] A machine tool 11 is arranged behind the robot 14. The machine tool 11 is equipped with a horizontally placed platform, and a positioning structure is designed on the platform to fix the position of the anode copper 13 and ensure the stability and accuracy after placement. As Figure 4 shown, the machine tool 11 is also equipped with an anhydrous ethanol spraying device 15 to prevent the anode copper chips from being oxidized due to overheating. The robot 14 places the anode copper 13 smoothly in the designated area on the machine tool 11 according to the preset program or the feedback information of the sensor, providing support for the subsequent drilling and sampling operations.

[0040] To detect whether the flatbed truck 30 arrives accurately, two pairs of grating detection devices 21 are respectively arranged at the edges of the two groups of pits 12. This device detects the position of the flatbed truck 30 in real time through sensors to ensure that the flatbed truck 30 and the anode copper 13 it carries accurately stay at the designated position where the circle of the robot working range 40 can cover the outside of the two flatbed trucks 30.

[0041] As Figure 3As shown in the figure, the working range 40 of the robot is a fan-shaped area of approximately 330 degrees. The moving range 41 of the flatbed truck 30 almost covers the entire track 33. The center lines of the two sets of tracks 33 need to ensure that they pass through the circle within the working range 40 of the robot, and a section of the outer edge of the flatbed truck 30 should also be located within the fan-shaped area of the working range 40 of the robot to ensure that the robot 14 can successfully pick up the anode copper 13. The machine tool 11 should also be located within the working range 40 of the robot to ensure that the robot 14 can place the anode copper 13 at the specified position on the machine tool 11. The grating detection device 21 detects whether the flatbed truck 30 has reached the specified position, and combines with the control system 20 to send commands to the PLC of the flatbed truck through the master control system PLC to control the flatbed truck 30 to stop within the range where the robot 14 can pick up the anode copper 13. The flatbed truck 30 moves smoothly during the gap of the robot's handling to ensure that the anode copper 13 at the loading end is always within the working range 40 of the robot. The master console 01 receives and sends commands through the ProfiNet TCP communication protocol between the PLCs to achieve the control of the entire system including the machine tool controller 51, the flatbed truck control cabinet 34, and the robot 10. The air extractor 52 is located below the machine tool controller 51 and collects the copper chips collected by the machine tool 11 into the copper chip collection box 53 through vacuum pumping.

[0042] Specifically, when starting the operation, the loading-end flatbed truck 302 moves to the end of the track 33, that is, the front of the loading-end flatbed truck 302 is at the position of the rear end 411 of the track. After the robot 14 picks up a piece of anode copper 13, the flatbed truck 30 moves a certain distance in the direction of the front end 412 of the track to ensure that the next piece of anode copper 13 on the loading-end flatbed truck 302 enters the working range 40 of the robot; when starting the operation, the unloading-end flatbed truck 301 ensures that the front baffle is parked at the grating of the grating detection device 21. Whenever the robot 14 places a piece of anode copper 13, the unloading-end flatbed truck 301 moves a certain distance in the direction of the rear end 411 of the track, so that the next piece of anode copper 13 on the unloading-end flatbed truck 301 just enters the working range 40 of the robot. The robot 14 and the front and rear movements of the track flatbed truck 30 work together, effectively realizing the efficient handling and precise positioning of the anode copper 13, and significantly improving the automation degree and operation efficiency of the system.

[0043] As Figure 6 , shows the hierarchical control diagram of the intelligent sampling control system for anode copper of the present invention;

[0044] The industrial control console 1 is mainly responsible for device data acquisition (status of each device, IO status, operation data, etc.), status display, pipeline monitoring, NC file transfer, detection device detection interaction, etc., and can obtain the working status of each device in real time. The master station PLC 1 is responsible for the logical action control of the entire device, including the coordinated control among the rail vehicle PLC 3, robot PLC 4, and drilling device PLC 5. The SI EMENS PLC-1500 serves as the execution controller of the production line. It receives the digital signal instructions from the upper computer master control system. Through the variable association in the PLC-1500, the instruction digital signal can be converted into the electrical signal for controlling the device. According to the signal types supported by the device (digital signal, switch electrical signal), the information transmission method is selected. The digital signal is transmitted through the protocol supported by the device, and the electrical signal is transmitted through the I / O port.

[0045] Taking the SI EMENS PLC-1500 as the master station, the control systems of the remaining devices all serve as slave stations to communicate with it. Among them, the communication between the anode copper transportation device of the rail skateboard car and the automatic loading and unloading robot and the master station PLC is through the industrial Ethernet Profi net, and the communication protocol adopts TCP communication; the connection between the intelligent drilling device and the master station PLC is to execute the call of the subroutine through the I / O terminal. The communication between the anode copper transportation device of the rail skateboard car and the automatic loading and unloading robot adopts the industrial Ethernet Profi net, and the communication between the automatic loading and unloading robot and the intelligent drilling device adopts the industrial Ethernet Profi net.

[0046] Such as Figure 7 , is the working flow chart of the intelligent sampling control system for anode copper of the present invention, and its working process (that is, the control method is as follows)

[0047] S301, the slide rail vehicle is loaded.

[0048] S302, the PLC control system of the slide rail vehicle communicates with the PLC of the master control system through the ProfiNet TCP communication protocol. The S1 industrial control console inputs the batch information of 25 anode copper plates in this batch to the master control PLC by the operator, and waits for the master control PLC system S314 to send the batch information of 25 anode copper plates in this batch.

[0049] S303, wait for the forklift to put the anode copper on the carrier of the loading track flatbed vehicle.

[0050] S304, the PLC of the loading slide rail vehicle receives the loading completion instruction from the master control PLC. If 25 anode copper plates are not loaded, continue to wait for loading the anode copper plates in S303.

[0051] S305, the PLC of the loading slide rail vehicle receives the loading completion instruction sent by the master control PLC, and the slide rail vehicle starts the motor and enters the robot working area through the slide rail.

[0052] S306. The PLC of the loading rail car sends a forklift loading completion instruction to the main control system PLC through the ProfiNet TCP communication protocol;

[0053] S307. When the loading rail car reaches the end of the track, the PLC controls the motor to reverse and starts to move backward. There is a grating detection device installed at the last anode copper block loaded on the loading rail car;

[0054] S308. When the first copper plate blocks the grating, it will block the laser light path emitted by the grating detection device. Once the light path is blocked, the sensor inside the grating detection device will immediately sense the change in light intensity. This change in light intensity will trigger the corresponding electrical signal conversion mechanism to convert the optical signal into an electrical signal. The electrical signal is then transmitted to the rail car PLC controller. In the program, it is set that when a specific electrical signal trigger instruction is received, the rail car PLC will immediately issue an instruction to cut off the power supply of the motor and at the same time start the brake to make the trolley stop moving quickly; the loading rail car stops moving backward, and it is detected that the anode copper has reached the grasping position; if the grating does not detect being blocked, it means that the copper plate has not reached the grasping position, and the rail car continues to move backward in S307 until the grating detection device detects being blocked;

[0055] S309. When the robot grabs the copper plate, the loading rail car stops moving. There is a square area set above the loading rail car. When the robot of the robot is in the square area, in the program, it is set that the rail car receives the instruction that the robot is in the square area, and the loading rail car is not allowed to move to prevent a safety accident caused by the movement of the rail car when the robot grabs the copper plate;

[0056] S310. When the loading rail car reaches the robot grasping position, it sends a material feeding into the rail car in-place instruction to the PLC of the robot S315 through the ProfiNet TCP communication protocol;

[0057] S311. Wait for the robot to send a batch unloading completion instruction for 25 anode copper plates;

[0058] S312. The robot sends a batch loading completion instruction for 25 anode copper plates to the loading rail car;

[0059] S313. The loading rail car returns to the forklift loading area;

[0060] S314. The main control system controls the anode copper automatic sampling system through the I / O node connection relay, and realizes communication control with the loading and unloading rail car and the robot through the ProfiNet TCP communication protocol;

[0061] S315. The robot loading and unloading system is responsible for the handling of anode copper;

[0062] S316. After the robot PLC receives the rail car in-position instruction S310 sent by the master control system PLC, the drive motor of the robot starts, and the robot rotates its robotic arm to the loading area;

[0063] S317. The robot starts the 3D camera on the robot to perform visual recognition on the anode copper on the loading rail car;

[0064] It should be noted that in the above visual recognition example, the 3D camera takes point cloud data. After data filtering, the point cloud for grasping the copper plate is obtained. Then, coplanarity calculation of vectors is performed on the point cloud to obtain the surface information of the copper plate, and further the inclination angle of the copper plate is calculated. The outer contour of the copper plate point cloud is calculated to obtain the width of the copper plate, the position of the center line, and the height of the bottom edge of the copper plate. According to the center line and the height of the bottom edge, the displacement distance is calculated. According to the inclination angle and the displacement distance, the robot is guided to adjust the fixture posture to grasp the copper plate.

[0065] S318. After visual recognition, calculate whether this copper plate meets the grasping conditions;

[0066] It should be noted that determining whether the copper plate meets the grasping conditions is mainly based on the synergistic effect of visual recognition data and PLC control logic; the robot analyzes the image data through visual recognition. If the inclination angle of the copper plate is within the allowable range and parameters such as width and center line position also meet the preset deviation range, the PLC determines that the copper plate meets the grasping conditions.

[0067] S319. If it does not meet the grasping conditions, the robot starts the motor, rotates to the set initial position and emits an alarm sound, and the operator checks the situation;

[0068] S320. When it meets the grasping conditions, the robot PLC outputs the signal to start the air knife to the control circuit of the air knife through the I / O module, and uses the digital quantity output signal to start the air knife to clean the anode copper. The motor of the air knife starts to generate high-speed air flow to clean the possible impurities on the surface of the anode copper;

[0069] S321. The robot adjusts the fixture posture angle, the robotic arm position angle, and the grasping force angle to grasp the anode copper; the position information, angle information, and size information of the copper plate are obtained from the image data analyzed by S318, the displacement distance and the angle adjustment amount are calculated, the outer contour of the copper plate point cloud is calculated to obtain the width of the copper plate, the position of the center line, and the height of the bottom edge of the copper plate. According to the center line and the height of the bottom edge, the displacement distance is calculated. According to the inclination angle and the displacement distance, the robot is guided to adjust the fixture posture to determine the angle adjustment amount; the accurate grasping of the anode copper plate by the robot is achieved by combining the five steps of the robot's control algorithm, motion control, joint motor drive, position and angle feedback, and pressure sensor monitoring;

[0070] S322. Determine whether the pneumatic switch on the robot fixture is in place to judge whether the grasping is firm. Detection switches are installed on the fixture, and these detection switches will monitor the state of the clamping mechanism in real time. Once the clamping mechanism reaches the preset clamping position, the detection switch will be triggered and send a signal to the robot control system, indicating that the clamping action has been completed;

[0071] S323. If the robot does not receive the signal sent by the detection switch, it means that the grasping is not firm. The robot will put back the anode copper, release the fixture, and continue to adjust the angle at S321 to perform the grasping operation again until the robot receives the clamping signal sent by the detection switch. The robot will consider that it has successfully grasped the copper plate firmly;

[0072] S324. After grasping firmly, the robot places the grasped anode copper on the drilling workbench;

[0073] S325. After the robot places the anode copper on the drilling workbench, it releases the fixture and resets;

[0074] S326. After the robot resets, the robot PLC sends a feeding completion instruction to the drilling workbench PLC via the Profi Net TCP communication protocol;

[0075] S327. After sending the feeding completion instruction, each time the robot completes a feeding operation, the value in the data register in the robot's PLC system will be incremented. Then, it judges whether the feeding quantity is 25 anode copper plates in the batch quantity issued by the master control system. If so, the robot PLC sends a batch feeding completion instruction S312 to the rail car PLC, and the rail car moves to the waiting forklift feeding area S313;

[0076] S328. If the feeding quantity is not 25 anode copper plates in the batch quantity, wait for the drilling completion instruction sent by the drilling workbench PLC, and transport the anode copper from the drilling workbench to the discharging rail car;

[0077] S329. The intelligent drilling system is responsible for drilling the anode copper chips and collecting the anode copper chips;

[0078] S330. The drilling workbench PLC receives the feeding completion instruction sent by the robot PLC;

[0079] S331. The drilling workbench PLC outputs a fixture tightening signal, the cylinder starts, and the fixture tightens to fix the anode copper; and sends a waiting sampling instruction to the master control system PLC. The output point of the drilling workbench PLC is connected to the input point of the master control PLC. The drilling workbench PLC can send a sampling instruction to the master control PLC by controlling the state of the output point of the drilling workbench.

[0080] S332. After the master control system receives the waiting sampling instruction, the master control PLC uses a pseudo-random number generation algorithm to generate random sampling points and sends the point position instructions for random sampling to the drilling machine tool PLC through the ProfiNet TCP communication protocol;

[0081] S333. After the drilling machine tool receives the point positions sent by the master control, it starts the drilling operation. The drilling machine tool PLC outputs pulse and direction signals to the input points of the stepping motor of the main shaft. The stepping motor of the main shaft starts to move in the X and Y axes to fix the drill bit at the drilling position;

[0082] S334. Use low-temperature anhydrous ethanol spray to cool and antioxidant-treat the processing site; when the drilling operation starts as the input point, the PLC will control the contactor of the pump and the solenoid valve of the valve respectively with two output points,

[0083] make the pump start working and open the valve at the same time, so as to start the spraying of anhydrous ethanol;

[0084] S335. The drill bit rotates, descends, and samples. The PLC outputs an analog signal to the frequency converter of the drill bit motor to start the motor. At the same time, the PLC also outputs pulse and direction signals to the stepping motor of the drill bit to control the descent of the drill bit;

[0085] S336. When the sampling operation ends, the drilling workbench PLC outputs a stop signal to the stepping motor of the drill bit. Subsequently, the drill bit stops and the main shaft resets;

[0086] S337. The drilling workbench PLC outputs a stop signal to the frequency converter of the ethanol spraying system and the cylinder of the workbench fixture. The ethanol spraying system stops and the workbench fixture loosens;

[0087] S338. The drilling workbench PLC sends a drilling completion instruction to the robot PLC through the ProfiNet TCP communication protocol. When a drilling operation is completed, the value in the data register of the PLC system on the drilling workbench will be incremented. It is judged whether the feeding quantity is 25 anode copper plates in batches based on the batch quantity sent by the master control system, and whether the number of drilling and sampling operations reaches the batch quantity;

[0088] S339. If the number of drilling and sampling operations does not reach 25 anode copper plates in batches, wait for the feeding completion instruction S330 sent by the robot PLC;

[0089] S340. If the number of drilling and sampling operations reaches 25 anode copper plates in batches, wait for the collaborative cleaning instruction sent by the robot PLC;

[0090] S344, after the robot PLC receives the drilling completion instruction sent by the drilling workbench PLC, the driving motor of the robot starts to rotate the robotic arm to the drilling workbench to start the blanking operation;

[0091] S345, the robot activates the 3D camera on the robot to perform visual recognition on the anode copper on the workbench;

[0092] S346, after visual recognition, calculate whether this copper plate meets the grasping conditions;

[0093] S347, if it does not meet the grasping conditions, the robot will reset and alarm, and the operator will check the situation;

[0094] S348, when it meets the grasping conditions, the robot adjusts the angle to grasp the anode copper;

[0095] S349, when the robot grasps the copper plate, the blanking slide rail car stops moving. A square area is set above the blanking slide rail car. When the robot of the robot is in the square area, it is set in the program that the slide rail car receives the instruction that the robot is in the square area, and the blanking slide rail car is not allowed to move to prevent a safety accident caused by the movement of the slide rail car when the robot grasps the copper plate;

[0096] S350, the pressure sensor on the robot fixture determines that the grasping is firm;

[0097] S351, if the grasping is not firm, the robot will put back the anode copper, release the fixture, and continue to adjust the angle to perform the grasping operation again in S348;

[0098] S352, when the grasping is firm, the robot transports the anode copper to the material rack of the blanking rail car;

[0099] S353, the robot releases the fixture and resets;

[0100] S354, determine whether the blanking times correspond to the batch quantity of 25 anode copper plates. Each time the robot completes a blanking operation, the value in the data register in the PLC system of the robot will be incremented. Determine whether the blanking quantity is the batch quantity through the batch quantity sent by the total control system; if the blanking times do not correspond to the batch quantity, the robot will continue to move to the loading area to perform the loading operation S316;

[0101] S355, if the blanking times are the corresponding batch quantity of 25 anode copper plates, the robot PLC sends a batch blanking completion instruction to the blanking slide rail car and sends a collaborative cleaning instruction to the drilling workbench PLC;

[0102] S359, the scooter discharges materials;

[0103] The blanking slide rail car moves forward from the initial position;

[0104] S361. The blanking slide rail vehicle reaches the robot blanking area and sends a command indicating its arrival at the blanking area to robot S315;

[0105] S362. Detect whether there is an electrical signal converted after the light signal of the grating detection device is blocked;

[0106] A grating detection device is installed at the position of the first copper plate of the anode copper loaded on the blanking slide rail vehicle. The running directions of the blanking slide rail vehicle and the loading slide rail vehicle are opposite, and the commands executed for receiving the grating signal are also different. If the grating is not blocked and the PLC of the slide rail vehicle does not receive the electrical signal generated by the light signal, it means that the copper plate has not been placed on the carrier by the robot, and the slide rail vehicle stops at the current position. If the grating detects being blocked and the PLC of the slide rail vehicle does not receive the electrical signal generated by the light signal, it means that the robot has placed a copper plate on the carrier, the motor rotates in reverse, and the blanking slide rail vehicle moves backward until the grating signal is not blocked and then stops, leaving a position for the next placement of the copper plate;

[0107] S363. When the PLC of the slide rail vehicle receives the command from the PLC of the robot indicating that the batch blanking of 25 anode copper plates is completed, the PLC of the slide rail vehicle sends a command for the motor to rotate in reverse, and the blanking slide rail vehicle moves backward;

[0108] S364. The blanking slide rail vehicle retreats to the forklift unloading area;

[0109] S341. After the PLC of the drilling workbench receives the collaborative cleaning command from the PLC of the robot through the Profi Net TCP communication protocol, the solenoid valve at the chip removal port and the vacuum pump are opened, the chip removal port and the vacuum pumping device are opened, and a command to open the chip removal port and the vacuum pumping device is sent to the PLC of the robot;

[0110] S356. After the robot receives the command to open the chip removal port and the vacuum pumping device, the PLC of the robot outputs the signal to start the air knife to the control circuit of the air knife through the I / O module, uses the digital quantity output signal to start the air knife to clean the anode copper chips, the motor of the air knife starts, generates a high-speed air flow to clean and open the air knife cleaning device, and cleans the drilling workbench so that the anode copper chips on the drilling workbench fall into the chip removal port;

[0111] S357. After the air knife cleaning is completed, the PLC of the robot controls the air knife motor to turn off;

[0112] S358. The robot resets, the driving motor of the robot starts to make the robot turn to the initial position, and sends a cleaning completed command to the PLC of the drilling workbench;

[0113] S342. The PLC of the drilling workbench outputs signals to close the solenoid valve at the chip removal port and the vacuum pump, and closes the chip removal port and the vacuum pumping device;

[0114] In S343, the vacuum suction device transports the collected copper chips to the copper chip collection box;

[0115] The sampling work of this batch of anode copper drilling samples is completed.

[0116] Such as Figure 8 , an intelligent sampling control method for anode copper in this embodiment mainly includes:

[0117] Step S101: Obtain the batch information of the anode copper, and the batch information includes the quantity of this batch of anode copper.

[0118] Step S102: Judge whether the quantity of anode copper on the flatbed truck at the feeding end reaches the quantity of this batch of anode copper. If so, control the flatbed truck at the feeding end to move to the rear end of the track. If not, wait for the forklift to continue feeding.

[0119] Step S103: After the flatbed truck at the feeding end reaches the rear end of the track, control the flatbed truck at the feeding end to move forward so that the anode copper enters the working range of the robot.

[0120] Step S104: Control the robot to grab the anode copper, and obtain the position information and angle information of the anode copper through visual recognition, and adjust the motion parameters of the robot according to the obtained information.

[0121] Step S105: Control the robot to stably place the anode copper at the designated position of the machine tool, and judge whether the anode copper is placed in place through the pressure sensor.

[0122] Step S106: After the robot resets, control the machine tool to start drilling and sampling the anode copper, and send a random sampling point instruction to the machine tool through the host computer.

[0123] Step S107: During the drilling process, use low-temperature anhydrous ethanol to cool and anti-oxidize the processing point, and collect the copper chips through a vacuum device.

[0124] Step S108: When the drilling and sampling of one anode copper is completed, the machine tool sends a drilling completion instruction to the robot, and the robot transports the anode copper to the designated position of the flatbed truck at the discharging end.

[0125] Step S109: Repeat the above steps until the drilling and sampling of all the anode copper in this batch are completed, and judge whether the completed quantity meets the batch requirements through the host computer.

[0126] Step S1010: If the completed quantity meets the requirements of this batch, control the robot and the drill press to cooperate to clean the copper chips, transport the copper chips to the collection box, and the sampling of this batch of anode copper is completed.

[0127] Compared with the existing solutions, through the technical solutions of the embodiments of the present invention, the automation of the anode copper loading and unloading process can be realized, the basic cost of anode copper handling can be greatly reduced, and the work efficiency can be improved; intelligent control operation can be realized, the input of human and material resources can be reduced, and at the same time the risk of personnel injury can be reduced; with the use of robots and intelligent control systems, the reliability and efficiency of the entire anode copper loading and unloading process are further improved.

[0128] The present invention aims at anode copper drilling and sampling, and proposes an intelligent sampling control system and control method. This system includes a rail flatbed truck transportation device, a handling robot, an anode copper sampling machine tool, etc., and achieves automatic feeding and sampling of anode copper through intelligent control. The rail flatbed truck moves along the track to carry the anode copper, and its travel is controlled by a ground proximity switch and a pair of light grids, and cooperates with the robot to grab, expanding the feeding range. This system also includes an anode copper transportation control system, an automatic loading and unloading robot control system, an intelligent drilling and sampling control system, an anode copper sample chip automatic packaging machine control system. The main switch uses Ethernet to communicate with the PLCs in the anode copper transportation control system, the automatic loading and unloading robot control system, and the intelligent drilling and sampling control system respectively, so as to control the transportation, loading and unloading, drilling and sampling, and sample chip conveying operations of the anode copper.

[0129] The present invention has high operation accuracy, improves production efficiency, and reduces the labor intensity of workers. By using Ethernet, one-to-many node information push is realized, and a multi-level control structure is implemented. All process steps are precisely controllable. Under the condition of efficient and continuous operation, the details of the operation step process can be highly controlled to ensure the stability and consistency in the sampling operation process.

[0130] The above-described preferred embodiments of the present invention disclosed are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor limit the present invention to the specific implementation manners. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the art in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An intelligent sampling control system for anode copper, characterized in that, Including: Two groups of pits arranged side by side left and right. There are tracks in the pits, and there are flatbed trucks that can move along the tracks on the tracks. The flatbed trucks are used to carry anode copper; A robot arranged between the two groups of pits. The robot can grasp, rotate and accurately place the anode copper; A machine tool arranged behind the robot. The machine tool has a platform on which the anode copper can be placed; Two groups of grating detection devices, respectively arranged at the edges of the two groups of pits, for detecting whether the flatbed truck reaches a specified position; An anode copper transportation control system, a robot control system and a machine tool control system communicate with each other through a total control system to control the transportation, loading and unloading, drilling and sampling, and copper chip collection of the anode copper.

2. The intelligent sampling control system for anode copper as claimed in claim 1, wherein The track is fixed in the pit through track fasteners. A roller device corresponding to the track position is fixedly arranged in parallel at the lower end of the flatbed truck. The roller device drives the flatbed truck to move smoothly along the track.

3. The intelligent sampling control system for anode copper as described in claim 1, wherein, The robot realizes flexible operation through multi-degree-of-freedom joints, and is equipped with an intelligent control system and a special gripping fixture. It automatically grasps, rotates and places the anode copper according to a preset program and sensor signals. The special gripping fixture can firmly grasp the anode copper and avoid damaging its surface.

4. The intelligent sampling control system for anode copper as described in claim 1, characterized in that, A positioning structure is arranged on the platform of the machine tool for fixing the position of the anode copper. The robot accurately places the anode copper in a specified area of the platform. The machine tool is also provided with a drill bit and a copper chip vacuum suction device, which are respectively used for drilling and sampling the anode copper and sucking copper chips.

5. The intelligent sampling control system for anode copper as claimed in claim 1, wherein, The grating detection device includes a pair of gratings, which are respectively arranged on the movement path of the flatbed truck, for detecting the position of the flatbed truck, and combining with the anode copper transportation control system to control the flatbed truck to stop within the grasping range of the robot.

6. The intelligent sampling control system for anode copper according to claim 1, wherein The anode copper transportation control system, the robot control system, and the machine tool control system are respectively provided with programmable logic controllers, and communicate and exchange data with the total control system through an industrial Ethernet. The total control system coordinates each control system to realize the automatic control of the whole sampling process.

7. The intelligent sampling control system for anode copper as described in claim 1, wherein When the robot grasps the anode copper, the two groups of flatbed trucks remain stationary; When the robot places the anode copper on the machine tool, the flatbed truck at the loading end moves forward, so that the next anode copper to be grasped moves into the working range of the robot.

8. The intelligent sampling control system for anode copper according to claim 4, wherein, The drill bit of the machine tool is a hollow drill bit. The copper chip vacuum suction device is communicated with the hollow drill bit. The copper chips generated during the drilling process are sucked into the copper chip vacuum suction device through the hollow drill bit.

9. An intelligent sampling control method for anode copper, characterized in that, For the anode copper intelligent sampling control system according to any one of claims 1-8, including: Obtaining the batch information of the anode copper. The batch information includes the quantity of the anode copper in this batch; Judging whether the quantity of the anode copper on the flatbed truck at the loading end reaches the quantity of the anode copper in this batch. If so, controlling the flatbed truck at the loading end to move to the rear end of the track. If not, waiting for the forklift to continue loading; After the flatbed truck at the loading end reaches the rear end of the track, controlling the flatbed truck at the loading end to move forward so that the anode copper enters the working range of the robot; Control the robot to grasp the anode copper, obtain the position information and angle information of the anode copper through visual recognition, and adjust the motion parameters of the robot according to the obtained information; Control the robot to stably place the anode copper at the designated position of the machine tool, and judge whether the anode copper is placed in place through a pressure sensor; After the robot resets, control the machine tool to start drilling and sampling the anode copper, and send a random sampling point instruction to the machine tool through the host computer; During the drilling process, use low-temperature anhydrous ethanol to cool and antioxidant treat the processing point, and collect the copper chips through a vacuum device; When the drilling and sampling of one anode copper is completed, the machine tool sends a drilling completion instruction to the robot, and the robot transports the anode copper to the designated position of the flatbed truck at the blanking end; Repeat the above steps until the drilling and sampling of all the anode copper in this batch is completed, and judge through the host computer whether the completed quantity meets the batch requirements; If the completed quantity meets the requirements of this batch, control the robot and the drill press to cooperate to clean the copper chips and transport the copper chips to the collection box, and the sampling of the anode copper in this batch is completed.

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