Equipment for fully automatically cleaning anode mud of electrode plate

Abstract

The invention relates to equipment for fully automatically cleaning anode mud of an electrode plate, and belongs to the technical field of hydrometallurgy electrodeposition. The full-automatic electrode plate anode mud cleaning equipment comprises an electrode plate turnover device, an electrode plate cleaning device, an electrode plate leveling device and a robot module. The robot module grabs an electrode plate with to-be-cleaned anode mud, which is vertically hung on the electrode plate turnover device, and inserts the electrode plate into a gap between a brush roller I and a brush roller II of the electrode plate cleaning device so as to clean the anode mud on the electrode plate, and the robot module puts the electrode plate after the anode mud is cleaned into the electrode plate leveling device for leveling; and the robot module grabs the leveled electrode plate and vertically hangs the electrode plate on the electrode plate turnover device. The equipment has the advantages of high automation degree, good cleaning efficiency and no damage to the surface characteristics of the anode.

Description

Technical Field

[0001] The invention relates to a device for fully automatically cleaning anode mud of an electrode plate, belonging to the technical field of hydrometallurgical electrowinning. Background Art

[0002] In the hydrometallurgical zinc smelting process, zinc electrowinning is a key process for zinc metal separation and purification. Using a mixed solution of zinc sulfate, sulfuric acid, and manganese sulfate as the electrolyte, and a lead-silver alloy as the anode, an oxygen evolution reaction occurs at the anode. Due to the anodic oxygen evolution reaction, the metal matrix on the anode surface and the manganese in the solution are oxidized into anode mud. The main components of the anode mud are MnO₂, PbO₂, PbSO₄, and a small amount of manganese-containing compounds. In industrial zinc electrowinning, the continuous oxygen evolution reaction causes the anode mud to gradually thicken. Excessively thick anode mud not only affects power consumption but also easily causes a short circuit between the anode and cathode. Therefore, regular anode mud cleaning is required in industrial production, primarily through manual cleaning, mechanical cleaning, and chemical reduction. Manual cleaning is not only labor-intensive but also damages the anodic oxide film and the anode metal matrix, increasing power consumption and shortening the anode's service life. Mechanical cleaning, typically performed with chains or metal scrapers, alleviates the labor-intensive issue but also damages the anodic oxide film and the anode metal matrix, similarly increasing power consumption and shortening the anode's service life. Chemical reduction, which involves spraying a reducing solution onto the plates, cleans porous anodes. This process removes most anode slime, eliminates pore blockage, reduces interfacial resistance, and restores the specific surface area of ​​the anode plates, maintaining a low current density and thus leveraging the advantages of porous anodes. However, cleaning is time-consuming, results in significant loss of reducing solution, and requires large amounts of water for rinsing. This can lead to excessive corrosion of the substrate if care is not taken. Existing anode slime cleaning solutions that simultaneously meet the requirements of high automation, efficient cleaning, and surface-safety have yet to be developed, constraining the development of hydrometallurgical zinc smelting. Summary of the Invention

[0003] To address the current issues of long electrode plate anode mud cleaning time and easily damaged anodic oxide films, the present invention provides a fully automated device for cleaning anode mud from electrode plates. The device comprises a plate turnover device, a plate cleaning device, a plate leveling device, and a robot module. During operation, the robot module grabs an electrode plate to be cleaned of anode mud, which is vertically mounted on the plate turnover device. The robot module inserts the cleaned electrode plate into the plate leveling device for leveling. The robot module then grabs the leveled electrode plate and vertically mounts it on the plate turnover device. This device offers the advantages of high automation, high cleaning efficiency, and no damage to the anode surface.

[0004] A fully automatic device for cleaning anode mud from electrode plates comprises a plate turnover device 1, a plate cleaning device 2, a plate leveling device 3, and a robot module 4. The plate turnover device 1, the plate cleaning device 2, and the plate leveling device 3 are arranged around the outside of the robot module 4. A slot is provided at the top of the plate turnover device 1, and an electrode plate to be cleaned of anode mud is vertically mounted in the slot. The plate cleaning device 2 includes a frame II 21, a motor II 22, a motor III, a pulley I 23, a pulley II, a pulley III, a pulley IV, a bearing seat I 24, a bearing seat II, a bearing seat III, a bearing seat IV, a brush roller I 25, a brush roller II and an anode mud collecting frame 26. The motor II 22 and the motor III are fixedly arranged at the lower part of the frame II 21. The output ends of the motor II 22 and the motor III are respectively provided with a pulley III and a pulley IV. The opposite ends of the frame II 21 are end A and end B respectively. The top of end A is provided with horizontal slideway Ⅰ and horizontal slideway Ⅱ, the top of end B is provided with horizontal slideway Ⅲ and horizontal slideway Ⅳ, the bearing seat Ⅰ24 includes bearing seat Ⅰ and rotating bearing Ⅰ arranged on bearing seat Ⅰ, the bearing seat Ⅱ includes bearing seat Ⅱ and rotating bearing Ⅱ arranged on bearing seat Ⅱ, the bearing seat Ⅲ includes bearing seat Ⅲ and rotating bearing Ⅲ arranged on bearing seat Ⅲ, the bearing seat Ⅳ includes bearing seat Ⅳ and rotating bearing Ⅳ arranged on bearing seat Ⅳ, the bearing seat Ⅰ, bearing seat Ⅱ, bearing seat Ⅲ, bearing The seat IV is respectively slidably arranged in the horizontal slideway I, the horizontal slideway II, the horizontal slideway III and the horizontal slideway IV. The two ends of the brush roller I 25 are A' end and B' end respectively. The A' end of the brush roller I 25 is embedded in and passes through the inner ring of the rotating bearing I of the seat bearing I 24. The B' end of the brush roller I 25 is embedded in the inner ring of the rotating bearing III of the seat bearing III. The two ends of the brush roller II are respectively A" end and B" end. The A" end of the brush roller II is embedded in and passes through the inner ring of the rotating bearing II of the seat bearing II. The B" end of the brush roller II is embedded in the seat bearing IV The inner ring of the rotating bearing IV is fixedly provided with a pulley I 23 at the A' end of the brush roller I 25, and the A" end of the brush roller II is fixedly provided with a pulley II. The pulley I 23 is connected to the pulley III at the output end of the motor II 22 through the belt I, and the pulley II is connected to the pulley IV at the output end of the motor III through the belt II. The anode mud collection frame 26 is placed at the bottom of the frame II 21. The frame II 21 is surrounded by baffles, which form the device shell for protection to prevent the anode mud from splashing disorderly during the cleaning process. During operation, the robot module 4 grabs the electrode plate to be cleaned of anode mud vertically mounted on the electrode plate turnover device 1 and reciprocates in the gap between the brush roller I 25 and the brush roller II to clean the anode mud on the electrode plate. The robot module 4 places the electrode plate after the anode mud is cleaned into the electrode plate leveling device 3 for leveling. The robot module 4 grabs the leveled electrode plate and vertically mounts it on the electrode plate turnover device 1 to complete the automatic cleaning of the anode mud on the electrode plate.

[0005] By constructing a ring-shaped equipment layout encompassing three functional modules—plate turnover, cleaning, and leveling—and integrating it with intelligent control from a robotic module, the anode slime cleaning process is fully automated. The plate turnover device utilizes a vertically mounted structure, with top slots ensuring stable positioning and continuous transport of the electrode plates, providing a precise gripping position for the robotic module. The plate cleaning device features a dual brush roller structure with adjustable spacing. A horizontal slide adjusts the position of the seated bearings to adapt the brush roller spacing to accommodate electrode plates of varying thicknesses. Dual motors drive the counter-rotating brush rollers to create a shear force field, effectively stripping the anode slime while avoiding mechanical scratching and damage to the substrate. The plate leveling device integrates with the cleaning process, with the robotic module automatically transferring and leveling the cleaned electrode plates to ensure they meet reusable flatness requirements. The robotic module serves as the control hub, coordinating the timing of each device's operations to automate the flow of electrode plates through the turnover, cleaning, and leveling processes, creating a closed-loop production system. The method can solve the technical problems of low automation, easy damage to the anodic oxide film and the metal matrix, and low cleaning efficiency in the existing anode mud cleaning process.

[0006] Preferably, the bristles of the brush roller for cleaning the anode mud of the electrode plate can be flexible bristles. When the flexible bristles rotate and contact the impurities (anode mud) on the surface of the electrode plate, the bristles can bend due to their elasticity and penetrate into the gap between the impurities and the surface of the electrode plate. As the brush roller continues to rotate, friction is generated between the bristles and the impurities, which peels off the impurities from the surface of the electrode plate. At the same time, the rotational motion of the brush roller will also cause the peeled impurities to move to both sides of the brush roller under the drive of the bristles, preventing the impurities from re-adhering to the surface of the electrode plate.

[0007] Preferably, an infrared sensor I is provided at the top center of the frame II 21A end, and the infrared sensor I, motor II 22, and motor III are all connected to the robot module 4 signal; when the infrared sensor I senses that the electrode plate of the anode mud to be cleaned is inserted in the gap between the brush roller I 25 and the brush roller II, the robot module 4 controls the motor II 22 and the motor III to rotate synchronously in opposite directions, thereby driving the brush roller I 25 and the brush roller II to rotate synchronously in opposite directions.

[0008] By installing infrared sensor I at the IA end of the frame and establishing a signal linkage with the robot module, motor II, and motor III, precise detection of the electrode plate's insertion into the brush roller gap and intelligent control of the brush roller's motion are achieved. When infrared sensor I detects that the electrode plate has been inserted into the brush roller gap, the robot module immediately triggers motors II and III to rotate synchronously in opposite directions, driving brush rollers I and II to rotate in opposite directions. The combination of the sensor trigger signal and the reverse synchronous drive of the motors ensures that both sides of the electrode plate are subjected to uniform brush roller force. This prevents unilateral anode mud residue from unidirectional rotation and prevents surface damage caused by force offset on the electrode plate or idling of the brush rollers due to unidirectional rotation. The shear force generated by the reverse synchronous rotation of the brush rollers effectively removes the anode mud. At the same time, the symmetrical mechanical distribution reduces the impact on the electrode plate's oxide film and metal substrate, achieving optimal cleaning results and equipment protection.

[0009] Preferably, the plate turnover device 1 includes a frame Ⅰ11, a motor Ⅰ12, a transmission chain 13, a rotating bearing Ⅴ14, a rotating bearing Ⅵ, a rotating bearing Ⅶ, a rotating bearing Ⅷ, a sprocket Ⅰ15, a sprocket Ⅱ, a sprocket Ⅲ, a sprocket Ⅳ, a sprocket Ⅴ, a conveyor chain Ⅰ16, a conveyor chain Ⅱ, a sprocket shaft Ⅰ, and a sprocket shaft Ⅱ17. The opposite ends of the frame Ⅰ11 are respectively C end and D end, and the rotating bearing Ⅴ14 and the rotating bearing Ⅵ are respectively fixed to the top of the C end of the frame Ⅰ11 through the bearing seat Ⅴ and the bearing seat Ⅵ, and the rotating bearing Ⅶ and the rotating bearing Ⅷ are respectively fixed to the top of the D end of the frame Ⅰ11 through the bearing seat Ⅶ and the bearing seat Ⅷ. The two ends of the sprocket shaft Ⅰ are respectively The C' end and D' end of the sprocket shaft II 17 are respectively C" end and D" end, the C' end and D' end of the sprocket shaft I are respectively embedded in the inner rings of the rotating bearing V14 and the rotating bearing VI, the C" end and D" end of the sprocket shaft II 17 are respectively embedded in the inner rings of the rotating bearing VII and the rotating bearing VIII, the sprocket I 15 and the sprocket II are respectively fixedly arranged on the C' end and D' end of the sprocket shaft I, the sprocket III and the sprocket IV are respectively fixedly arranged on the C" end and D" end of the sprocket shaft II 17, the two ends of the conveying chain I 16 are respectively meshed with the sprocket I 15 at the C' end of the sprocket shaft I and the sprocket III at the C" end of the sprocket shaft II 17 for transmission, the two ends of the conveying chain II are respectively meshed with the sprocket II at the D' end of the sprocket shaft I and the sprocket IV at the D" end of the sprocket shaft II 17 for transmission, and the conveying chain I 16 is arranged in parallel with the conveying chain II to form a conveying device for the electrode plate to be cleaned of anode mud; Sprocket V is fixed on sprocket shaft I, motor I12 is fixed at the bottom of frame I11, sprocket VI is fixed at the output end of motor I12, sprocket VI is connected to sprocket V through transmission chain 13, motor I12 is connected to robot module 4 signal, robot module 4 controls motor I12 to rotate, thereby driving conveyor chain I16 and conveyor chain II to move synchronously toward the D end of frame I11.

[0010] The electrode plate rotation mechanism utilizes a structural design at the C and D ends of frame I, securing sprocket shafts I and II using rotating bearings V and VIII to ensure transmission stability. Sprocket shafts I and II are respectively mounted with sprockets I to IV, meshing with conveyor chains I and II to form a parallel conveyor mechanism, ensuring horizontal movement of the electrode plates. Motor I drives sprocket V via sprocket VI and the transmission chain, rotating sprocket shaft I and synchronously moving the conveyor chain toward end D, enabling automated conveying of the electrode plates. A robotic module controls motor I, ensuring coordination between conveying and cleaning and leveling processes, enhancing automation. These coordinated components address the low efficiency and damage to the electrode plates associated with traditional methods, achieving efficient and stable conveying. This addresses the low automation, inefficiency, and plate damage associated with manual or mechanical cleaning of anode mud from electrode plates in existing technologies, enabling automated and efficient conveying of the electrode plates, ensuring stability and continuity during the cleaning and leveling processes.

[0011] More preferably, a plurality of teeth are fixedly provided at equal intervals on the outer side surfaces of the conveying chain I16 and the conveying chain II, and slots are formed between adjacent teeth. The two ends of the conductive beam of the electrode plate to be cleaned of the anode mud are respectively clamped in the slots of the conveying chain I16 and the conveying chain II.

[0012] Through the synchronous meshing of the double chains and the innovation of the tooth structure, a stable conveying system for the electrode plates has been constructed. Specifically, equally spaced rigid teeth are set on the outer surfaces of the two parallel conveying chains, and the geometric constraint space formed by the adjacent teeth is used as a slot, so that both ends of the conductive beam of the electrode plate are simultaneously embedded in the corresponding slot structure. This double-point symmetrical clamping design not only ensures the verticality of the electrode plate when it is suspended, but also prevents the electrode plate from axial sliding or circumferential deflection during the conveying process through the physical limiting effect of the side walls of the teeth. In particular, the spacing of the equally spaced teeth matches the standard size of the electrode plate, ensuring that each electrode plate can obtain a uniform support point. At the same time, the slot structure adopts an open design, which facilitates the robot module to quickly pick up and place the electrode plates, and realizes efficient connection with the automation equipment while ensuring positioning accuracy. It can solve the problem of sliding offset of the electrode plate due to unstable fixation during the conveying process, and ensure the vertical hanging positioning accuracy of the electrode plate in the automated cleaning process.

[0013] More preferably, a tensioning adjustment plate 18 is provided between the bearing seat V, the bearing seat VI, the bearing seat VII, the bearing seat VIII and the top fixing surface of the frame I 11.

[0014] By setting a tensioning adjustment plate between the four bearing seats and the connection surface of the frame, dynamic tension adjustment of the conveyor chain transmission system is achieved. Specifically, bearing seats V, VI, VII, and VIII respectively carry the transmission structure of the sprocket shaft and the conveyor chain. The setting of the tensioning adjustment plate allows each bearing seat to be independently fine-tuned in height or angle. This structural design can compensate for the tensile deformation of the chain caused by long-term operation. By adjusting the relative position between each bearing seat and the frame, it ensures that the conveyor chain always maintains appropriate tension, avoiding problems such as electrode plate jamming and asynchronous conveying due to chain relaxation. At the same time, this adjustment method can accurately compensate for chains with different degrees of wear, effectively extending the equipment maintenance cycle. It can solve the problem of decreased stability of the conveyor device caused by chain relaxation or offset caused by long-term operation at the connection between the bearing seat and the frame in the plate turnover device.

[0015] Preferably, the plate leveling device 3 includes a frame III 31, a horizontal guide column I 32, a horizontal guide column II, a horizontal guide column III, a horizontal guide column IV, a movable plate 33, a fixed plate I 34, a fixed plate II, and a gas-liquid booster cylinder 35. The two opposite ends of the frame III 31 are respectively E end and F end. The fixed plate II is vertically fixed at the E end of the frame III 31. A through hole I, a through hole II, a through hole III, and a through hole IV are provided on the fixed plate II. The through hole I and the through hole II are parallelly provided at the top of the fixed plate II, and the through hole III and the through hole IV are parallelly provided at the bottom of the fixed plate II. The through hole I and the through hole III are located on the same vertical line, and the through hole II and the through hole IV are located on the same vertical line. The guide sleeve I, the guide sleeve II, the guide sleeve III, and the guide sleeve IV are fixed in the through hole I, the through hole II, the through hole III, and the through hole IV. The horizontal guide column I 32, the horizontal guide column II, the horizontal The two ends of the guide column III and the horizontal guide column IV are the guide end and the free end respectively. The guide ends of the horizontal guide column I 32 and the horizontal guide column II are respectively arranged on the top of the fixed plate II through the guide sleeve I and the guide sleeve II. The guide ends of the horizontal guide column III and the horizontal guide column IV are respectively arranged on the bottom of the fixed plate II through the guide sleeve III and the guide sleeve IV. The movable plate 33 is slidably arranged on the horizontal guide column I 32, the horizontal guide column II, the horizontal guide column III and the horizontal guide column IV. The free ends of the horizontal guide column I 32, the horizontal guide column II, the horizontal guide column III and the horizontal guide column IV are fixed on the fixed plate I 34. The pressure end of the gas-liquid booster cylinder 35 acts on the fixed plate I 34. The gas-liquid booster cylinder 35 is connected to the robot module 4 signal. The robot module 4 places the electrode plate after cleaning the anode mud into the gap between the movable plate 33 and the fixed plate II for leveling.

[0016] The coordinated design of four horizontal guide posts and guide sleeves ensures a precise and stable sliding path for the movable plate on the horizontal guide posts, preventing misalignment during the leveling process and secondary deformation of the plates. Two sets of through-holes, one at the top and one at the bottom, create a symmetrical distribution of the horizontal guide posts, enhancing the structural rigidity of the leveling mechanism. A pneumatic-hydraulic booster cylinder acting on fixed plate I, with pressure controlled by a robotic module, delivers programmable linear pressure output, eliminating residual deformation after plate cleaning and preventing damage to the plate surface due to overpressure. The gap-type leveling space formed between the movable plate and fixed plate II, combined with the precise positioning of the robotic module, ensures uniform bidirectional pressure in a vertical position, effectively maintaining plate flatness. The nested structure of the guide sleeves and horizontal guide posts reduces friction during the movable plate's movement, ensuring a smooth leveling motion. This solves the problems of traditional anode plate leveling, which often suffer from low manual operation efficiency and damage to the oxide film and metal substrate on the plate surface, enabling automated and precise leveling.

[0017] Preferably, the movable plate 33 is provided with guide holes I, II, III and IV corresponding to the through holes I, II, III and IV of the fixed plate II. The guide holes I, II, III and IV are fixed with guide sleeves I, II, III and IV respectively. The guide sleeves I, II, III and IV are respectively sleeved on the horizontal guide column I32, the horizontal guide column II, the horizontal guide column III and the horizontal guide column IV to realize the guided sliding of the movable plate 33.

[0018] By precisely aligning guide holes with guide sleeves with horizontal guide posts, a sliding guide mechanism with multi-dimensional constraints is constructed. The four guide holes in the movable plate form a spatial correspondence with the through-holes in the fixed plate. The guide sleeves fixed within each guide hole form a clearance fit with the corresponding horizontal guide post. This dual positioning structure effectively limits the deflection and tilt of the movable plate in the horizontal plane. The guide sleeves can be made of a low-friction material, ensuring the free sliding of the movable plate along the axial direction of the guide posts while avoiding wear caused by direct metal-to-metal contact. The distributed layout of the four sets of guide sleeves and guide posts forms a stable planar support system, ensuring parallel movement of the movable plate when pressure is applied by the gas-liquid booster cylinder. This ensures that the leveling force is evenly applied to the electrode plate surface, avoiding localized stress concentration caused by guide deviation. The embedded fixing of the guide sleeves enhances the structural strength of the guide holes, prevents deformation of the hole wall caused by long-term reciprocating motion, and maintains the stability of the guiding accuracy. This solves the problem of insufficient precision in the leveling mechanism between the movable plate and the guide post, leading to uneven force applied to the electrode plate during leveling, resulting in secondary deformation or surface damage to the electrode plate.

[0019] More preferably, a number of pressure sensors are evenly arranged on the movable plate 33, and a number of infrared sensors II are evenly spaced along the longitudinal direction on the fixed plate II. The pressure sensors and infrared sensors II are both connected to the robot module 4 signal. When the infrared sensor II senses that the electrode plates after cleaning the anode mud are all vertically inserted into the gap between the movable plate 33 and the fixed plate II, the robot module 4 controls the gas-liquid booster cylinder 35 to apply pressure to make the movable plate 33 move in a directional manner to contact the electrode plate and level it. The pressure sensor transmits the leveling pressure signal to the robot module 4 to adjust the leveling pressure in real time.

[0020] A closed-loop control system for the electrode plate leveling process was established by implementing a dual detection mechanism using pressure sensors and infrared sensors. The pressure sensor array on the movable plate collects real-time pressure distribution data across different areas of the electrode plate during leveling. Combined with infrared sensors arranged longitudinally on the fixed plate, this precisely determines the electrode plate's insertion depth, ensuring that the plate is fully seated before pressure application begins. The robot module, triggered by the infrared sensor, activates the gas-liquid booster cylinder to directional move the movable plate, avoiding bias or localized deformation caused by incomplete electrode plate seating. The pressure sensor feeds dynamic pressure signals back to the robot module, which adjusts the output pressure of the gas-liquid booster cylinder in real time to prevent damage to the metal substrate caused by excessive pressure and anode slime residue caused by insufficient pressure. This intelligent leveling method, based on multi-sensor fusion, automatically optimizes process parameters while ensuring leveling accuracy. It effectively addresses the technical challenges of crude pressure control and plate damage in traditional mechanical leveling. It addresses issues such as electrode plate deformation and unstable leveling results caused by improper pressure control during leveling, as well as automated, precise positioning and pressure feedback control during the leveling process.

[0021] More preferably, the horizontal guide column I 32, the horizontal guide column II, the horizontal guide column III, and the horizontal guide column IV are all sleeved with a return spring, and both ends of the return spring are fixedly connected to the movable plate 33 and the fixed plate II respectively.

[0022] By arranging a reset spring on the horizontal guide column, the movable plate can automatically reset to its initial position after leveling is completed. The two ends of the reset spring are fixedly connected to the movable plate and the fixed plate respectively. The elastic deformation characteristics of the spring are used to absorb the pressure generated during the leveling process, and the elastic potential energy is released after the leveling is completed to push the movable plate back to its original position. This design avoids the complex structure of the traditional leveling device that requires an additional drive mechanism to achieve reset, and simplifies the mechanical linkage relationship. The sleeve arrangement of the spring and the guide column ensures the stability of the axial movement of the movable plate along the guide column, preventing offset or jamming during the reset process. The spring connection between the fixed plate and the movable plate forms a symmetrical force structure, ensuring that the leveling pressure is evenly distributed while maintaining the linearity of the reset path. It can solve the problem that the plate leveling device cannot automatically reset after pressure leveling, resulting in low leveling efficiency and complex structure.

[0023] The robot module 4 includes a robot body 42, which is fixedly arranged on a robot base 41, a microprocessor is arranged in the robot body 42, a robotic arm 44 is arranged on the robot body 42, and a robotic arm 43 is arranged at the free end of the robotic arm 44; when working, the microprocessor controls the robotic arm 43 to grab the electrode plate to be cleaned of anode mud vertically mounted on the electrode plate turnover device 1 and insert it into the gap between the brush roller I 25 and the brush roller II to clean the anode mud on the electrode plate, and the microprocessor then controls the robotic arm 43 to place the electrode plate after cleaning the anode mud into the electrode plate leveling device 3 for leveling, and the microprocessor controls the robotic arm 43 to vertically hang the leveled electrode plate on the C end of the electrode plate turnover device 1.

[0024] The robot base provides stable support, ensuring the positioning accuracy of the robot body during operation. The integrated microprocessor enables real-time, programmatic control of the robot arm's motion trajectory and the gripping action of the manipulator, ensuring a seamless and manual process for the entire electrode plate process, from grasping, cleaning, leveling, to resetting. The manipulator's flexible design allows the manipulator to precisely adjust the angle at which the electrode plate is inserted into the brush roller gap in three dimensions, preventing excessive wear on the electrode plate surface caused by angular deviation. The manipulator's gripping mechanism utilizes a flexible contact design, ensuring secure grasping while preventing mechanical damage to the electrode plate's conductive beam. The microprocessor synchronizes the manipulator's motion with the displacement of the conveyor chain of the plate turnover device to ensure that the leveled electrode plate is accurately mounted in the designated slot, preventing tilting or falling of the electrode plate caused by manual mounting. By directional mounting of the leveled electrode plate at the C-end of the plate turnover device, a closed, automated production cycle is formed, enabling continuous operation of the electrode plate processing process. It can solve the problems of low automation level of existing anode mud cleaning equipment and easy damage to the anodic oxide film and metal substrate during manual operation, and realize automatic and precise control of the entire process of electrode plate cleaning, leveling and turnover.

[0025] The beneficial effects of the present invention are: (1) The fully automatic equipment for cleaning anode mud of electrode plates of the present invention uses a robot module as the control center to coordinate the action sequence of the electrode plate turnover device, the electrode plate cleaning device, and the electrode plate leveling device, thereby realizing the automated flow of electrode plates between the turnover, cleaning, and leveling processes, and forming a closed-loop production system. The equipment can solve the technical problems of low automation, easy damage to the anodic oxide film and metal substrate, and low cleaning efficiency in the existing anode mud cleaning process, and realize the automated and precise control of the entire process of electrode plate cleaning, leveling, and turnover. (2) The present invention ensures that both sides of the electrode plate are subjected to uniform brush roller force simultaneously by combining the sensor trigger signal with the reverse synchronous drive of the motor, thereby avoiding the anode mud residue on one side caused by unidirectional rotation and preventing the electrode plate force offset or brush roller idling damage caused by unidirectional rotation. The shear force generated by the reverse synchronous rotation of the brush roller can effectively peel off the anode mud, and the symmetrical mechanical distribution reduces the impact on the oxide film layer and metal substrate of the electrode plate, thereby achieving dual optimization of cleaning effect and equipment protection. (3) The design of the gas-liquid booster cylinder acting on the fixed plate I of the present invention controls the applied pressure through the robot module to achieve programmable linear pressure output, which can not only eliminate the residual deformation of the plate after cleaning, but also prevent overpressure from damaging the plate surface; the gap-type leveling space formed by the movable plate and the fixed plate II, combined with the precise positioning of the robot module, enables the plate to receive bidirectional uniform pressure in a vertical state, effectively maintaining the plate flatness; the nested structure of the guide sleeve and the horizontal guide column can reduce the friction resistance during the movement of the movable plate, ensuring the smoothness of the leveling action; (4) The robot module of the present invention activates the gas-liquid booster cylinder according to the trigger signal of the infrared sensor to push the movable plate to move in a directional manner, thereby avoiding bias or local deformation caused by the electrode plate not being fully in place; the pressure sensor feeds back the dynamic pressure signal to the robot module, and adjusts the output pressure of the gas-liquid booster cylinder in real time to prevent damage to the metal substrate caused by excessive pressure and residual anode mud caused by insufficient pressure; the intelligent leveling method based on multi-sensor fusion realizes automatic optimization of process parameters while ensuring leveling accuracy, effectively solving the technical problems of rough pressure control and easy damage to the electrode plate in traditional mechanical leveling. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the fully automated anode mud cleaning equipment; Figure 2 Schematic diagram of the plate turnover device structure; Figure 3 It is a schematic diagram of the structure of the plate cleaning device; Figure 4 This is a schematic diagram of the structure of the plate leveling device; Figure 5 This is a schematic diagram of the robot module structure; In the figure, 1-plate turnover device, 2-plate cleaning device, 3-plate leveling device, 4-robot module, 11-frame I, 12-motor I, 13-transmission chain, 14-rotating bearing V, 15-sprocket I, 16-conveying chain I, 17-sprocket shaft II, 18-tensioning adjustment plate, 21-frame II, 22-motor II, 23-pulley I, 24-seat bearing I, 25-brush roller I, 26-anode mud collection frame, 31-frame III, 32-horizontal guide column I, 33-movable plate, 34-fixed plate I, 35-gas-liquid booster cylinder, 41-robot base, 42-robot body, 43-manipulator, 44-manipulator arm. DETAILED DESCRIPTION

[0027] The technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. The components of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0028] In existing technologies, the anode mud produced by the oxygen evolution reaction on the anode surface during the zinc electrowinning process of hydrometallurgy requires regular cleaning. Traditional cleaning methods suffer from low automation, easy damage to the anode substrate and oxide film, and insufficient cleaning efficiency. Manual cleaning is labor-intensive and suffers from poor operational consistency, mechanical cleaning is prone to surface scratches, and chemical cleaning carries the risk of corrosion and is time-consuming. In continuous production scenarios, existing processes struggle to synchronize anode mud cleaning with the production line rhythm, resulting in frequent equipment downtime and impacting overall production efficiency.

[0029] The present application proposes a fully automatic device for cleaning anode mud from electrode plates, comprising a plate turnover device 1, a plate cleaning device 2, a plate leveling device 3, and a robot module 4; the plate turnover device 1, the plate cleaning device 2, and the plate leveling device 3 are arranged around the outside of the robot module 4; a slot is provided at the top of the plate turnover device 1, and an electrode plate to be cleaned of anode mud is vertically mounted in the slot; The plate cleaning device 2 includes a frame II 21, a motor II 22, a motor III, a pulley I 23, a pulley II, a pulley III, a pulley IV, a bearing seat I 24, a bearing seat II, a bearing seat III, a bearing seat IV, a brush roller I 25, a brush roller II and an anode mud collecting frame 26. The motor II 22 and the motor III are fixedly arranged at the lower part of the frame II 21. The output ends of the motor II 22 and the motor III are respectively provided with a pulley III and a pulley IV. The opposite ends of the frame II 21 are end A and end B respectively. The top of end A is provided with horizontal slideway Ⅰ and horizontal slideway Ⅱ, the top of end B is provided with horizontal slideway Ⅲ and horizontal slideway Ⅳ, the bearing seat Ⅰ24 includes bearing seat Ⅰ and rotating bearing Ⅰ arranged on bearing seat Ⅰ, the bearing seat Ⅱ includes bearing seat Ⅱ and rotating bearing Ⅱ arranged on bearing seat Ⅱ, the bearing seat Ⅲ includes bearing seat Ⅲ and rotating bearing Ⅲ arranged on bearing seat Ⅲ, the bearing seat Ⅳ includes bearing seat Ⅳ and rotating bearing Ⅳ arranged on bearing seat Ⅳ, the bearing seat Ⅰ, bearing seat Ⅱ, bearing seat Ⅲ, bearing The seat IV is respectively slidably arranged in the horizontal slideway I, the horizontal slideway II, the horizontal slideway III and the horizontal slideway IV. The two ends of the brush roller I 25 are A' end and B' end respectively. The A' end of the brush roller I 25 is embedded in and passes through the inner ring of the rotating bearing I of the seat bearing I 24. The B' end of the brush roller I 25 is embedded in the inner ring of the rotating bearing III of the seat bearing III. The two ends of the brush roller II are respectively A" end and B" end. The A" end of the brush roller II is embedded in and passes through the inner ring of the rotating bearing II of the seat bearing II. The B" end of the brush roller II is embedded in the seat bearing IV The inner ring of the rotating bearing IV is fixedly provided with a pulley I 23 at the A' end of the brush roller I 25, and the A" end of the brush roller II is fixedly provided with a pulley II. The pulley I 23 is connected to the pulley III at the output end of the motor II 22 through the belt I, and the pulley II is connected to the pulley IV at the output end of the motor III through the belt II. The anode mud collection frame 26 is placed at the bottom of the frame II 21. The frame II 21 is surrounded by baffles, which form the device shell for protection to prevent the anode mud from splashing disorderly during the cleaning process. During operation, the robot module 4 grabs the electrode plate to be cleaned of anode mud vertically mounted on the electrode plate turnover device 1 and reciprocates in the gap between the brush roller I 25 and the brush roller II to clean the anode mud on the electrode plate. The robot module 4 places the electrode plate after the anode mud is cleaned into the electrode plate leveling device 3 for leveling. The robot module 4 grabs the leveled electrode plate and vertically mounts it on the electrode plate turnover device 1 to complete the automatic cleaning of the anode mud on the electrode plate.

[0030] The plate turnover device refers to a mechanism for realizing automatic conveying and positioning of the electrode plate. Specifically, a chain transmission structure can be used to realize vertical suspension and step-by-step conveying of the electrode plate in cooperation with a clamping tooth positioning groove. The plate cleaning device refers to an assembly for removing anode mud by rotating a brush roller. Specifically, a brush roller driven by double motors rotates in reverse to form a shearing cleaning effect. The position adjustment of the bearing with seat in the slide can adapt to electrode plates of different thicknesses. The robot module refers to a control center that coordinates the actions of each process. Specifically, a multi-axis mechanical arm cooperates with a visual positioning system to realize accurate grabbing and transfer of the electrode plate. The horizontal slide structure refers to a guide device for adjusting the distance between the brush rollers. Specifically, a linear guide rail can be used to realize positioning and fixation of the bearing with seat in cooperation with a locking mechanism. The anode mud collection frame refers to a container for receiving the falling mud. Specifically, it can be designed as a detachable inclined flow guide structure to facilitate centralized treatment of the mud.

[0031] During operation of the device, the plate turnover device moves the electrode plate to be processed to the grabbing station through continuous conveying. The robot module inserts the conductive beam of the electrode plate vertically into the gap between the double brush rollers of the plate cleaning device by clamping it with the mechanical arm. The motor drives the brush rollers to rotate towards each other. The flexible bristles come into contact with the surface of the electrode plate, generating friction and peeling off the anode mud without damaging the substrate. During the cleaning process, the self-adaptive adjustment of the bearing with seat in the slide ensures that the brush roller maintains constant contact pressure with the electrode plate. The falling mud falls into the collection frame through the flow guide structure. The cleaned electrode plate is transferred by the robot to the leveling device, and the plate surface deformation is eliminated by pressure control. The leveled electrode plate is re-hung on the turnover device, forming a continuous operation cycle.

[0032] Traditional manual cleaning relies on the experience of operators and has the defect of unstable cleaning effect. Although the mechanical scraper cleaning method improves efficiency, rigid contact can easily scratch the substrate. The present scheme realizes full-automatic control of the anode mud cleaning process, effectively avoiding quality fluctuations caused by manual operation. The double brush roller structure cooperates with the self-adaptive adjustment mechanism to ensure that electrode plates of different specifications can obtain stable cleaning effect. The modular layout design optimizes the equipment floor area and improves the production line compatibility. The integrated processing of the leveling process ensures the reuse accuracy of the electrode plate and reduces the risk of short circuit caused by plate surface deformation. The overall scheme not only improves the cleaning efficiency, but also significantly prolongs the service life of the anode plate and reduces the production and maintenance cost. Compared with the chemical cleaning process, the present device does not need to use corrosive liquid, eliminating the waste liquid treatment link. By integrating various functional modules through the robot module, full-process automatic operation is realized, significantly reducing the frequency of manual intervention.

[0033] The present application further proposes that an infrared sensor I is provided at the top center of the frame II 21A end, and the infrared sensor I, motor II 22, and motor III are all connected to the robot module 4 signal; when the infrared sensor I senses that the electrode plate of the anode mud to be cleaned is inserted in the gap between the brush roller I 25 and the brush roller II, the robot module 4 controls the motor II 22 and the motor III to rotate synchronously in opposite directions, thereby driving the brush roller I 25 and the brush roller II to rotate synchronously in opposite directions.

[0034] Infrared sensor I refers to a sensing device that can detect the position of the electrode plate through infrared rays. Specifically, this can be achieved using a photoelectric proximity sensor. Its function is to monitor in real time whether the electrode plate is accurately inserted into the brush roller gap, ensuring that the cleaning action is triggered only when the electrode plate is in place. Synchronous rotation in opposite directions means that motor II and motor III respectively drive brush roller I and brush roller II in opposite directions to maintain consistent speeds. Specifically, this can be achieved through servo motors combined with encoder feedback. Its function is to make the two brush rollers exert symmetrical shear forces on the surface of the electrode plate, avoiding anode mud residue or force offset of the electrode plate caused by one-way brushing.

[0035] When the electrode plate is grabbed by the robot module and inserted into the gap between the brush rollers, the infrared sensor I detects that the edge of the electrode plate has entered the preset position and sends a trigger signal to the robot module. After receiving the signal, the robot module outputs control instructions to motor II and motor III, so that the two motors respectively drive the corresponding pulley systems to drive brush rollers I and brush rollers II to rotate synchronously in opposite directions. At this time, the rotation direction of brush roller I is opposite to that of brush roller II. For example, brush roller I rotates clockwise and brush roller II rotates counterclockwise. The bristles of the two brush rollers scrape the surfaces of both sides of the electrode plate at the same time, forming a two-way cleaning effect. Since the rotation speeds of the two brush rollers are synchronized by the servo system, the lateral forces acting on the electrode plate during the cleaning process offset each other, preventing the electrode plate from bending due to uneven force or damaging the surface oxide film.

[0036] This solution achieves precise matching of the electrode plate insertion position and brush roller motion through the coordinated control of infrared sensor trigger signals and dual motor reverse synchronous drive. At the same time, the reverse symmetrical brush roller motion pattern effectively eliminates the mechanical defects of unidirectional brushing. This solution can solve the problem of incomplete anode mud cleaning or damage to the electrode plate caused by brush roller asynchrony or incorrect direction during the cleaning process. It achieves a double-sided synchronous cleaning and balanced mechanical distribution operation mode, avoiding the technical defects of high anode mud residue rate and poor electrode plate surface integrity in traditional methods. At the same time, the automated signal triggering mechanism improves the accuracy and reliability of the cleaning operation.

[0037] The application further provides the plate turnover device 1, which comprises a rack I 11, a motor I 12, a transmission chain 13, rotating bearings V 14, rotating bearings VI, rotating bearings VII, rotating bearings VIII, a chain wheel I 15, a chain wheel II, a chain wheel III, a chain wheel IV, a chain wheel V, a conveying chain I 16 and a conveying chain II, chain wheel shaft I and chain wheel shaft II 17. The chain wheel V is fixedly arranged on the chain wheel shaft I, the motor I 12 is fixedly arranged at the bottom of the rack I 11, the output end of the motor I 12 is fixedly provided with a chain wheel VI, the chain wheel VI is in transmission connection with the chain wheel V through the transmission chain 13, the motor I 12 is in signal connection with the robot module 4, and the robot module 4 controls the rotation of the motor I 12 so as to drive the conveying chain I 16 and the conveying chain II to move synchronously towards the D end of the rack I 11.

[0038] Rotating bearings V to VIII refer to rotating components used to support sprocket shaft I and sprocket shaft II. Specifically, they can be implemented using deep groove ball bearings or roller bearings. Their inner rings have an interference fit with the sprocket shafts, and their outer rings are fixed to the top of frame I via bearing seats, thereby ensuring the stability of the sprocket shafts during rotation. Sprocket shaft I and sprocket shaft II refer to shaft components that mount sprockets and transmit power. Specifically, they can adopt a stepped shaft structure, with both ends fixed to both sides of frame I via rotating bearings, and the middle part connected to the fixed sprockets via a key to achieve power transmission. Conveyor chain I and conveyor chain II refer to circulating transmission components used to carry electrode plates. Specifically, they can adopt double-row roller chains, with teeth equidistantly arranged on the outer side to form a slot. Synchronous movement is achieved through sprocket engagement to ensure the continuity of horizontal conveying of the electrode plates. Sprocket V and sprocket VI refer to the sprocket assembly for power transmission. Sprocket V is fixed to the middle of sprocket shaft I, and sprocket VI is installed at the output end of motor I. They are connected through a transmission chain to transmit the motor power to sprocket shaft I, driving the conveyor chain to move.

[0039] Motor I rotates sprocket shaft I via sprocket VI and the transmission chain, driving sprockets I and II to rotate synchronously, thereby moving conveyor chains I and II along end C of frame I toward end D. The electrode plates engage the conveyor chain's slots at both ends of the conductive beam and are automatically conveyed as the chains move. The robot module controls the start and stop and speed of Motor I via signals, coordinating the conveying action with the cleaning and leveling processes. Sprocket shaft II rotates driven by the conveyor chain, ensuring synchronization between conveyor chains I and II and preventing tilting or offsetting of the electrode plates. The fixed installation of rotating bearing V to rotating bearing VIII eliminates radial runout of the sprocket shaft and reduces vibration during transmission.

[0040] This solution achieves stable and continuous conveying of electrode plates through a dual-chain parallel conveying structure, combined with synchronous drive of sprocket shafts and collaborative control of robot modules, avoiding efficiency losses caused by manual intervention and reducing the risk of deformation of electrode plates due to uneven force during conveying. It can solve the stability problem of automated conveying of electrode plates. Through the synchronous drive of dual chains and the rigid support structure of sprocket shafts, it ensures that the electrode plates maintain a vertical posture during the cleaning and leveling processes, avoiding incomplete cleaning or leveling failure due to conveying offset. The signal linkage between the motor and the robot module further improves the accuracy of the connection between each process and provides reliable conveying guarantee for the fully automatic cleaning process.

[0041] The present application further proposes that a number of teeth are fixedly provided at equal intervals on the outer side surfaces of the conveying chain I16 and the conveying chain II, and a slot is formed between adjacent teeth. The two ends of the conductive beam of the electrode plate to be cleaned of the anode mud are respectively clamped in the slot of the conveying chain I16 and the slot of the conveying chain II.

[0042] The teeth refer to the rigid raised structures distributed at intervals along the outer surface of the conveyor chain. Specifically, they can be realized by using metal blocks that are welded or bolted. The spacing is set according to the standard size of the electrode plate to form a geometric constraint space. The slot refers to the gap area between two adjacent teeth. Specifically, it can be achieved by adjusting the spacing between the teeth to match the width of the conductive beam of the electrode plate, and is used to limit the lateral displacement of the conductive beam. The conductive beam refers to the horizontal metal component on the top of the electrode plate used for suspension and conduction. Specifically, it can be made of copper alloy material. After its two ends are embedded in the slot, they are positioned by contacting the side walls.

[0043] An equidistantly distributed tooth structure is machined on the outer surface of two parallel conveyor chains, and slots with fixed spacing are formed between adjacent teeth. When the electrode plate is mounted on the conveyor chain through the robot module, the two ends of its conductive beam are respectively embedded in the corresponding slots of the two chains. The side walls of the tooth form surface contact with the side surfaces of the conductive beam, and the lateral displacement of the electrode plate is constrained by the bilaterally symmetrical physical limiting effect. During the synchronous movement of the chains, the geometric constraints of the slots continue to act on the conductive beam to ensure that the electrode plate maintains a vertical posture. The equidistant distribution characteristics of the tooth spacing enable multiple electrode plates to obtain uniform support points during the conveying process.

[0044] This solution uses the rigid limiting structure of the double-sided card slots to increase the lateral constraint dimension while maintaining the vertical suspension function, effectively suppressing the displacement deviation of the electrode plate during dynamic transportation. This application achieves stable positioning of the electrode plate during transportation, avoids positioning errors in the cleaning process caused by sliding offset, and ensures that the automated cleaning equipment can accurately grasp the electrode plate and complete the subsequent processing process. The open structural design of the card slot also improves the operational efficiency of the robot module in picking up and placing the electrode plate, meeting the needs of continuous production.

[0045] The present application further proposes that a tensioning adjustment plate 18 is provided between the top fixing surface of the bearing seat V, the bearing seat VI, the bearing seat VII, the bearing seat VIII and the frame I 11.

[0046] The tensioning plate is an adjustable support structure installed between the bearing seat and the frame. It uses a metal plate with threaded adjustment holes and bolts to achieve height adjustment. The thickness of the tensioning plate is changed by rotating the bolts. This structure dynamically controls the sprocket shaft support angle by changing the relative position between the bearing seat and the frame.

[0047] The tension adjusting plates are configured to allow the bearing seats to be finely adjusted in the vertical direction. When the conveying chains are stretched and relaxed due to long-term operation, the corresponding bearing seats can be displaced in height by independently adjusting the bolts of the tension adjusting plates. For example, synchronous lifting of the bearing seat V and the bearing seat VII can increase the inclination angle of the sprocket shaft I, thereby compensating for the relaxation amount of the conveying chain I; synchronous lowering of the bearing seat VI and the bearing seat VIII can adjust the installation position of the sprocket shaft II to maintain the tension balance of the conveying chain II. This adjustment mode can locally compensate for unilateral chain relaxation, avoiding the uneven force problem of the transmission system caused by the traditional overall tensioning mechanism.

[0048] The tension adjusting plates are configured to allow the bearing seats to be finely adjusted in the vertical direction. When the conveying chains are stretched and relaxed due to long-term operation, the corresponding bearing seats can be displaced in height by independently adjusting the bolts of the tension adjusting plates. For example, synchronous lifting of the bearing seat V and the bearing seat VII can increase the inclination angle of the sprocket shaft I, thereby compensating for the relaxation amount of the conveying chain I; synchronous lowering of the bearing seat VI and the bearing seat VIII can adjust the installation position of the sprocket shaft II to maintain the tension balance of the conveying chain II. This adjustment mode can locally compensate for unilateral chain relaxation, avoiding the uneven force problem of the transmission system caused by the traditional overall tensioning mechanism.

[0049] The electrode plate leveling device 3 further includes a rack III 31, a horizontal guide column I 32, a horizontal guide column II, a horizontal guide column III, a horizontal guide column IV, a movable plate 33, a fixed plate I 34, a fixed plate II, a gas-liquid pressure intensifier 35. The opposite sides of the rack III 31 are respectively E end and F end. The fixed plate II is vertically fixed at the E end of the rack III 31. The fixed plate II is provided with a through hole I, a through hole II, a through hole III, and a through hole IV. The through hole I and the through hole II are parallelly arranged at the top of the fixed plate II. The through hole III and the through hole IV are parallelly arranged at the bottom of the fixed plate II. The through hole I and the through hole III are located on the same vertical line. The through hole II and the through hole IV are located on the same vertical line. The through hole I, the through hole II, the through hole III, and the through hole IV are respectively fixedly provided with a guide sleeve I, a guide sleeve II, a guide sleeve III, and a guide sleeve IV. The two ends of the horizontal guide column I 32, the horizontal guide column II, the horizontal guide column III, and the horizontal guide column IV are respectively a guide end and a free end. The guide ends of the horizontal guide column I 32 and the horizontal guide column II are arranged at the top of the fixed plate II through the guide sleeve I and the guide sleeve II. The guide ends of the horizontal guide column III and the horizontal guide column IV are arranged at the bottom of the fixed plate II through the guide sleeve III and the guide sleeve IV. The movable plate 33 is slidably arranged on the horizontal guide column I 32, the horizontal guide column II, the horizontal guide column III, and the horizontal guide column IV. The free ends of the horizontal guide column I 32, the horizontal guide column II, the horizontal guide column III, and the horizontal guide column IV are fixed on the fixed plate I 34. The pressure applying end of the gas-liquid pressure intensifier 35 acts on the fixed plate I 34. The gas-liquid pressure intensifier 35 is signal connected with the robot module 4. The robot module 4 puts the electrode plate after cleaning the anode mud into the gap between the movable plate 33 and the fixed plate II for leveling.

[0050] Horizontal guide column I, horizontal guide column II, horizontal guide column III, horizontal guide column IV refer to four guide rods distributed on the top and bottom of the fixed plate II, which can be realized by surface hardening treatment of metal round rods, and are used to constrain the movement trajectory of the movable plate. Guide sleeve I, guide sleeve II, guide sleeve III, guide sleeve IV refer to sliding parts nested in through holes, which can be realized by copper alloy sleeves containing self-lubricating coating, and are used to reduce the friction resistance between the horizontal guide column and the fixed plate II. The gas-liquid booster cylinder refers to a linear drive device with pressure regulating function, which can be realized by a proportional valve controlled hydraulic cylinder, and is used to apply a programmable leveling pressure to the fixed plate I. The gap between the movable plate and the fixed plate II refers to the clamping space of the electrode plate, which can be realized by adjusting the insertion depth of the electrode plate through the robot module, and is used to ensure that the electrode plate is in a vertical leveling state.

[0051] When the cleaned electrode plate is vertically inserted into the gap between the movable plate and the fixed plate II by the robot module, the gas-liquid booster cylinder pushes the fixed plate I according to the preset pressure parameters, and the movable plate moves along the horizontal guide column towards the fixed plate II. The four horizontal guide columns form a rigid support through the upper and lower symmetrically distributed guide sleeves, avoiding the deflection of the movable plate during pressure application. The pressure output of the gas-liquid booster cylinder is adjusted in real time by the robot module, ensuring that the leveling force is uniformly applied to the surface of the electrode plate. The parallel movement of the movable plate and the fixed plate II allows the electrode plate to receive bidirectional pressure in a vertical state, eliminating residual deformation caused by anode mud cleaning.

[0052] Traditional manual leveling relies on operator experience to judge the pressure, which is easy to cause damage to the oxide film layer of the electrode plate due to uneven pressure. Mechanical leveling devices mostly use single-sided pressure structure, and the electrode plate is easy to deviate laterally during leveling, causing secondary deformation. This scheme realizes bidirectional linear pressure on the electrode plate in a vertical state through the symmetrical layout of four guide columns and the closed-loop control of the gas-liquid booster cylinder, avoiding surface damage caused by pressure direction deviation. It can solve the problems of low efficiency and uncontrollable pressure precision of manual leveling, and realize the automation of the electrode plate leveling process. Through the cooperative action of the four guide columns and the gas-liquid booster cylinder, the leveling force is uniformly distributed on the surface of the electrode plate, avoiding local overpressure damage to the oxide film layer and the metal substrate. The gap design of the movable plate and the fixed plate II allows the electrode plate to complete leveling in a vertical state, effectively maintaining the flatness of the electrode plate and reducing the risk of short circuit in the subsequent electrodeposition process.

[0053] The present application further proposes that the movable plate 33 is provided with guide holes I, II, III and IV corresponding to the through holes I, II, III and IV of the fixed plate II, and the guide holes I, II, III and IV are fixedly provided with guide sleeves I, II, III and IV respectively. The guide sleeves I, II, III and IV are respectively sleeved on the horizontal guide column I32, the horizontal guide column II, the horizontal guide column III and the horizontal guide column IV to realize the guided sliding of the movable plate 33.

[0054] The guide sleeve refers to an annular sliding component embedded in the guide hole and fixed to the inner wall of the guide hole through an interference fit to reduce the friction coefficient with the guide column.

[0055] The guide hole is a cylindrical through-hole in the movable plate, typically machined using a CNC machine. Its axis is coaxial with the axis of the guide sleeve in the fixed plate's through-hole, constraining the movable plate's trajectory. The horizontal guide column is a hardened metal rod, typically machined from a chrome-plated steel bar. Its diameter creates a clearance fit with the inner diameter of the guide sleeve, providing rigid support for the movable plate's sliding motion.

[0056] As the pneumatic-hydraulic booster cylinder pushes the movable plate toward the fixed plate, four sets of guide sleeves slide along corresponding horizontal guide posts. Because the clearance between the guide sleeves and the guide posts is controlled within a range of 0.05-0.1 mm, the movable plate is constrained to a single axial degree of freedom during movement. The planar constraint system formed by these four guide mechanisms effectively suppresses deflection and tilt of the movable plate in the horizontal plane, ensuring that both sides of the electrode plate contact the leveled working surface simultaneously.

[0057] This solution utilizes a distributed layout of four sets of guide posts and guide sleeves to form a four-point spatial positioning system. This system improves the parallel movement accuracy of the movable plate to within ±0.2 mm during the leveling process. This solves the problem of uneven force on the electrode plates caused by insufficient fit between the movable plate and the guide posts in the leveling device, avoids imbalanced leveling force distribution caused by guide deviation, and effectively prevents surface indentations or edge warping of the plates during secondary leveling, ensuring that the flatness error of the plate after leveling is within process requirements.

[0058] The present application further proposes that a number of pressure sensors are evenly arranged on the movable plate 33, and a number of infrared sensors II are evenly spaced along the longitudinal direction on the fixed plate II. The pressure sensors and infrared sensors II are both connected to the robot module 4 signal. When the infrared sensor II senses that the electrode plates after cleaning the anode mud are all vertically inserted into the gap between the movable plate 33 and the fixed plate II, the robot module 4 controls the gas-liquid booster cylinder 35 to apply pressure to make the movable plate 33 move in a directional manner to contact the electrode plate and level it. The pressure sensor transmits the leveling pressure signal to the robot module 4 to adjust the leveling pressure in real time.

[0059] A pressure sensor is a device used to detect the pressure on the surface of the electrode plate during the leveling process. Specifically, it can be implemented using a piezoelectric sensor or a resistive pressure sensor, which is evenly distributed on the surface of the movable plate to monitor the pressure distribution in different areas. An infrared sensor II is a device used to detect whether the electrode plate is fully inserted into the leveling station. Specifically, it can be implemented using a photoelectric sensor or an infrared beam sensor, which is evenly spaced along the longitudinal direction of the fixed plate to cover the entire length of the electrode plate insertion path. A gas-liquid booster cylinder is a pressure-applying mechanism used to drive the directional movement of the movable plate. Specifically, it can be implemented using a booster device driven by a combination of hydraulic and pneumatic pressure. The displacement of the movable plate is controlled by adjusting the output pressure.

[0060] When the electrode plate is placed into the gap between the movable plate and the fixed plate by the robot module, the infrared sensor II on the fixed plate detects the insertion status of the electrode plate in sequence along the longitudinal direction. When all infrared sensors II are triggered, it indicates that the electrode plate has been fully and vertically inserted into the leveling station. At this time, the robot module activates the gas-liquid booster cylinder to push the movable plate toward the fixed plate. The pressure sensor on the surface of the movable plate collects the pressure data of each area of ​​the electrode plate in real time and transmits the signal to the robot module. The robot module dynamically adjusts the output pressure of the gas-liquid booster cylinder according to the pressure distribution. For example, when the pressure in a certain area exceeds the preset threshold, the pressure is reduced, or when the pressure is insufficient, the pressure is increased, thereby ensuring that the pressure is uniform and within a safe range during the leveling process.

[0061] Traditional leveling devices usually rely on manual experience to adjust the pressure or adopt a fixed pressure mode, which can easily lead to local overvoltage or undervoltage due to uneven thickness of the electrode plate or deviation in the insertion position. Existing mechanical leveling equipment lacks a real-time pressure feedback mechanism and cannot dynamically adjust the pressure applied, which may cause deformation of the electrode plate or anode mud residue. However, this solution achieves closed-loop control of the electrode plate leveling process through the synergy of pressure sensors and infrared sensors, solving the problem of insufficient pressure control accuracy. This application effectively prevents damage to the metal substrate of the electrode plate due to excessive pressure during the leveling process, and avoids incomplete leveling caused by insufficient pressure. The full monitoring of the electrode plate insertion status by the infrared sensor ensures that the leveling action is only started after the electrode plate is fully in place, eliminating the risk of bias caused by positioning deviation. The real-time feedback mechanism of the pressure sensor enables the leveling pressure to be automatically optimized according to the actual state of the electrode plate, improving the consistency and stability of the leveling process.

[0062] The present application further proposes that horizontal guide column I 32, horizontal guide column II, horizontal guide column III, and horizontal guide column IV are all sleeved with a return spring, and the two ends of the return spring are fixedly connected to the movable plate 33 and the fixed plate II respectively.

[0063] The horizontal guide column is a rigid rod used to guide the linear movement of the movable plate. Specifically, it can be implemented as a metal rod with a hard chrome plated surface. Its function is to provide a directional sliding track for the movable plate to prevent displacement during the leveling process. The return spring is a mechanical component with elastic deformation capability. Specifically, it can be implemented as a helical compression spring. Its function is to automatically reset the movable plate by storing and releasing elastic potential energy. Fixed Plate II is the static support structure of the leveling device. Specifically, it can be implemented as a welded steel plate frame. Its function is to provide a fixed support point for the guide column and spring, forming a symmetrical load-bearing structure.

[0064] When the pneumatic-hydraulic booster cylinder pushes the movable plate to apply leveling pressure to the electrode plate, the return spring is compressed and stores elastic potential energy. Once leveling is complete, the pneumatic-hydraulic booster cylinder is depressurized, releasing the stored elastic potential energy and pushing the movable plate back axially along the horizontal guide post to its initial position. During this process, the springs on the four guide posts act synchronously, allowing the movable plate to automatically return to its original position without external force. The sleeved arrangement of the springs and guide posts constrains the movable plate's trajectory, preventing tilting or binding during the return process. The spring connection between fixed plate II and the movable plate creates a symmetrical force-bearing structure, ensuring even distribution of the leveling pressure and a linear return path. The return spring's stiffness coefficient can be tailored to the leveling pressure range, for example, by using spring steel of different wire diameters. The clearance between the guide post and the spring can be set to 0.5-1mm to ensure free spring expansion and contraction while preventing radial oscillation. The ends of the spring can be secured to the mounting brackets of the movable and fixed plate II, respectively, using either welded lugs or bolts.

[0065] This solution achieves automatic reset by leveraging the physical properties of springs, eliminating the need for additional drive components and control units. The coordinated structure of the guide post and spring simplifies the mechanical system while ensuring motion accuracy and reliability. This enables automatic reset of the leveling device, simplifying the equipment structure and improving leveling efficiency. The spring's elastic recovery properties replace traditional drive mechanisms, reducing manufacturing costs and maintenance. The synergistic effect of the guide post and spring ensures stability and repeatable positioning accuracy during the movable plate reset process, preventing degradation of leveling quality due to mechanical offset.

[0066] The present application further proposes that the robot module 4 includes a robot body 42, which is fixedly arranged on a robot base 41, a microprocessor is arranged in the robot body 42, a robotic arm 44 is arranged on the robot body 42, and a robotic arm 43 is arranged at the free end of the robotic arm 44; when working, the microprocessor controls the robotic arm 43 to grab the electrode plate to be cleaned of the anode mud vertically mounted on the electrode turnover device 1 and inserts it into the gap between the brush roller I 25 and the brush roller II to clean the anode mud on the electrode plate, and the microprocessor then controls the robotic arm 43 to place the electrode plate after cleaning the anode mud into the electrode plate leveling device 3 for leveling, and the microprocessor controls the robotic arm 43 to vertically hang the leveled electrode plate on the C end of the electrode turnover device 1.

[0067] The robot base refers to the supporting structure that supports the robot body. It can be implemented by cast iron or welded steel structure, and fixed to the ground by anchor bolts to ensure the stability of the robot body during operation. The microprocessor refers to the control unit integrated into the robot body, which can be implemented by an embedded industrial controller. It coordinates the coordinated movements of the robot arm and the manipulator through preset program instructions. The manipulator arm refers to a multi-joint motion mechanism, which can be implemented by a servo-driven manipulator arm. The spatial positioning accuracy of the end effector can be controlled within the range of ±0.1 mm. The manipulator refers to the end effector that clamps the electrode plate. It can be implemented by a combination of a vacuum suction cup and a flexible clamping claw. The contact surface is provided with a buffer material to avoid scratching the surface of the electrode plate.

[0068] The robot base ensures the stability of the working reference surface through a rigid connection. The microprocessor drives the robotic arm to move along a predetermined trajectory by receiving the position signal of the electrode turnover device in real time. When the robot grabs the electrode plate, the vacuum suction cup first absorbs the upper surface of the conductive beam, and the flexible clamps synchronously close to clamp the edges of both sides of the electrode plate. When the electrode plate is transferred to the brush roller gap, the microprocessor adjusts the insertion angle according to the feedback from the infrared sensor so that the plate surface and the brush roller axis form an angle of 85°-95°. After cleaning, the robotic arm moves the electrode plate horizontally at a constant speed between the movable plate and the fixed plate of the leveling device, and the microprocessor triggers the gas-liquid booster cylinder to perform the leveling action. The leveled electrode plate is precisely mounted to the C-end slot of the electrode turnover device by the robotic arm, and the tooth spacing error of the conveying chain is controlled within ±0.5 mm.

[0069] Traditional manual cleaning requires operators to manually carry the electrode plates to the cleaning station, and there is a risk of positioning deviation causing the brush roller to wear the plate surface. Although mechanical cleaning equipment can automatically transport electrode plates, it lacks the ability to adjust the posture in three dimensions, which can easily cause uneven contact pressure between the plate surface and the brush roller. This solution uses multi-axis linkage control of the robot arm to keep the electrode plate in the optimal posture when inserted into the cleaning station. Combined with the closed-loop control algorithm of the microprocessor, it can dynamically compensate for mechanical transmission errors and ensure that the electrode plate is accurately reset to the specified position of the turnover device after leveling. This application can realize the full process automation of electrode plate cleaning, leveling and turnover, eliminating damage to the anodic oxide film layer caused by manual operation. The flexible clamping mechanism of the robot avoids the indentation defects of traditional rigid clamps on the conductive beam. The synchronous control of the microprocessor ensures the connection accuracy of each process, and the deviation rate of the electrode plate hanging position after leveling is greatly reduced.

[0070] The above describes the specific embodiments of the present invention in detail, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. A fully automatic device for cleaning anode mud from electrode plates, characterized by: The invention comprises a plate turnover device (1), a plate cleaning device (2), a plate leveling device (3) and a robot module (4); the plate turnover device (1), the plate cleaning device (2) and the plate leveling device (3) are arranged around the outside of the robot module (4); a slot is provided at the top of the plate turnover device (1), and an electrode plate to be cleaned of anode mud is vertically hung in the slot; The plate cleaning device (2) comprises a frame II (21), a motor II (22), a motor III, a pulley I (23), a pulley II, a pulley III, a pulley IV, a seat bearing I (24), a seat bearing II, a seat bearing III, a seat bearing IV, a brush roller I (25), a brush roller II and an anode mud collecting frame (26), wherein the motor II (22) and the motor III are fixedly arranged at the lower part of the frame II (21), and the output ends of the motor II (22) and the motor III are respectively provided with a pulley III and a pulley IV, The two opposite ends of the frame II (21) are end A and end B respectively. The top of end A is provided with horizontal slideway I and horizontal slideway II. The top of end B is provided with horizontal slideway III and horizontal slideway IV. The seat bearing I (24) includes bearing seat I and rotating bearing I arranged on bearing seat I. The seat bearing II includes bearing seat II and rotating bearing II arranged on bearing seat II. The seat bearing III includes bearing seat III and rotating bearing III arranged on bearing seat III. The seat bearing IV includes bearing seat IV and rotating bearing III arranged on bearing seat IV. The rotating bearing IV, the bearing seat I, the bearing seat II, the bearing seat III and the bearing seat IV are respectively slidably arranged in the horizontal slideway I, the horizontal slideway II, the horizontal slideway III and the horizontal slideway IV. The two ends of the brush roller I (25) are respectively the A' end and the B' end. The A' end of the brush roller I (25) is embedded in and passes through the inner ring of the rotating bearing I of the seat bearing I (24). The B' end of the brush roller I (25) is embedded in the inner ring of the rotating bearing III of the seat bearing III. The two ends of the brush roller II are respectively the A" end and the B" end. The A" end of the brush roller II is embedded and passes through the inner ring of the rotating bearing III of the seat bearing III. The B' end of the brush roller II is embedded in the inner ring of the rotating bearing IV of the seat bearing II, and the A' end of the brush roller I (25) is fixedly provided with a pulley I (23). The A' end of the brush roller II is fixedly provided with a pulley II. The pulley I (23) is connected to the pulley III at the output end of the motor II (22) through the belt I, and the pulley II is connected to the pulley IV at the output end of the motor III through the belt II. The anode mud collecting frame (26) is placed at the bottom of the frame II (21). The frame II (21) is provided with baffles around it, and the baffles form the housing of the device; During operation, the robot module (4) grabs the electrode plate to be cleaned of anode mud vertically mounted on the electrode plate turnover device (1) and reciprocates between the brush roller I (25) and the brush roller II to clean the anode mud on the electrode plate. The robot module (4) places the electrode plate after the anode mud is cleaned into the electrode plate leveling device (3) for leveling. The robot module (4) grabs the electrode plate after leveling and vertically mounts it on the electrode plate turnover device (1), thereby completing the automatic cleaning of the anode mud on the electrode plate.

2. The fully automatic device for cleaning electrode plate anode mud according to claim 1, characterized in that: An infrared sensor I is provided at the top center of the A end of the frame II (21), and the infrared sensor I, the motor II (22), and the motor III are all connected to the robot module (4) by signal; when the infrared sensor I senses that the electrode plate of the anode mud to be cleaned is inserted into the gap between the brush roller I (25) and the brush roller II, the robot module (4) controls the motor II (22) and the motor III to rotate synchronously in opposite directions, thereby driving the brush roller I (25) and the brush roller II to rotate synchronously in opposite directions.

3. The fully automatic device for cleaning anode mud of electrode plates according to claim 1 is characterized in that: The plate turnover device (1) comprises a frame I (11), a motor I (12), a transmission chain (13), a rotating bearing V (14), a rotating bearing VI, a rotating bearing VII, a rotating bearing VIII, a sprocket I (15), a sprocket II, a sprocket III, a sprocket IV, a sprocket V, a conveying chain I (16), a conveying chain II, a sprocket shaft I, and a sprocket shaft II (17). The opposite ends of the frame I (11) are respectively the C end and the D end. The rotating bearing V (14) and the rotating bearing VI are fixedly arranged on the top of the C end of the frame I (11) through the bearing seat V and the bearing seat VI, respectively. The rotating bearing VII and the rotating bearing VIII are fixedly arranged on the top of the C end of the frame I (11) through the bearing seat VII and the bearing seat VIII, respectively. The two ends of the sprocket shaft I are respectively C' end and D' end, the two ends of the sprocket shaft II (17) are respectively C" end and D" end, the C' end and D' end of the sprocket shaft I are respectively embedded in the inner rings of the rotating bearing V (14) and the rotating bearing VI, the C" end and D" end of the sprocket shaft II (17) are respectively embedded in the inner rings of the rotating bearing VII and the rotating bearing VIII, the sprocket I (15) and the sprocket II are respectively fixed on the C' end and D' end of the sprocket shaft I, the sprocket III and the sprocket IV are respectively fixed on the C" end and D" end of the sprocket shaft II (17), and the two ends of the conveying chain I (16) are respectively connected to the sprocket shaft I. The sprocket I (15) at the C' end and the sprocket III at the C" end of the sprocket shaft II (17) are meshed for transmission, and the two ends of the conveying chain II are respectively meshed for transmission with the sprocket II at the D' end of the sprocket shaft I and the sprocket IV at the D" end of the sprocket shaft II (17). The conveying chain I (16) and the conveying chain II are arranged in parallel to form a conveying device for the electrode plate to be cleaned of anode mud; Sprocket V is fixedly arranged on sprocket shaft I, motor I (12) is fixedly arranged at the bottom of frame I (11), sprocket VI is fixedly arranged at the output end of motor I (12), sprocket VI is connected to sprocket V through transmission chain (13), motor I (12) is connected to robot module (4) signal, and robot module (4) controls motor I (12) to rotate, thereby driving conveyor chain I (16) and conveyor chain II to move synchronously toward end D of frame I (11).

4. The fully automatic device for cleaning anode mud of electrode plates according to claim 3, characterized in that: A plurality of teeth are fixedly provided at equal intervals on the outer side surfaces of the conveying chain I (16) and the conveying chain II, and slots are formed between adjacent teeth. The two ends of the conductive beam of the electrode plate to be cleaned of the anode mud are respectively fixed in the slots of the conveying chain I (16) and the conveying chain II.

5. The fully automatic device for cleaning anode mud of electrode plates according to claim 3 is characterized in that: Tensioning adjustment plates (18) are provided between the top fixing surfaces of the bearing seat V, the bearing seat VI, the bearing seat VII, the bearing seat VIII and the frame I (11).

6. The fully automatic device for cleaning anode mud of electrode plates according to claim 1, characterized in that: The plate leveling device (3) includes a frame III (31), a horizontal guide column I (32), a horizontal guide column II, a horizontal guide column III, a horizontal guide column IV, a movable plate (33), a fixed plate I (34), a fixed plate II, and a gas-liquid booster cylinder (35). The two opposite ends of the frame III (31) are respectively E end and F end. The fixed plate II is vertically fixed at the E end of the frame III (31). A through hole I, a through hole II, a through hole III, and a through hole IV are provided on the fixed plate II. The through hole I and the through hole II are parallelly provided at the top of the fixed plate II. The through hole III and the through hole IV are parallelly provided at the bottom of the fixed plate II. The through hole I and the through hole III are located on the same vertical line. The through hole II and the through hole IV are located on the same vertical line. The through holes I, the through holes II, the through holes III, and the through holes IV are respectively fixed with guide sleeves I, guide sleeves II, guide sleeves III, and guide sleeves IV. The horizontal guide column I (32), the horizontal guide column II, and the horizontal guide column III are fixed with guide sleeves III, guide sleeves IV, guide sleeves III, and guide sleeves IV. The two ends of the horizontal guide column Ⅳ are respectively a guide end and a free end. The guide ends of the horizontal guide column Ⅰ (32) and the horizontal guide column Ⅱ are respectively arranged on the top of the fixed plate Ⅱ through the guide sleeve Ⅰ and the guide sleeve Ⅱ. The guide ends of the horizontal guide column Ⅲ and the horizontal guide column Ⅳ are respectively arranged on the bottom of the fixed plate Ⅱ through the guide sleeve Ⅲ and the guide sleeve Ⅳ. The movable plate (33) is slidably arranged on the horizontal guide column Ⅰ (32), the horizontal guide column Ⅱ, the horizontal guide column Ⅲ and the horizontal guide column Ⅳ. The free ends of the horizontal guide column Ⅰ (32), the horizontal guide column Ⅱ, the horizontal guide column Ⅲ and the horizontal guide column Ⅳ are fixed on the fixed plate Ⅰ (34). The pressure end of the gas-liquid booster cylinder (35) acts on the fixed plate Ⅰ (34). The gas-liquid booster cylinder (35) is connected to the robot module (4) by signal. The robot module (4) puts the electrode plate after cleaning the anode mud into the gap between the movable plate (33) and the fixed plate Ⅱ for leveling.

7. The fully automatic device for cleaning anode mud of electrode plates according to claim 6, characterized in that: The movable plate (33) is provided with guide holes I, II, III and IV corresponding to the through holes I, II, III and IV of the fixed plate II. The guide holes I, II, III and IV are fixed with guide sleeves I, II, III and IV respectively. The guide sleeves I, II, III and IV are respectively sleeved on the horizontal guide column I (32), the horizontal guide column II, the horizontal guide column III and the horizontal guide column IV to realize the guided sliding of the movable plate (33).

8. The fully automatic device for cleaning anode mud of electrode plates according to claim 6 or 7, characterized in that: A plurality of pressure sensors are evenly arranged on the movable plate (33), and a plurality of infrared sensors II are evenly spaced along the longitudinal direction on the fixed plate II. The pressure sensors and the infrared sensors II are both connected to the robot module (4) by signal. When the infrared sensors II sense that the electrode plates after cleaning the anode mud are all vertically inserted into the gap between the movable plate (33) and the fixed plate II, the robot module (4) controls the gas-liquid booster cylinder (35) to apply pressure to make the movable plate (33) move in a directional manner to contact the electrode plate and perform leveling. The pressure sensor transmits the leveling pressure signal to the robot module (4) to adjust the leveling pressure in real time.

9. The fully automatic device for cleaning anode mud of electrode plates according to claim 6, characterized in that: The horizontal guide column I (32), the horizontal guide column II, the horizontal guide column III, and the horizontal guide column IV are all sleeved with a return spring, and the two ends of the return spring are fixedly connected to the movable plate (33) and the fixed plate II respectively.

10. The fully automatic device for cleaning electrode plate anode mud according to claim 1, characterized in that: The robot module (4) includes a robot body (42), which is fixedly arranged on a robot base (41), a microprocessor is arranged in the robot body (42), a mechanical arm (44) is arranged on the robot body (42), and a mechanical hand (43) is arranged at the free end of the mechanical arm (44); when working, the microprocessor controls the mechanical hand (43) to grab the electrode plate to be cleaned of anode mud vertically mounted on the plate turnover device (1) and insert it into the gap between the brush roller I (25) and the brush roller II to clean the anode mud on the electrode plate, and the microprocessor controls the mechanical hand (43) to place the electrode plate after cleaning the anode mud into the plate leveling device (3) for leveling, and the microprocessor controls the mechanical hand (43) to vertically hang the leveled electrode plate on the C end of the plate turnover device (1).

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