Charging system for high-purity metal production

Abstract

The utility model relates to a charging equipment technical field discloses a kind of charging systems for high-purity metal preparation, it can reduce the labor intensity of staff, and can reduce the possibility of raw material block being contaminated, wherein, charging systems for high-purity metal preparation include raw material station, feeding station, robot and control room;Robot includes mechanical arm, grab component, visual camera and welder, mechanical arm is spaced apart with raw material station and feeding station, grab component, visual camera and welder are all installed on the execution end of mechanical arm, grab component is used to cooperate with mechanical arm, to carry raw material block on raw material station to feeding station, and multiple raw material blocks are placed into at least one layer, visual camera is used to obtain the image of raw material block on raw material station, and, for obtaining the image of each layer raw material block on feeding station, welder is used to cooperate with mechanical arm and weld each layer raw material block in feeding station adjacent raw material block;Wherein, mechanical arm, visual camera are electrically connected with control room.

Description

Technical Field

[0001] This utility model belongs to the field of loading equipment, and more specifically, relates to a loading system for the preparation of high-purity metals. Background Technology

[0002] High-purity metals refer to metals with very high purity and very few impurities. They are produced by smelting raw material blocks. Currently, the preparation of high-purity metals uses a manual feeding method, where raw material blocks are placed on a feeding device and transported to the smelting equipment. However, this manual feeding method is very labor-intensive for workers, and during the operation, dust and other impurities on the workers' bodies can easily contaminate the raw material blocks, affecting the production quality of high-purity metals. Utility Model Content

[0003] The main objective of this invention is to provide a loading system for preparing high-purity metals, which can reduce the labor intensity of workers and reduce the possibility of raw material blocks being contaminated.

[0004] According to a first aspect of the present invention, a loading system for preparing high-purity metals is provided, including a raw material station, a feeding station, a robot, and a control room;

[0005] The raw material station is used to place multiple raw material blocks;

[0006] The feeding station and the raw material station are spaced apart, and the feeding station is used to transport raw material blocks;

[0007] The robot includes a robotic arm, a material gripping assembly, a vision camera, and a welding torch. The robotic arm is spaced apart from the raw material station and the feeding station. The material gripping assembly, the vision camera, and the welding torch are all mounted on the execution end of the robotic arm. The material gripping assembly is used to cooperate with the robotic arm to transport the raw material blocks on the raw material station to the feeding station and to arrange multiple raw material blocks into at least one layer. The vision camera is used to acquire images of the raw material blocks on the raw material station and to acquire images of each layer of raw material blocks on the feeding station. The welding torch is used to cooperate with the robotic arm to weld adjacent raw material blocks in each layer of raw material blocks on the feeding station.

[0008] The robotic arm and the vision camera are both electrically connected to the control room.

[0009] In a specific embodiment of this utility model, the material gripping assembly includes a vacuum suction cup, which is connected to the execution end of the robotic arm, and the vacuum suction cup has an adsorption hole;

[0010] The high-purity metal preparation loading system also includes a vacuum generator and a gas supply pipe. The gas supply pipe connects the vacuum generator and the vacuum suction cup. The vacuum generator is used to generate adsorption force in the adsorption holes. The vacuum generator is electrically connected to the control chamber.

[0011] In a specific embodiment of this utility model, the number of gas transmission pipes is multiple;

[0012] The number of adsorption holes is multiple, and the multiple adsorption holes are arranged in a row. The adsorption holes are provided in multiple rows, and each row of adsorption holes is connected to one of the gas supply pipes.

[0013] The high-purity metal preparation material loading system also includes a gas distributor, an air inlet pipe, and a solenoid valve. The air inlet pipe connects the gas distributor to the vacuum generator. Multiple gas delivery pipes are connected to the gas distributor, and each gas delivery pipe is connected to a solenoid valve. Each solenoid valve is electrically connected to the control room.

[0014] In a specific embodiment of this invention, the vision camera and the vacuum suction cup are respectively disposed on opposite sides of the robotic arm.

[0015] In a specific embodiment of this invention, the welding torch and the vision camera are located on the same side of the robotic arm.

[0016] In a specific embodiment of this utility model, the feeding station includes a feeding track and a pushing component. The feeding track is used to receive the raw material block, and the pushing component is used to push the raw material block to be conveyed on the feeding track.

[0017] In a specific embodiment of this utility model, there are multiple feeding tracks and multiple pushing components, and each feeding track is provided with one pushing component.

[0018] In a specific embodiment of this utility model, the pushing assembly includes a pushing plate and a driving member. The pushing plate is connected to the driving member, and the driving member is used to drive the pushing plate to move along the length direction of the feeding track, so that the pushing plate pushes the raw material block to be conveyed on the feeding track.

[0019] In a specific embodiment of this utility model, the high-purity metal preparation loading system further includes a fence and a shielding door. The fence is connected to the control room to form a transfer area. The fence has an entrance and exit. The shielding door is connected to the fence and blocks the entrance and exit. The shielding door allows the entrance and exit to be opened.

[0020] The raw material station, the feeding station, and the robot are all located within the transfer area. The raw material station and the feeding station are located on opposite sides of the robot, and the raw material station is located on the side of the robot closer to the entrance / exit.

[0021] In a specific embodiment of this utility model, the high-purity metal preparation loading system further includes a first sensor, which is connected to the fence and is used to monitor whether the shielding door blocks the entrance and exit. The first sensor is electrically connected to the control room.

[0022] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0023] This invention relates to a high-purity metal preparation material loading system. The robot has loading and welding processes. When the robot is in the loading process, a vision camera acquires an image of the raw material block at the raw material station, which is recorded as the first image. Based on the first image, the robot, through the cooperation of a robotic arm and a gripping component, transports the raw material block from the raw material station to the feeding station, arranging multiple raw material blocks into at least one layer, thereby realizing the material loading operation. This method of material loading replaces manual loading, reducing the workload of workers. This reduces labor intensity and the possibility of raw material contamination. When the robot is in the welding process, the vision camera acquires images of each layer of raw material blocks at the feeding station, which are recorded as the second image. Based on the second image, the robot uses a robotic arm and welding gun to weld adjacent raw material blocks in each layer at the feeding station, so that the raw material blocks in that layer are connected into a whole. Thus, the feeding station slowly transports multiple raw material blocks connected into a whole to the melting equipment, which can reduce disturbance to the molten metal, thereby reducing molten metal splashing and ensuring high production safety. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0025] Figure 1 This is a structural diagram of the high-purity metal preparation loading system according to an embodiment of this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the robot according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the material gripping component in conjunction with the vacuum generator, gas delivery pipe, gas distributor, air inlet pipe, and solenoid valve in an embodiment of this utility model.

[0028] In the diagram, 1. Raw material station; 2. Feeding station; 21. Feeding track; 22. Pushing assembly; 221. Pushing plate; 222. Drive component; 3. Robot; 31. Robotic arm; 32. Gripping assembly; 321. Vacuum suction cup; 32101. Adsorption hole; 33. Vision camera; 34. Welding torch; 4. Control room; 5. Vacuum generator; 6. Gas supply pipe; 7. Gas distributor; 8. Inlet pipe; 9. Solenoid valve; 10. Fence; 11. Shielding door; 12. First sensor; 100. Transfer area. Detailed Implementation

[0029] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0030] Reference Figures 1 to 3 As shown, a high-purity metal preparation loading system includes a raw material station 1, a feeding station 2, a robot 3, and a control room 4. The raw material station 1 is used to place multiple raw material blocks. The feeding station 2 is spaced apart from the raw material station 1 and is used to transport the raw material blocks. The robot 3 includes a robotic arm 31, a gripping assembly 32, a vision camera 33, and a welding torch 34. The robotic arm 31 is spaced apart from the raw material station 1 and the feeding station 2. The gripping assembly 32, the vision camera 33, and the welding torch 34 are all mounted on the robotic arm 31. On the execution end of 1, the material gripping component 32 is used to cooperate with the robotic arm 31 to transport the raw material block on the raw material station 1 to the feeding station 2, and to arrange multiple raw material blocks into at least one layer. The vision camera 33 is used to acquire images of the raw material block on the raw material station 1, and is used to acquire images of each layer of raw material blocks on the feeding station 2. The welding torch 34 is used to cooperate with the robotic arm 31 to weld adjacent raw material blocks in each layer of raw material blocks on the feeding station 2. The robotic arm 31 and the vision camera 33 are both electrically connected to the control room 4.

[0031] In practical applications, robot 3 has loading and welding processes. When robot 3 is in the loading process, the vision camera 33 acquires an image of the raw material block on the raw material station 1, which is recorded as the first image. Based on the first image, robot 3, through the cooperation of the robotic arm 31 and the gripping component 32, transports the raw material block on the raw material station 1 to the feeding station 2, and arranges multiple raw material blocks into at least one layer, thereby realizing the loading of raw material blocks. Using this method to load raw material blocks replaces manual loading, reduces the labor intensity of workers, and can... This reduces the possibility of raw material blocks being contaminated. When robot 3 is in the welding process, vision camera 33 acquires images of each layer of raw material blocks on feeding station 2, and records these images as the second image. Based on the second image, robot 3, through the cooperation of robotic arm 31 and welding gun 34, welds adjacent raw material blocks in each layer of raw material blocks on feeding station 2 so that the raw material blocks in that layer are connected into a whole block. Thus, feeding station 2 slowly transports multiple raw material blocks connected into a whole block to the melting equipment, which can reduce disturbance to the molten liquid, thereby reducing molten liquid splashing and ensuring high production safety.

[0032] Furthermore, the first image acquired by the vision camera 33 uses a visual 3D algorithm to calculate information such as the size, position, and height of the raw material blocks, and transmits this information to the control room 4. The control room 4 controls the robot 3 to work based on this information, so as to transport multiple raw material blocks on the raw material station 1 to the feeding station 2 and arrange them into at least one layer. The second image acquired by the vision camera 33 uses a visual gap algorithm to calculate the gap information in each layer of raw material blocks. The gap information includes the position, length, and height, and transmits the gap information to the control room 4. The control room 4 controls the robot 3 to work based on the gap information, so that the robotic arm 31 and the welding gun 34 cooperate to weld adjacent raw material blocks in each layer of raw material blocks on the feeding station 2 along the gaps, so that the raw material blocks in that layer form a whole.

[0033] It should be noted that visual 3D algorithms and visual gap algorithms are existing technologies, and this application will not elaborate on them further.

[0034] In this embodiment, the material gripping assembly 32 includes a vacuum suction cup 321, which is connected to the execution end of the robotic arm 31. The vacuum suction cup 321 has an adsorption hole 32101. The high-purity metal preparation loading system also includes a vacuum generator 5 and a gas supply pipe 6. The gas supply pipe 6 connects the vacuum generator 5 and the vacuum suction cup 321. The vacuum generator 5 is used to generate an adsorption force in the adsorption hole 32101. The vacuum generator 5 is electrically connected to the control chamber 4. In practical applications, the vacuum generator 5 is controlled by the control chamber 4 to generate a negative pressure in the vacuum suction cup 321, thereby generating an adsorption force in the adsorption hole 32101. The adsorption force is used to grip the raw material block. When it is necessary to put down the raw material block, it is only necessary to restore the air pressure in the vacuum suction cup 321 to the normal air pressure. This structure achieves the gripping of the raw material block and is simple and reliable.

[0035] Preferably, there are multiple gas supply pipes 6; there are multiple adsorption holes 32101, and the multiple adsorption holes 32101 are arranged in a row, with multiple rows of adsorption holes 32101, each row of adsorption holes 32101 being connected to a gas supply pipe 6; the high-purity metal preparation material loading system also includes a gas distributor 7, an inlet pipe 8, and a solenoid valve 9. The inlet pipe 8 connects the gas distributor 7 to the vacuum generator 5, and the multiple gas supply pipes 6 are connected to the gas distributor 7, and each gas supply pipe 6 is connected to a solenoid valve 9. Each solenoid valve 9 is electrically connected to the control chamber 4. Specifically, based on the information of the raw material block obtained through the first image, the control chamber 4 can control the corresponding solenoid valve 9 to work, thereby controlling some or all of the gas supply pipes 6 to be open. As a result, some rows of adsorption holes 32101 generate adsorption force, or all adsorption holes 32101 can generate adsorption force. Thus, the material gripping component 32 can realize the gripping of raw material blocks of different sizes, and has strong adaptability.

[0036] In this embodiment, the vision camera 33 and the vacuum suction cup 321 are respectively arranged on opposite sides of the robotic arm 31. Therefore, the operation of the vision camera 33 and the vacuum suction cup 321 will not interfere with each other, and the structure is simple and reliable.

[0037] Furthermore, the welding torch 34 and the vision camera 33 are located on the same side of the robotic arm 31. Similarly, the operation of the welding torch 34 and the vacuum suction cup 321 will not interfere with each other. Moreover, the space occupied by the welding torch 34 is not large, and the operation of the welding torch 34 and the vision camera 33 will not interfere with each other.

[0038] It should be noted that the actuator of the robotic arm 31 is capable of rotation, so that the vision camera 33, vacuum suction cup 321 and welding torch 34 can work smoothly.

[0039] In this embodiment, the feeding station 2 includes a feeding track 21 and a pushing component 22. The feeding track 21 is used to receive raw material blocks, and the pushing component 22 is used to push the raw material blocks on the feeding track 21. There are multiple feeding tracks 21 and pushing components 22. Each feeding track 21 is equipped with a corresponding pushing component 22. Thus, by having multiple feeding tracks 21 and pushing components 22 work together, the working cycle can be improved, thereby improving work efficiency.

[0040] Specifically, the pushing assembly 22 includes a pushing plate 221 and a driving component 222. The pushing plate 221 is connected to the driving component 222. The driving component 222 is used to drive the pushing plate 221 to move along the length of the feeding track 21 so that the pushing plate 221 pushes the raw material block to be conveyed on the feeding track 21. The driving component 222 is a hydraulic cylinder, which has a simple structure, reliable operation, and can provide sufficient thrust to ensure the smooth progress of the feeding operation.

[0041] In this embodiment, the high-purity metal preparation loading system also includes a fence 10 and a shielding door 11. The fence 10 is connected to the control room 4 to form a transfer area 100. The fence 10 has an entrance and exit. The shielding door 11 is connected to the fence 10 and blocks the entrance and exit. The shielding door 11 allows the entrance and exit to be opened. The raw material station 1, the feeding station 2, and the robot 3 are all located in the transfer area 100. The raw material station 1 and the feeding station 2 are located on opposite sides of the robot 3, and the raw material station 1 is located on the side of the robot 3 closer to the entrance and exit. The fence 10 can ensure the safety of personnel and equipment. The entrance and exit and the shielding door 11 are set up to facilitate the staff to send the raw material blocks to the raw material station 1. In actual application, multiple raw material blocks are stacked on a tray to be placed on the raw material station 1. Before being sent into the raw material station 1, the outer periphery of multiple raw material blocks is covered with vacuum packaging.

[0042] Furthermore, the high-purity metal preparation loading system also includes a first sensor 12, which is connected to the fence 10. The first sensor 12 is used to monitor whether the shielding door 11 blocks the entrance and exit. The first sensor 12 is electrically connected to the control room 4. When the shielding door 11 blocks the entrance and exit, the first sensor 12 transmits a signal to the control room 4. Only then will the control room 4 execute the relevant instructions for loading the raw material blocks. When the shielding door 11 is open, the control room 4 will not execute the relevant instructions for loading, in order to further ensure personnel safety. The control room 4 is equipped with a door, through which personnel enter the control room 4. The internal space of the control room 4 is independent of the transfer area 100, preventing personnel in the control room 4 from entering the transfer area 100 without going through the entrance and exit, thus further ensuring the personal safety of the personnel.

[0043] The first sensor 12 can be an infrared sensor or the like, and this application does not limit it; while the shielding door 11 can be connected to the fence 10 by sliding or hinge, which is prior art, and this application will not elaborate on it further.

[0044] It should be noted that the control room 4 is existing technology, and this application will not elaborate on it further. The staff can issue instructions to the robot 3 through the equipment and software system of the control room 4 to achieve precise control of the robot 3's actions and behaviors.

[0045] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A charging system for preparing high-purity metals, characterized in that, It includes a raw material station (1), a feeding station (2), a robot (3), and a control room (4); The raw material station (1) is used to place multiple raw material blocks; The feeding station (2) is spaced apart from the raw material station (1), and the feeding station (2) is used to transport raw material blocks; The robot (3) includes a robotic arm (31), a material gripping assembly (32), a vision camera (33), and a welding torch (34). The robotic arm (31) is spaced apart from the raw material station (1) and the feeding station (2). The material gripping assembly (32), the vision camera (33), and the welding torch (34) are all mounted on the execution end of the robotic arm (31). The material gripping assembly (32) is used to cooperate with the robotic arm (31) to transport the raw material block on the raw material station (1) to the feeding station (2) and to arrange multiple raw material blocks into at least one layer. The vision camera (33) is used to acquire images of the raw material block on the raw material station (1) and to acquire images of each layer of raw material blocks on the feeding station (2). The welding torch (34) is used to cooperate with the robotic arm (31) to weld adjacent raw material blocks in each layer of raw material blocks on the feeding station (2). The robotic arm (31) and the vision camera (33) are both electrically connected to the control room (4).

2. The high-purity metal preparation charging system according to claim 1, characterized in that, The material gripping assembly (32) includes a vacuum suction cup (321), which is connected to the execution end of the robotic arm (31) and has an adsorption hole (32101). The high-purity metal preparation loading system also includes a vacuum generator (5) and a gas supply pipe (6). The gas supply pipe (6) connects the vacuum generator (5) and the vacuum suction cup (321). The vacuum generator (5) is used to generate adsorption force in the adsorption hole (32101). The vacuum generator (5) is electrically connected to the control chamber (4).

3. The high-purity metal preparation charging system according to claim 2, characterized in that, The number of gas transmission pipes (6) is multiple; The number of adsorption holes (32101) is multiple, and the multiple adsorption holes (32101) are arranged in a row. The adsorption holes (32101) are provided in multiple rows, and each row of adsorption holes (32101) is connected to one of the gas delivery pipes (6). The high-purity metal preparation loading system also includes a gas distributor (7), an air inlet pipe (8), and a solenoid valve (9). The air inlet pipe (8) connects the gas distributor (7) to the vacuum generator (5). Multiple gas delivery pipes (6) are connected to the gas distributor (7), and each gas delivery pipe (6) is connected to a solenoid valve (9). Each solenoid valve (9) is electrically connected to the control room (4).

4. The high-purity metal preparation charging system according to claim 2, characterized in that, The vision camera (33) and the vacuum suction cup (321) are respectively located on opposite sides of the robotic arm (31).

5. The high-purity metal preparation charging system according to claim 4, characterized in that, The welding torch (34) and the vision camera (33) are located on the same side of the robotic arm (31).

6. The high-purity metal preparation charging system according to claim 1, characterized in that, The feeding station (2) includes a feeding track (21) and a pushing component (22). The feeding track (21) is used to receive the raw material block, and the pushing component (22) is used to push the raw material block to be transported on the feeding track (21).

7. The high-purity metal preparation charging system according to claim 6, characterized in that, There are multiple feeding tracks (21) and multiple pushing components (22), and each feeding track (21) is provided with one pushing component (22).

8. The high-purity metal preparation charging system according to claim 7, characterized in that, The pushing assembly (22) includes a pushing plate (221) and a driving member (222). The pushing plate (221) is connected to the driving member (222). The driving member (222) is used to drive the pushing plate (221) to move along the length direction of the feeding track (21) so that the pushing plate (221) pushes the raw material block to be conveyed on the feeding track (21).

9. The high-purity metal preparation charging system according to claim 1, characterized in that, The high-purity metal preparation loading system also includes a fence (10) and a shielding door (11). The fence (10) is connected to the control room (4) to form a transfer area (100). The fence (10) has an entrance and exit. The shielding door (11) is connected to the fence (10) and blocks the entrance and exit. The shielding door (11) can open the entrance and exit. The raw material station (1), the feeding station (2) and the robot (3) are all located in the transfer area (100). The raw material station (1) and the feeding station (2) are located on opposite sides of the robot (3), and the raw material station (1) is located on the side of the robot (3) closer to the entrance / exit.

10. The high-purity metal preparation charging system according to claim 9, characterized in that, The high-purity metal preparation loading system also includes a first sensor (12), which is connected to the fence (10). The first sensor (12) is used to monitor whether the shielding door (11) blocks the entrance and exit. The first sensor (12) is electrically connected to the control room (4).

Images