CN114535540A - Automatic plate lifting system and method for nickel sulfide anode plate - Google Patents
Automatic plate lifting system and method for nickel sulfide anode plate Download PDFInfo
- Publication number
- CN114535540A CN114535540A CN202011298113.6A CN202011298113A CN114535540A CN 114535540 A CN114535540 A CN 114535540A CN 202011298113 A CN202011298113 A CN 202011298113A CN 114535540 A CN114535540 A CN 114535540A
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- China
- Prior art keywords
- anode plate
- plate
- controller
- robot
- transmission line
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- WWNBZGLDODTKEM-UHFFFAOYSA-N sulfanylidenenickel Chemical compound [Ni]=S WWNBZGLDODTKEM-UHFFFAOYSA-N 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000005266 casting Methods 0.000 claims abstract description 43
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 18
- 229910052802 copper Inorganic materials 0.000 claims abstract description 18
- 239000010949 copper Substances 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 description 23
- 238000004519 manufacturing process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010010071 Coma Diseases 0.000 description 1
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 241000087799 Koma Species 0.000 description 1
- 238000003723 Smelting Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D29/00—Removing castings from moulds, not restricted to casting processes covered by a single main group; Removing cores; Handling ingots
- B22D29/04—Handling or stripping castings or ingots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D2/00—Arrangement of indicating or measuring devices, e.g. for temperature or viscosity of the fused mass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D46/00—Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electrolytic Production Of Metals (AREA)
Abstract
The invention relates to an automatic plate lifting system and method for a nickel sulfide anode plate, which comprises the following steps: the robot, the image collector and the state inductor are arranged beside the anode plate casting transmission line, and the controller is connected with the robot, the image collector and the state inductor; after receiving a starting signal sent by the state inductor, the controller firstly controls the casting transmission line to stop running, then sends an acquisition command to the image collector, determines the position of a copper lug on the anode plate according to image information fed back by the image collector, generates a plate lifting command and sends the plate lifting command to the robot; and after receiving the plate lifting command, the robot operates the manipulator to take the anode plate away through the copper lug wire hooking the anode plate according to the position information in the plate lifting command, so that the plate lifting operation is completed. The automatic lifting device realizes automatic lifting of the anode plate, replaces the original worker to complete the processes of prying and stripping the cast wire, reduces the labor intensity of the worker, improves the working efficiency, simultaneously avoids the worker from working in a high-temperature environment for a long time, and improves the working environment of the worker.
Description
Technical Field
The invention relates to the technical field of non-ferrous metal industry, in particular to an automatic plate lifting system and method for a nickel sulfide anode plate.
Background
The production process of the nickel sulfide anode plate comprises the following steps: casting, inserting copper lug wires, flat die, drawing the anode plate, storing and transporting and the like. As a main link of the production of the nickel sulfide anode plate, the anode plate lifting process is completed by a post worker manually operating a crow bar and an air-lift, the working environment temperature of the whole process is high, the labor capacity of the post worker is large, and the production efficiency is low.
Disclosure of Invention
The invention aims to provide an automatic plate lifting system and method for a nickel sulfide anode plate, so as to improve the working efficiency.
In order to solve the above problems, the present invention provides an automatic plate lifting system for a nickel sulfide anode plate, comprising: the robot, the image collector and the state inductor are arranged beside the anode plate casting transmission line, and the controller is connected with the robot, the image collector and the state inductor; the state sensor is used for detecting whether an anode plate is conveyed on the casting transmission line and sending a starting signal to the controller when the anode plate is conveyed; the controller is used for controlling the casting transmission line to stop running after receiving a starting signal sent by the state inductor, then sending an acquisition command to the image collector, analyzing the image information fed back by the image collector after receiving the image information, determining the position of a copper lug on the anode plate, generating a plate lifting command containing corresponding position information and sending the plate lifting command to the robot; the image collector is used for collecting images of the anode plate on the casting transmission line and feeding back collected image information to the controller when receiving a collecting command sent by the controller; and the robot is used for operating a manipulator to take the anode plate away from the casting transmission line by hooking the copper lug wire of the anode plate according to the position information in the plate lifting command after receiving the plate lifting command sent by the controller, so as to finish the plate lifting operation.
Preferably, the system further comprises a material frame arranged beside the robot and a track for conveying the material frame, and the robot is further used for placing the anode plate into the material frame after the anode plate is taken away from the casting transmission line.
Preferably, the robot is further configured to start counting when the anode plate is first placed into the material frame, count every time the anode plate is placed, and stop placing the anode plate into the material frame after the count is accumulated to a target value.
Preferably, the rail is used for automatically moving the material frame out to a crane grabbing area and waiting for a crane to transfer the anode plate to the next station.
Preferably, the anode plate is placed in a mold cavity on the casting transmission line, and the controller is further configured to analyze the image information fed back by the image collector after receiving the image information, determine whether the anode plate is in the mold cavity, and if so, determine the position of the copper lug on the anode plate, generate and send the plate lifting command.
Preferably, the state sensor is a photoelectric sensor.
Preferably, the system further comprises an incubator housing the image collector therein.
The invention also correspondingly provides an automatic plate lifting method of the nickel sulfide anode plate, and based on the system, the method comprises the following steps:
the state sensor detects whether an anode plate is conveyed on the casting transmission line and sends a starting signal to the controller when the anode plate is conveyed;
after receiving a starting signal sent by the state inductor, the controller firstly controls the casting transmission line to stop running and then sends an acquisition command to the image acquisition device;
when the image collector receives a collecting command sent by the controller, the image collector collects images of the anode plate on the casting transmission line and feeds collected image information back to the controller;
the controller analyzes the image information fed back by the image collector after receiving the image information, determines the position of the copper lug wire on the anode plate, generates a plate lifting command containing corresponding position information and sends the plate lifting command to the robot;
and after receiving a plate lifting command sent by the controller, the robot operates the manipulator according to the position information in the plate lifting command to take the anode plate away from the casting transmission line by hooking the copper lug wire of the anode plate, so that the plate lifting operation is completed.
Compared with the prior art, the invention has the following advantages:
1. the invention realizes the automatic plate lifting of the nickel sulfide anode plate, replaces the original worker to complete the processes of prying and stripping the casting line, reduces the labor intensity of the worker, improves the working efficiency, simultaneously avoids the worker from working in a high-temperature environment for a long time, and improves the working environment of the worker.
2. The method is applied to the production of the nickel sulfide anode plate of the reflection furnace with the square meter of 80 in the casting workshop of the nickel smelting plant of the Jinchuan group company, has good use effect, breaks the history that the nickel sulfide anode plate does not automatically start in China, and actively promotes the production of the nickel sulfide anode plate and the process of automatic equipment.
The implementation effect is good: the automatic plate lifting capacity of the system is more than or equal to 420 anode plates/h, and the production efficiency is ensured; the qualification rate of the standing plate is more than or equal to 99 percent, the plate bending rate is 0.5 percent, and the production cost is ensured; the positioning precision is +/-25 mm in the plate lifting process, the precision displacement deviation is less than 50mm, and the plate lifting device is accurate and reliable.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 is a block diagram of an automatic plate lifting system for a nickel sulfide anode plate according to an embodiment of the present invention.
Fig. 2 is an application scenario diagram of an automatic plate lifting system for a nickel sulfide anode plate according to an embodiment of the present invention.
Fig. 3 is a flow chart provided by an embodiment of the present invention.
In the figure: the system comprises a casting transmission line 1, an image collector 2, a state inductor 3, a robot 4, a controller 5, a material frame 6 and a track 7.
Detailed Description
Referring to fig. 1 and 2, the invention provides an automatic plate lifting system for a nickel sulfide anode plate, which mainly comprises a robot 4, an image collector 2, a state inductor 3 and a controller 5, wherein the robot, the image collector 2 and the state inductor are arranged beside an anode plate casting transmission line 1, and the controller 5 is connected with the three.
The controller 5 is configured to send a stop command to the casting transmission line 1 to control the casting transmission line 1 to stop running after receiving a start signal sent by the state sensor 3 (it can be understood that the position of the anode plate on the casting transmission line 1 after the casting transmission line 1 is stopped falls within the shooting range of the image acquirer 2 and the plate start range of the robot 4 manipulator), then send an acquisition command to the image acquirer 2, analyze the image information fed back by the image acquirer 2 after receiving the image information, determine the position of the copper lug on the anode plate, generate a plate start command containing corresponding position information, and send the plate start command to the robot 4.
In practical application, the anode plate to be stripped is placed in the die cavity, the die cavity is placed on the casting transmission line 1, and because the robot 4 does invalid plate stripping operation in order to avoid the situation that no anode plate exists in the die cavity, the controller 5 determines whether an anode plate exists in the die cavity or not firstly after receiving and analyzing image information fed back by the image collector 2, determines the position of a copper lug on the anode plate and generates and sends a plate stripping command if the anode plate exists in the die cavity, and otherwise, reminds the unexpected situation (the situation that the die cavity passes but no anode plate exists in the die cavity). With this description, the mold cavity is omitted from the description below using the anode plate directly for ease of description.
The status sensor 3 is used for detecting whether an anode plate is conveyed on the casting transmission line 1 and sending a start signal to the controller 5 when the conveyance of the anode plate is detected. The state sensor 3 is located in practical application, and the state sensor 3 may specifically adopt a photoelectric sensor, and the position of the photoelectric sensor is fixed, and a feedback signal generated when the emitted ray is blocked by the anode plate conveyed by the photoelectric sensor is a starting signal.
The image collector 2 is used for collecting images of the anode plate on the casting transmission line and feeding back collected image information to the controller 5 when receiving a collecting command sent by the controller 5. In practical application, the image collector 2 can adopt a vision sensor to complete data collection, comparison and transmission by matching with a high-definition camera so as to realize accurate capture of the anode plate. Considering that the field temperature is high, in order to ensure that the high temperature does not influence the normal work of the image collector 2, a constant temperature box can be arranged outside the image collector 2 for protection, and compressed air is introduced into the constant temperature box to cool the camera.
And the robot 4 is used for operating a manipulator to take the anode plate away from the casting transmission line through a copper lug wire for hooking the anode plate according to the position information in the plate lifting command after receiving the plate lifting command sent by the controller 5, so as to finish the plate lifting operation. After the robot 4 finishes the plate lifting operation, the casting line 1 resumes the forward movement. In practical application, the robot 4 can adopt an Italian Koma NJ650-2.7 type robot, and the corresponding control program configuration is carried out.
In order to further reduce the labor intensity, the system of the invention further comprises a material frame 6 arranged beside the robot and a track 7 for conveying the material frame 6, for example, the two sides of the material frame are symmetrically arranged as shown in fig. 2, and the robot 4 is also used for placing the anode plate into the material frame 6 after the anode plate is taken away from the casting transmission line 1.
The workflow diagram may refer to fig. 3. And (4) judging whether the material frame 6 exists or not: in order to avoid that the designated position has no material frame 6 when the anode plate is required to be placed, a limit switch (travel switch) connected with the controller 5 can be arranged at the designated position, when the material frame 6 is in place, the limit switch is triggered, and the limit switch feeds back a trigger signal to the controller 5 to represent that the material frame 6 is in place at the designated position.
And (3) judging whether the material frame 6 is fully loaded: in order to avoid that the material frame 6 is filled with the anode plates and the anode plates are continuously put inwards, the robot 4 starts to count when the anode plates are put into the material frame 6 for the first time, then the counting is carried out once every time, the material frame 6 is considered to be fully loaded after the counting is accumulated to a target value, and the robot 4 stops putting the anode plates into the material frame 6.
After the material frame 6 is fully loaded, the material frame is automatically moved out to a crane grabbing area by the rail 7, and the material frame 6 is unloaded to wait for the anode plate to be transported to the next station by the crane.
The embodiment of the invention also provides an automatic plate lifting method for the nickel sulfide anode plate, and based on the system, the method mainly comprises the following steps (the rest details are shown above):
(1) the status sensor detects whether an anode plate is transported on the casting transmission line and sends a start signal to the controller when the anode plate is detected to be transported.
(2) After receiving a starting signal sent by the state inductor, the controller firstly controls the casting transmission line to stop running and then sends an acquisition command to the image acquisition device.
(3) When receiving an acquisition command sent by the controller, the image acquisition device acquires images of the anode plate on the casting transmission line and feeds back acquired image information to the controller.
(4) The controller analyzes the image information fed back by the image collector after receiving the image information, determines the position of the copper lug wire on the anode plate, generates a plate lifting command containing corresponding position information and sends the plate lifting command to the robot.
(5) And after receiving a plate lifting command sent by the controller, the robot operates the manipulator according to the position information in the plate lifting command to take the anode plate away from the casting transmission line by hooking the copper lug wire of the anode plate, so that the plate lifting operation is completed.
The technical solution provided by the present invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. An automatic plate lifting system for a nickel sulfide anode plate is characterized by comprising:
the robot, the image collector and the state inductor are arranged beside the anode plate casting transmission line, and the controller is connected with the robot, the image collector and the state inductor;
the state sensor is used for detecting whether an anode plate is conveyed on the casting transmission line and sending a starting signal to the controller when the anode plate is conveyed;
the controller is used for controlling the casting transmission line to stop running after receiving a starting signal sent by the state inductor, then sending an acquisition command to the image collector, analyzing the image information fed back by the image collector after receiving the image information, determining the position of a copper lug on the anode plate, generating a plate lifting command containing corresponding position information and sending the plate lifting command to the robot;
the image collector is used for collecting images of the anode plate on the casting transmission line and feeding back collected image information to the controller when receiving a collecting command sent by the controller;
and the robot is used for operating a manipulator to take the anode plate away from the casting transmission line by hooking the copper lug wire of the anode plate according to the position information in the plate lifting command after receiving the plate lifting command sent by the controller, so as to finish the plate lifting operation.
2. The system of claim 1, further comprising a frame disposed adjacent to said robot and a track for transporting said frame, said robot further adapted to place said anode plate into said frame after said anode plate is removed from said casting conveyor.
3. The system of claim 2, wherein the robot is further configured to start counting when the anode plate is first placed into the frame, and then count each time the anode plate is placed into the frame, and stop placing the anode plate into the frame after the count accumulates to a target value.
4. The system of claim 2, wherein the rails are used to automatically move the frame out to an aerial crane grasping area, waiting for a crane to transport the anode plate to a next station.
5. The system of claim 1, wherein the anode plate is placed in a mold cavity on the casting transmission line, and the controller is further configured to parse the image information fed back by the image collector to determine whether the anode plate is present in the mold cavity, and if so, determine the position of the copper lug on the anode plate, generate and send the plate lifting command.
6. The system of claim 1, wherein the condition sensor is a photosensor.
7. The system of claim 1, further comprising an incubator housing the image collector therein.
8. An automatic plate lifting method for a nickel sulfide anode plate, which is characterized by comprising the following steps based on the system of claim 1:
the state sensor detects whether an anode plate is conveyed on the casting transmission line and sends a starting signal to the controller when the anode plate is conveyed;
after receiving a starting signal sent by the state inductor, the controller firstly controls the casting transmission line to stop running and then sends an acquisition command to the image acquisition device;
when the image collector receives a collecting command sent by the controller, the image collector collects images of the anode plate on the casting transmission line and feeds collected image information back to the controller;
the controller analyzes the image information fed back by the image collector after receiving the image information, determines the position of the copper lug wire on the anode plate, generates a plate lifting command containing corresponding position information and sends the plate lifting command to the robot;
and after receiving a plate lifting command sent by the controller, the robot operates the manipulator according to the position information in the plate lifting command to take the anode plate away from the casting transmission line by hooking the copper lug wire of the anode plate, so that the plate lifting operation is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011298113.6A CN114535540A (en) | 2020-11-19 | 2020-11-19 | Automatic plate lifting system and method for nickel sulfide anode plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011298113.6A CN114535540A (en) | 2020-11-19 | 2020-11-19 | Automatic plate lifting system and method for nickel sulfide anode plate |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114535540A true CN114535540A (en) | 2022-05-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011298113.6A Pending CN114535540A (en) | 2020-11-19 | 2020-11-19 | Automatic plate lifting system and method for nickel sulfide anode plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114535540A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2355500A1 (en) * | 1973-11-07 | 1975-05-22 | Metallgesellschaft Ag | Automatic machine for cooling anode plates after casting - anodes lifted from moulds and carried through water tank |
| CN1484604A (en) * | 2000-12-20 | 2004-03-24 | ���п�ķ�����Ϲɷݹ�˾ | An arrangement for conveying a plate-like product from one position to another |
| CN2637433Y (en) * | 2003-10-31 | 2004-09-01 | 昆明理工大学 | Copper anode plate feed mechanical hand |
| CN103170459A (en) * | 2013-03-19 | 2013-06-26 | 万新光学集团有限公司 | Spectacle lens flaw detection system |
| CN108466828A (en) * | 2018-03-23 | 2018-08-31 | 杭州景业智能科技有限公司 | One kind dividing brush all-in-one machine automatical feeding system and method |
| CN108546965A (en) * | 2018-03-01 | 2018-09-18 | 宁夏天元锰业有限公司 | A kind of production method of hydrometallurgy anode plate handle |
| CN210233036U (en) * | 2019-03-01 | 2020-04-03 | 北京达盛智联教育技术有限公司 | Binocular artificial intelligence arm teaching device |
| CN111112885A (en) * | 2019-11-26 | 2020-05-08 | 福尼斯智能装备(珠海)有限公司 | Welding system with vision system for feeding and discharging workpieces and self-adaptive positioning of welding seams |
-
2020
- 2020-11-19 CN CN202011298113.6A patent/CN114535540A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2355500A1 (en) * | 1973-11-07 | 1975-05-22 | Metallgesellschaft Ag | Automatic machine for cooling anode plates after casting - anodes lifted from moulds and carried through water tank |
| CN1484604A (en) * | 2000-12-20 | 2004-03-24 | ���п�ķ�����Ϲɷݹ�˾ | An arrangement for conveying a plate-like product from one position to another |
| CN2637433Y (en) * | 2003-10-31 | 2004-09-01 | 昆明理工大学 | Copper anode plate feed mechanical hand |
| CN103170459A (en) * | 2013-03-19 | 2013-06-26 | 万新光学集团有限公司 | Spectacle lens flaw detection system |
| CN108546965A (en) * | 2018-03-01 | 2018-09-18 | 宁夏天元锰业有限公司 | A kind of production method of hydrometallurgy anode plate handle |
| CN108466828A (en) * | 2018-03-23 | 2018-08-31 | 杭州景业智能科技有限公司 | One kind dividing brush all-in-one machine automatical feeding system and method |
| CN210233036U (en) * | 2019-03-01 | 2020-04-03 | 北京达盛智联教育技术有限公司 | Binocular artificial intelligence arm teaching device |
| CN111112885A (en) * | 2019-11-26 | 2020-05-08 | 福尼斯智能装备(珠海)有限公司 | Welding system with vision system for feeding and discharging workpieces and self-adaptive positioning of welding seams |
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| Title |
|---|
| 苏家健: "电气控制与PLC实训", 西安电子科技大学出版社, pages: 253 * |
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Application publication date: 20220527 |
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