US20070144894A1 - Robot system and method for cathode stripping in electrometallurgical and industrial processes - Google Patents

Robot system and method for cathode stripping in electrometallurgical and industrial processes Download PDF

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Publication number
US20070144894A1
US20070144894A1 US11/598,145 US59814506A US2007144894A1 US 20070144894 A1 US20070144894 A1 US 20070144894A1 US 59814506 A US59814506 A US 59814506A US 2007144894 A1 US2007144894 A1 US 2007144894A1
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electrometallurgical
stripping
cathode
robot system
industrial processes
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US11/598,145
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Hugo Salamanca
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Mi Robotic Solutions SA
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Individual
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Assigned to MI ROBOTIC SOLUTIONS (MIRS) reassignment MI ROBOTIC SOLUTIONS (MIRS) ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SALAMANCA P., HUGO
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    • C—CHEMISTRY; METALLURGY
    • C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
    • C25C—PROCESSES FOR THE ELECTROLYTIC PRODUCTION, RECOVERY OR REFINING OF METALS; APPARATUS THEREFOR
    • C25C7/00—Constructional parts, or assemblies thereof, of cells; Servicing or operating of cells
    • C25C7/06—Operating or servicing
    • C25C7/08—Separating of deposited metals from the cathode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • C—CHEMISTRY; METALLURGY
    • C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
    • C25F—PROCESSES FOR THE ELECTROLYTIC REMOVAL OF MATERIALS FROM OBJECTS; APPARATUS THEREFOR
    • C25F7/00—Constructional parts, or assemblies thereof, of cells for electrolytic removal of material from objects; Servicing or operating

Definitions

  • This invention relates to the use of robotic technology in mining industry specifically in hazardous areas such as the electro-winning plant.
  • the electrodeposition process is one of the current and simplest methods to recover, in a pure and selective way, the metals in a solution.
  • This process mainly uses the permanent cathodes which are deposited in benches for a determined period of time and through the electrometallurgical process, the metal in the solution starts to deposit in the walls of the plate until reaching a determined weight. Once the weight is reached, the cathodes are retrieved (harvest) through an operation carried out by the bridge crane, which takes the volume of cathodes of each cell and moves it to the stripping machine or they are separated manually.
  • the current method has the following stages:
  • copper stripping as it is done today, has the disadvantage of being carried out manually or through equipment specially designed for this task, but it inevitably requires human intervention, whether for stripping or classification.
  • a robot system for automated cathode stripping has been developed.
  • the use of this automated robot system to carry out the task avoids human intervention in the cathode stripping process from the mother blank.
  • FIG. 1 General view of a robotic system for cathode stripping.
  • FIG. 2 View of a robotic manipulator moving a cathode to the stripping station.
  • This invention relates to a new robot system for cathode stripping, which is carried out automatically through anthropomorphous robotic arms of at least 5 degrees of freedom, which are installed at one side of the stripping station.
  • the robot system is composed mainly of one robotic manipulator ( 1 ) of at least 5 degrees of freedom, provided with a communication, acquisition and control system, and a gripping mechanism ( 2 ) to allow to take one cathode ( 3 ), from a feeding rack ( 4 ) located at one of its sides, and moves it through a defined path to the stripping machine ( 5 ), where synchronized with the carousel it will carry out the cathode stripping process from the base plate in a sequential and programmed way through successive operations of hammering, bending and separation.
  • the robotic manipulator ( 1 ) takes the base plate moves it to the unloading rack, while the cathode ( 3 ) is stored in pallet for the subsequent moving.
  • this robot system contemplates a station for the removal of the rejected cathodes and one station for the reposition of base plates.

Abstract

At present, the cathode stripping process as it is carried out today presents the disadvantage of being carried out manually or through equipment specially designed for this task, but inevitably it requires human intervention whether for stripping or classification. Due to the above a robot system has been developed to automate the process of cathode stripping process. The robotic system is composed mainly of a robotic manipulator (1) of at least 5 degrees of freedom, and a gripping mechanism (2) which allows to take a cathode, (3) from a feeding rack (4) located at one of its sides, and which moves the cathodes through a defined path to the stripping station (5), where synchronized with the carousel the cathode (3) stripping method from the base plate will take place in a sequential and programmed way through different operations of hammering, bending and separation.
Then, the robotic manipulator (1) takes the base plate and moves it to the unloading rack while the cathode (3) is stored in pallet for being later moved. Additionally, this robotic system comprises a station for the removal of rejected cathodes and a station for the reposition of plates.

Description

    CROSS-REFERENCE TO RELATED APPLICATIONS
  • This application claims the benefit of provisional patent application Ser. No. 60/734,986 filed 2005 Nov. 10 by the present inventor FEDERAL SPONSORED RESEARCH:
  • Not Applicable
    • SEQUENCE LISTING OR PROGRAM
  • Not Applicable
    • BACKGROUND
  • 1. Field of Invention
  • This invention relates to the use of robotic technology in mining industry specifically in hazardous areas such as the electro-winning plant.
    • BACKGROUND
  • 2. Prior Art
  • The electrodeposition process is one of the current and simplest methods to recover, in a pure and selective way, the metals in a solution. This process mainly uses the permanent cathodes which are deposited in benches for a determined period of time and through the electrometallurgical process, the metal in the solution starts to deposit in the walls of the plate until reaching a determined weight. Once the weight is reached, the cathodes are retrieved (harvest) through an operation carried out by the bridge crane, which takes the volume of cathodes of each cell and moves it to the stripping machine or they are separated manually.
  • The current method has the following stages:
      • 1. Positioning of the cathodes in a receptor. At the outlet of the feeding chain, the cathodes are placed in a metallic structure adjacent to the machine
      • 2. Bending of the cathode. This procedure starts the separation of the steel copper interface.
      • 3. Separating gripping mechanisms. The gripping mechanism acts once the separation has been started, but they are not enough to complete the whole separation process.
      • 4. Blades for total separation. The machine rotates towards the blades which descend and complete the process of separation of the cathode.
      • 5. Copper and steel manipulation. Once the complete separation has ended, the machine rotates again to the cartridge station. In this stage the copper is received by the lower part and it falls down to the conveyor belt which feeds the binding and sample taking. Once the copper is removed, the machine rotates to take out the steel which is carried to the preparation of base plates.
      • 6. Finally, the machine rotates to receive another cathode from the conveyor belt and to start the cycle again. In the event the initial separation has not been produced the machine has a vibration system (rubber fists) which acts to generate the separation.
  • Particularly, copper stripping as it is done today, has the disadvantage of being carried out manually or through equipment specially designed for this task, but it inevitably requires human intervention, whether for stripping or classification.
  • Some serious factors are added such as:
      • The personnel carrying out the stripping process is subjected to a high physical demand and harsh environmental conditions.
      • The atmosphere in an electro-winning plant is highly contaminated and presents potential risks for the plant personnel.
      • Maintenance procedures are difficult to carry out due to room space problems.
    SUMMARY
  • A robot system for automated cathode stripping has been developed. The use of this automated robot system to carry out the task avoids human intervention in the cathode stripping process from the mother blank.
    • DRAWINGS—FIGURES
  • In the drawings, closely related figures share the same numbers, with different alphabetic suffixes.
  • FIG. 1. General view of a robotic system for cathode stripping.
  • FIG. 2. View of a robotic manipulator moving a cathode to the stripping station.
    • DRAWINGS—REFERENCE NUMERALS
  • 1. robotic manipulator
  • 2. gripping mechanism
  • 3. cathode
  • 4. feeding rack
  • 5. Stripping machine
    • DETAILED DESCRIPTION
  • This invention relates to a new robot system for cathode stripping, which is carried out automatically through anthropomorphous robotic arms of at least 5 degrees of freedom, which are installed at one side of the stripping station.
  • With reference to FIG. 1, FIG. 2, and FIG. 3, the robot system is composed mainly of one robotic manipulator (1) of at least 5 degrees of freedom, provided with a communication, acquisition and control system, and a gripping mechanism (2) to allow to take one cathode (3), from a feeding rack (4) located at one of its sides, and moves it through a defined path to the stripping machine (5), where synchronized with the carousel it will carry out the cathode stripping process from the base plate in a sequential and programmed way through successive operations of hammering, bending and separation.
  • The robotic manipulator (1) takes the base plate moves it to the unloading rack, while the cathode (3) is stored in pallet for the subsequent moving.
  • Additionally, this robot system contemplates a station for the removal of the rejected cathodes and one station for the reposition of base plates.

Claims (33)

1. A robot system for cathode stripping in electrometallurgical and industrial processes, comprising an anthropomorphous robotic arm of at least 5 degrees of freedom, one control, communication and programming unit, one gripper adapter, one gripper mechanism, its fingers, one gripper pneumatic driving system, one electric supply system and one unloading rack wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a gripping mechanism which allows in a sequential and programmed way to take a cathode from a feeding rack located at one of its sides, and moves it through a defined path, to the stripping station, where synchronized with the carousel will carry out in a sequential and programmed way the cathode stripping process from the base plate through successive operations of hammering, bending and separation, in such a way that once this procedure is finished the robotic manipulator takes the base plate and moves it to the unloading rack, while the cathode is stored in pallet for the subsequent moving.
2. A robot system for cathode stripping in electrometallurgical and industrial processes, according to claim 1, wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a gripping mechanism which allows in a sequential and programmed way to take, manipulate and release one base plate to move it from the stripping station to the unloading rack.
3. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system both of the ISA process and the Kidd process.
4. A robot system cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information of analogue and/or digital sensors installed both in the ISA process and in the Kidd process.
5. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control analogue and/or digital input devices.
6. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the anthropomorphous robotic arm of at least 5 degrees of freedom, with a pneumatic gripping mechanism which allows to take, manipulate and release a cathode and/or a base plate to move it in different paths, to the stripping station within the work volume of the robotic system in an automated way.
7. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein a pneumatic gripping mechanism is used comprising at least 4 fingers which allow to grasp and release the base plates.
8. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the robotic manipulator of at least 5 degrees of freedom is mounted on a fixed and/or mobile support located between the mobile drawer racks with rectangular base and the cathode stripping machine.
9. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein a cathode feeding rack is used which is on a mobile structure with rectangular base forming plane faces, so the inside part is hollow, and the racks moves outside or inside the work volume of the robot to be filled with cathodes.
10. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein a rack for unloading base plates is used which is has a rectangular base forming plane faces, so the inside is hollow and the racks move outside or inside the work volume of the robot to be filled with base plates.
11. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom, with a pneumatic gripping mechanism which allows to take, manipulate and release, one base plate to move it in different paths to the unloading rack within the work volume of the robotic system in an automated way.
12. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors, with vectorial and/or scalar control.
13. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the system could be integrated to ISA process and to Kidd process.
14. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein the system could be integrated not only to electro-winning processes of different metals such as copper, zinc, but also it could be used to carry out stripping procedures in a wide range of other industrial productive processes.
15. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein productivity and efficiency in the stripping process increases.
16. A robot system for cathode stripping in electrometallurgical and industrial processes, according to claim 1, wherein it prevents the plant personnel from being subjected to a high physical demand and harsh environmental conditions.
17. A robot system for cathode stripping in electrometallurgical and industrial processes according to claim 1, wherein multiple sensing devices could be integrated such as artificial vision, weighing sensors, distance sensors, etc.
18. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a pneumatic gripping mechanism which allows in a sequential and programmed way to take, manipulate and release a base plate to move it from the stripping station to the unloading rack.
19. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a pneumatic gripping mechanism which allows to take, manipulate and release, a cathode and/or base plate to move it in different paths within the work volume of the robot system in an automated way.
20. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system both in ISA process and Kidd process.
21. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from analogue and/or digital sensors installed in ISA process and Kidd process.
22. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.
23. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein a pneumatic gripping mechanism is used comprising at least 4 fingers which allows to grasp and release the base plates.
24. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the robotic manipulator of at least 5 degrees of freedom is mounted on a fixed and/or mobile support located between the mobile drawer racks with rectangular base and the cathode stripping machine.
25. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein a cathode feeding rack is used which is a mobile structure with a rectangular base forming plane faces, in such a way that the inside is hollow and the racks move outside or inside the work volume of the robot to be filled with cathodes.
26. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein a base plate unloading rack is used which is a structure with a rectangular base forming plane faces, in such a way that the inside is hollow and the racks move outside or inside the work volume of the robot to be filled with base plates.
27. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom, with a pneumatic gripping mechanism which allows to take, manipulate and release, one base plate and move it, in different paths to the unloading rack within the work volume of the robotic system in an automated way.
28. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors with vectorial and/or scalar control.
29. A robotic method for cathode stripping in electrometallurgical and industrial processes, using the robot System of claim 1 to 17, wherein it could be integrated to the ISA process or to the Kidd process.
30. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein it could be integrated not only to electro-winning processes of different metals such as copper, zinc, but also it could be used in stripping processes in a wide range of other industrial productive processes.
31. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim No 1 to No 17, wherein productivity and efficiency of the stripping process increases.
32. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein it prevents the plant personnel from being subjected to a high physical demand and harsh environmental conditions.
33. A robotic method for cathode stripping in electrometallurgical and industrial processes using the robot System of claim 1 to 17, wherein multiple sensing devices could be integrated such as artificial vision, weight sensors, distance sensors, etc.
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US20070299556A1 (en) * 2005-11-10 2007-12-27 Hugo Salamanca Robot system and method for scrap bundling in metal smelting and refining processes
US20090101179A1 (en) * 2005-11-10 2009-04-23 Hugo Salamanca Robot system and method for molybdenum roasting furnaces cleaning procedures
EP2189784A2 (en) * 2008-11-21 2010-05-26 LS-Nikko Copper Inc. Apparatus for inspecting surface of electrolytically refined metal deposited plate
US8607837B2 (en) 2009-02-06 2013-12-17 Xstrata Technology Pty Ltd. Apparatus for stripping metal from a cathode plate
CN105088302A (en) * 2015-06-30 2015-11-25 昆山市欣典鼎机械设备有限公司 Application method of robot in surface treatment production
CN106086972A (en) * 2016-08-10 2016-11-09 松阳县恒亮不锈钢制品有限公司 A kind of open-type steel bowl automatization electroplanting device in batches
JP2017095762A (en) * 2015-11-25 2017-06-01 三光製作株式会社 Metal plating processing system
CN107099819A (en) * 2017-04-26 2017-08-29 株洲优瑞科有色装备有限公司 A kind of new cupric electrolysis anode and cathode washs shaping ground unit and its method for delaminating
WO2020037362A1 (en) 2018-08-21 2020-02-27 Glencore Technology Pty Limited Stripping of metal from cathodes
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CN115091444A (en) * 2022-08-26 2022-09-23 溧阳市金桥机械有限公司 Clamping tool for automatic production of agricultural machine castings

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