Robotic system and method for a transfer station for cathodes and/or base plates

Abstract

At present, the different electrometallurgical processes in which there are a lot of cathodes and/or base plates movement constantly requires transfer stations to pass from one chain to another, from one equipment to another or for a change in direction. At present, transfer stations are composed of hydraulic mechanisms with low availability and high maintenance costs. Due to the above, a robot system and method have been developed to move and guide the base plates and cathodes synchronized with different equipments or mechanisms replacing the current transfer stations. The robotic system is composed mainly by a robotic manipulator (1) of at least 5 degrees of freedom, and a gripping mechanism (2) which allows to take and release the base plates and/or cathodes according to a programmed logic.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of provisional patent application Ser. No. 60/734,978, 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 for any application where cathodes ore base plates must be handled.

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 or base plates, 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 them to the scrubbing tunnel. From the scrubbing tunnel the cathodes pass to the stripping machine where the copper is finally separated from the base plates.

The transportation and handling of cathode inside the electro-winning station is carried out automatically by using bridge cranes, conveyor belts and wages among others. However, constant cathodes should pass through transfer stations where they pass from chain to another, one equipment to another, or there is a change in direction. The current transfer stations are mostly hydraulic mechanisms which has a high maintenance rate and a low availability, which in some occasions could stop the process.

SUMMARY

A Robotic system and method for a transfer station has been developed for cathodes or base plates so as to take the base plates or cathodes from one equipment and move them towards a second equipment.

DRAWINGS—FIGURES

FIG. 1. View of the robotic manipulator transferring cathodes from one station to the other.

FIG. 2. View of the robotic manipulator transferring cathodes from one station to the other

FIG. 3. Layout of the robotic manipulator when transferring cathodes from one station to the other.

DRAWINGS—REFERENCE NUMERALS

• 1. Robotic manipulator
• 2. Gripping mechanism
• 3. First device
• 4. Second device

DETAILED DESCRIPTION

This invention relates to a robotic transfer station for cathodes and/or base plates which could interact, synchronize, and communicate with equipment or mechanisms for the process movement continuity.

With reference to FIG. 1 and FIG. 2. 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) which allows, in a sequential and programmed way, to take, manipulate, and release base plates or cathodes, from a first device or mechanism (3), so as the robotic manipulator moves, redirects and release the base plate or cathode, synchronized with a second equipment or mechanism (4) which acts a bridge between the equipments.

Claims

1. Robot System for a transfer station for cathodes or base plates comprising an anthropomorphous robotic arm of at least 5 degrees of freedom, one control, communication and programming unit, one gripper adapter, one pneumatic gripper, its fingers, one pneumatic gripper driving system, one electric supply system wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a gripping mechanism which allows in a synchronized way to take the base plates or cathodes from an equipment or mechanism so as to move, redirect, and release the plates synchronized with a second equipment or mechanism which acts as bridge between the equipment or mechanisms.

2. Robot System for a transfer station for cathodes or base plates according to claim 1, wherein a anthropomorphous robotic arm of at least 5 degrees of freedom is used which allows to carry out in a sequential and synchronized way the transfer of base plates between two different equipment or mechanisms.

3. Robot System for a transfer station for cathodes or base plates according to claim 1 wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.

4. Robot System for a transfer station for cathodes or base plates according to claim 1, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.

5. Robot System for a transfer station for cathodes or base plates 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. Robot System for a transfer station for cathodes or base plates according to claim 1, wherein the anthropomorphous robotic manipulator 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 robotic system.

7. Robot System for a transfer station for cathodes or base plates according to claim 1, wherein a pneumatic gripping mechanism is used to take the cathodes and/or base plates according to certain operating logics.

8. Robot System for a transfer station for cathodes or base plates 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.

9. Robot System for a transfer station for cathodes or base plates according to claim 1, wherein it has the capacity to move and manipulate the base plates in different paths within the work volume of the robotic system.

10. Robot System for a transfer station for cathodes or base plates according to claim 1, wherein the anthrophomorphous robotic arm of at least 5 degrees of freedom is mounted on a fixed and/or mobile support located between the two equipments of mechanisms.

11. Robot System for transfer station for cathodes or base plates according to claim 1, wherein it could be integrated to the ISA process and the Kidd Process.

12. Robot System for transfer station for cathodes or base plates according to claim 1, wherein it could be integrated not only to electrowinning processes of different metals such as copper, zinc, but also it could be used transfer processes in a wide range of other industrial productive processes.

13. Robot System for transfer station for cathodes or base plates according to claim 1, wherein productivity and efficiency in the transfer process of cathodes and/or base plates increases.

14. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein an anthropomorphous robotic manipulator of at least 5 degrees of freedom and a gripping mechanism are used which allows in a synchronized way to take base plates or cathodes from an equipment or mechanism, so as the base plates can be moved, redirected and released synchronized with a second equipment or mechanism which acts as bridge between the equipment or mechanisms.

15. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein an anthropomorphous robotic manipulator of at least 5 degrees of freedom is used which allows carrying out in a sequential and synchronized way the transfer of base plates between the two different equipment or mechanisms.

16. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.

17. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.

18. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.

19. A robotic method transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein an anthropomorphous robotic manipulator of at least 5 degrees of freedom is used and it 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.

20. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein a pneumatic gripping mechanisms is used to take and release the cathodes and base plates according to a certain operating logics.

21. A robotic method transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors with vectorial and/or scalar control.

22. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein it has the capacity to move and manipulate the base plates in different paths within the work volume of the robotic system.

23. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom is mounted on a fixed and/or mobile support between the two equipment or mechanisms.

24. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein it could be integrated to the ISA process and to the Kidd process.

25. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim 1 to 13, wherein it could be integrated not only to electro-winning processes of different metals such as copper, zinc, but also it could be used transfer processes in a wide range of other industrial productive processes.

26. A robotic method for transfer procedures of cathodes or base plates using the robot System of claim No1 to No 13, wherein productivity and efficiency in the transfer process of cathodes and/or base plates increases.