CN112975616A

CN112975616A - Double-span truss robot for inspecting electrode plate

Info

Publication number: CN112975616A
Application number: CN202110370118.3A
Authority: CN
Inventors: 林建平; 胡夏斌; 林建灶; 叶栋; 徐关峰; 胡双洋
Original assignee: Hangzhou Sannal Environmental Technology Co ltd
Current assignee: Hangzhou Sannal Environmental Technology Co ltd
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2021-06-18

Abstract

The invention discloses a double-span truss robot for inspecting an electrode plate, which comprises a truss, a transverse trolley and a PLC (programmable logic controller) system, wherein the length direction of the truss is Y direction, the transverse trolley is arranged on the truss, the truss and the transverse trolley are both connected with the PLC system, and the PLC system can control the truss to move to the upper part of an electrolytic cell; the PLC system can control the transverse moving trolley to move back and forth along the Y direction; the transverse moving trolley comprises a grabbing component and a polishing component; the grabbing assembly comprises a grabbing hook capable of moving up and down, and the grabbing hook can be matched with the electrode plate; the polishing assembly comprises a polishing machine, and the polishing machine can be matched with the surface of the electrode plate; the grabbing component and the polishing component are connected with the PLC system. The automatic polishing device realizes the automatic polishing of the electrode plate of the electrolytic cell, reduces the operation difficulty, improves the efficiency and reduces the labor input.

Description

Double-span truss robot for inspecting electrode plate

Technical Field

The invention relates to the technical field of electrode plate polishing, in particular to a double-span truss robot for inspecting an electrode plate.

Background

The electrolytic cell consists of a cell body, an anode and a cathode, and an anode chamber and a cathode chamber are mostly separated by a diaphragm. When direct current passes through the electrolytic cell, an oxidation reaction occurs at the interface of the anode and the solution, and a reduction reaction occurs at the interface of the cathode and the solution, so as to prepare the required product. When metal or alloy is used as the cathode, the cathode can be protected by working under a relatively negative potential, and the cathode material is easy to select because the cathode has low corrosivity.

In the electrolytic process, a reduction reaction occurs on the surface of the electrode plate, particularly the surface of the cathode plate, and a metal simple substance is attached. After the electrolysis is completed, the cathode plate needs to be polished to enable the surface of the cathode plate to be flat and free of impurities, so that the effective area of the cathode plate during electrolysis can be ensured when the cathode plate is reused, and the electrolysis efficiency is ensured.

Among the prior art, mainly use manual abrasive paper to polish as the main to the mode of polishing of plate electrode, this kind of mode of polishing is inefficient, spends a large amount of human costs, and workman intensity of labour is high, has the harm to the workman is healthy, and the clearance effect also can't guarantee.

Disclosure of Invention

The invention provides a double-span truss robot for inspecting an electrode plate, which can solve one or more of the problems in the prior art.

According to one aspect of the invention, the double-span truss robot for inspecting the electrode plate comprises a truss, a transverse trolley and a PLC (programmable logic controller) system, wherein the PLC system can operate according to instructions of an upper computer; the length direction of the truss is Y direction, the transverse trolley is arranged on the truss, the truss and the transverse trolley are both connected with the PLC system, and the PLC system can control the truss to move to the upper part of the electrolytic cell; the PLC system can control the transverse moving trolley to move back and forth along the Y direction;

the transverse moving trolley comprises a grabbing component and a polishing component; the grabbing assembly comprises a grabbing hook capable of moving up and down, and the grabbing hook can grab or release the electrode plate; the polishing assembly comprises a polishing machine, and the polishing machine can be matched with the surface of the electrode plate; the grabbing component and the polishing component are connected with the PLC system.

By adopting the technical scheme, the PLC system can be connected with the PC through an Ethernet communication mode, receives an instruction issued by the PC and controls the operation of the whole double-span truss robot. The PLC system receives the position information of the electrolytic bath, controls the truss to move to the position above the electrolytic bath, moves the transverse moving trolley to a proper position along the Y direction, hooks the cathode plate in the electrolytic bath through the grapple, takes the cathode plate out of the electrolytic bath, and then the surface of the cathode plate can be polished by the polisher. The position of the truss can be adjusted according to the electrolysis completion condition of the plurality of electrolytic tanks through the PLC system, so that the truss is positioned above the electrolytic tanks for completing electrolysis, and the transverse moving trolley can accurately move to the upper part of the first negative plate in the electrolytic tanks under the control of the PLC system, accurately grab the negative plate and polish. After polishing, the traversing carriage continues to move to a next cathode plate under the control of the PLC system until all cathode plates in the electrolytic cell are polished, the PLC system can control the traversing carriage to return to the initial position, and the truss is controlled to move to the next electrolytic cell for completing electrolysis.

From this, can accomplish patrolling and examining and polishing to the electrolysis board in the electrolysis trough through two truss robots of striding, whole process can realize the automation, needn't polish the surface of plate electrode through artificial mode, improves the efficiency of polishing, reduces the human input, reduce cost.

In some embodiments, a track is arranged above the electrolytic bath, a truss can move along the track, positioning plates are arranged on the track and correspond to the electrolytic bath one by one, positioning sensors are arranged on the truss and can sense the positioning plates, and the positioning sensors are connected with the PLC system;

the front end and the rear end of the truss are respectively provided with a first servo motor, the first servo motors can drive the truss to move, the PLC system can control the operation state of the first servo motors, and the PLC system can designate one of the first servo motors as a main motor and the other one of the first servo motors as a slave motor.

Therefore, the PLC system can control the operation state of the first servo motor. Therefore, the PLC system can further control the movement, the stop, the moving speed, and the like of the truss by controlling the operation, such as the start or the stop, and the operation power, and the like, of the first servo motor. The truss can be controlled to move to the upper side of the target electrolytic cell along the rail through the PLC system, and the accuracy of the truss parking position is improved through the accurate positioning of the positioning sensor.

The front end and the rear end of the truss are respectively provided with a first servo motor, and the PLC system designates one of the first servo motors as a main motor and the other one as a slave motor, so that the PLC system can switch the master-slave relation of the two first servo motors according to the position of the target electrolytic cell, thereby ensuring that the power is stable all the time when the truss moves to different directions and being convenient for accurate positioning from two directions.

In some embodiments, the positioning sensors include a brake start limit sensor and a brake end limit sensor, and the truss is further configured with an over-travel-trip sensor. Therefore, the parking position can be accurately positioned by matching the brake starting limit sensor and the brake end limit sensor. The over-displacement power-off sensor is arranged, so that safety guarantee can be improved, and the truss is prevented from overshooting during braking.

In some embodiments, the truss comprises two cross beams symmetrically arranged along the Y direction, a first synchronous belt is arranged on each cross beam along the Y direction, and the transverse trolley is connected with the first synchronous belt through a transverse belt wheel; the sideslip band pulley links to each other with second servo motor's output, and the PLC system can control second servo motor's running state.

Therefore, the traverse trolley can move back and forth along the Y direction, namely along the length direction of the cross beam through the matching between the traverse belt wheel and the first synchronous belt. The PLC system controls the second servo motor, and the moving state of the transverse moving trolley can be adjusted.

In some embodiments, the front end of the traverse trolley is provided with a fixed rod, the fixed rod is arranged along the X direction, and two tail ends of the fixed rod are respectively suspended right above the two cross beams; a first transmission belt wheel is arranged at one tail end of the fixed rod, the output end of the second servo motor is connected with the first transmission belt wheel, a second transmission belt wheel is arranged right below the first transmission belt wheel, and the first transmission belt wheel and the second transmission belt wheel are in transmission connection through a second synchronous belt; the second driving belt wheel is arranged on the inner side of the cross beam, the transverse moving belt wheel is connected with the second driving belt wheel through a fixed shaft, and the fixed shaft is arranged along the X direction.

Therefore, the upper part and the lower part of the transverse trolley are linked through the matching among the first transmission belt wheel, the second transmission belt wheel and the second synchronous belt. In the moving process, the stress on the upper part and the stress on the lower part of the transverse moving trolley are balanced, so that the condition of overturning can be prevented.

In some embodiments, the grabbing assembly comprises a suspension arm capable of moving up and down, the suspension arm is arranged along the X direction, and the grabbing hook is arranged on the suspension arm; the electrode plate is provided with a positioning hole, and a positioning sensor is arranged at the positioning hole; the locating hole can cooperate with the grapple. From this, carry out accurate location to the locating hole through positioning sensor, can improve the degree of accuracy of cooperation between grapple and the locating hole.

In some embodiments, the boom is connected to a crane, the crane is disposed on the top of the traversing carriage, and the PLC system is capable of controlling the operation state of the crane. Therefore, the crane can drive the suspension arm to move up and down in the vertical direction.

The PLC system can control the suspension arm to move up and down by controlling the crane, so that the grapple can be controlled to move up and down, and the grapple can be conveniently hooked to take the electrolytic plate in the electrolytic bath. Generally, in the process of moving the suspension arm downwards, the suspension arm firstly moves at a slightly high speed, and when the grapple passes through a preset working position, namely a matching point of the grapple and the electrolytic plate, the suspension arm is switched to a low speed in a gradual mode, so that the time can be saved, and the matching accuracy of the grapple and the electrode plate can be ensured.

In some embodiments, a slide rail is vertically arranged in the transverse trolley along the Z direction, and the tail end of the suspension arm is provided with a roller which can move up and down along the slide rail. Therefore, the suspension arm can be ensured to be always positioned in the same plane in the up-and-down moving process through the matching between the idler wheel and the slide rail, and the suspension arm moves smoothly and stably.

In some embodiments, the sander is disposed below a translation stage that is capable of moving in the X, Y, and Z directions. Therefore, the grinding machine can be transferred to a proper position through the translation frame, and the specific position of the electrode plate is ground.

In some embodiments, there are two grinders, and the electrode plate can be moved up and down between the two grinders. Therefore, the front side and the rear side of the electrode plate can be polished.

In some embodiments, the grinding head of the grinding machine is connected with a limit sensor. Therefore, the distance between the grinding machine and the electrode plate can not be too small by using the limit sensor, so that the grinding head can be prevented from overshooting, and the electrode plate can be prevented from being damaged.

In some embodiments, a camera is arranged on the translation frame and connected with the upper computer. From this, can shoot through the camera to the different view areas on the plate electrode to fix a position through the flaw area that needs polish on the host computer analysis plate electrode, thereby can assign the instruction to the PLC system, control the translation frame and drive the flaw area that the polisher reachd the location and polish, raise the efficiency.

In some embodiments, a protective cover is arranged on the outer side of the traverse trolley, so that the protection of the structures such as the grabbing component, the grinding component and the like can be enhanced.

Drawings

Fig. 1 is a schematic perspective view of a double-span truss robot for inspecting an electrode plate according to an embodiment of the present invention;

FIG. 2 is a top view of the double-span truss robot for inspecting electrode plates shown in FIG. 1;

FIG. 3 is a schematic structural diagram of a traverse trolley of the double-span truss robot for inspecting the electrode plates shown in FIG. 1;

FIG. 4 is a schematic view of a portion of the traversing carriage of FIG. 3;

FIG. 5 is a schematic view of the gripper assembly of the dolly of FIG. 3;

FIG. 6 is a schematic top view of a portion of the grasping assembly shown in FIG. 5;

FIG. 7 is an enlarged view of a portion A of FIG. 6;

FIG. 8 is a schematic view of the boom and grapple of the grapple assembly shown in FIG. 5;

FIG. 9 is a schematic view of the construction of the cathode plate of the grasping assembly shown in FIG. 5;

FIG. 10 is a schematic view of the sanding assembly of the traverse carriage of FIG. 3;

FIG. 11 is an enlarged view of a portion B of FIG. 10;

FIG. 12 is a schematic view of another angle of the pan carriage and associated structure of the sanding assembly of FIG. 10;

fig. 13 is a schematic structural view of the first connecting frame shown in fig. 12.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 to 13 schematically show a double-span truss robot for inspecting electrode plates according to an embodiment of the present invention, which can be used for inspection and grinding of a plurality of cathode plates 300 in different electrolytic cells.

As shown in the figure, the device comprises a truss 100, the length direction of the truss 100 extends along the Y direction, and a cross sliding trolley 200 is arranged on the truss 100. The whole device is connected with the PLC system, and the operation state of the device is also monitored by the PLC system. The PLC system and the PC can realize Ethernet communication, and the PC is an upper computer.

The truss 100 includes two cross beams 101 symmetrically arranged along the Y direction, and front and rear ends of the two cross beams 101 are connected by short cross bars 102, respectively. The front and rear ends of the truss 100 are respectively provided with a first servo motor 41, and the two first servo motors 41 arranged oppositely can drive the truss 100 to move forwards or backwards. The two first servo motors 41 are both connected with the PLC system and controlled by the PLC system.

Rails are arranged above the electrolytic bath bodies, and the truss 100 is matched with the rails through sliding plates, so that the truss 100 can move along the rails under the driving of the two first servo motors 41.

The cell body position information of a plurality of electrolysis tanks is preset in the PC, so, can appoint the target electrolysis tank to the PLC system through the PC, the cell body of the electrolysis tank that is located the front end accomplishes the electrolysis, when needing to patrol and polish the plate electrode, this electrolysis tank becomes the target electrolysis tank, the PC conveys its position information to the PLC system, the first servo motor 41 that the PLC system appointed to locate truss 100 rear end is the master motor, the first servo motor 41 that locates truss 100 front end is the slave motor, and control two first servo motor 41 and start, drive truss 100 and move to the target electrolysis tank along the track.

When electrolysis is completed in the electrolytic cell body located at the rear end, the PLC system designates the first servo motor 41 provided at the front end of the truss 100 as the master motor, and the first servo motor 41 provided at the rear end of the truss 100 as the slave motor. Therefore, when the truss 100 moves forwards or backwards, the stress of the whole truss 100 is balanced, the movement is stable, and the truss 100 can be accurately positioned when moving in different directions.

Positioning plates are arranged on the rails and correspond to the electrolytic tanks one by one. Be equipped with the positioning sensor who links to each other with the PLC system on truss 100's the crossbeam 101, positioning sensor can respond to the locating plate of locating on the track to the information that will sense the locating plate is uploaded to the PLC system, and the PLC system controls two first servo motor 41 according to the information of receiving and stops the function, and truss 100 parks.

The positioning sensor comprises a brake starting limit sensor and a brake end point limit sensor, and the brake starting limit sensor and the brake end point limit sensor are arranged on the same cross beam 101 of the truss 100 at a certain distance. In the moving process of the truss 100, the braking start limit sensor firstly senses the positioning plate, and at the moment, the truss 100 gradually decelerates under the control of the PLC system to start braking; then, the braking end limit sensor senses the positioning plate, at the moment, the truss 100 reaches a preset parking position, and the PLC system controls the truss 100 to park. Therefore, the truss 100 can be stably stopped above the target electrolytic cell by matching the brake starting limit sensor and the brake end limit sensor, and the positioning accuracy is improved.

In addition, an over-displacement electric-break sensor is further arranged on the cross beam 101 of the truss 100, and the braking end point limit sensor is located between the braking start limit sensor and the over-displacement electric-break sensor. So, when the superdisplacement outage sensor sensed the locating plate, truss 100 had surpassed preset parking position, and at this moment, the PLC system received the information that the superdisplacement outage sensor fed back, can the emergency outage park to guarantee safety.

The first synchronous belt 11 is provided on the beam 101 of the truss 100 along the Y direction, and the traverse car 200 is connected to the first synchronous belt 11 through the traverse pulley 12, so that the traverse car 200 can be driven to move back and forth on the truss 100 along the Y direction through the cooperation between the traverse pulley 12 and the first synchronous belt 11. The traverse pulleys 12 on the outer side of the traverse 200 are symmetrically disposed on the left and right sides of the traverse 200.

The fixing rod 14 is provided at a position above the front end of the traverse carriage 200, and the fixing rod 14 is provided at the top end of the traverse carriage 200. The length direction of the fixing rod 14 is arranged along the X direction, and is perpendicular to the cross beams 101, and the two ends of the fixing rod 14 at the left and right are respectively suspended right above the two cross beams 101. Two ends of the fixing rod 14 are respectively sleeved with a first transmission belt wheel 15, a second transmission belt wheel 14 is arranged under each first transmission belt wheel 15, and the first transmission belt wheels 15 and the second transmission belt wheels 14 which are arranged oppositely up and down are in transmission connection through a second synchronous belt 13. One of them first driving pulley 15 links to each other with the output of second servo motor 17, so under the drive of second servo motor 17, through the cooperation of dead lever 14, two sets of perpendicular first driving pulley 15 that set up and second driving pulley 14 can rotate under the drive of second hold-in range 13 synchronization. The second servo motor 17 is connected to and controlled by the PLC system.

Two secondary pulleys 14 are respectively provided on the inner sides of the two cross members 101, and each secondary pulley 14 is connected to one traverse pulley 12 provided at the front end of the traverse 200 by a fixed shaft 18 disposed in the X direction. The traverse pulley 12 is disposed in the same direction as the second driving pulley 14, and thus the traverse pulley 12 is drivingly connected to the second driving pulley 14 via the fixed shaft 18. When the second servomotor 17 rotates the first driving pulley 15 and the second driving pulley 14, the traverse pulley 12 is also rotated in synchronization therewith. So, through the cooperation of dead lever 14, first driving pulley 15, second driving pulley 14 and second hold-in range 13, can guarantee that sideslip dolly 200 is in the removal in-process top balanced with the below atress, and synchronous motion, the condition that prevents to take place the rollover, improves the security.

The traverse carriage 200 is driven by the second servo motor 17 to move back and forth in the Y direction, so that the traverse carriage 200 can move between the plurality of electrode plates in the length direction of the bath body above the electrolytic bath after the truss 100 reaches above the target electrolytic bath.

The traverse carriage 200 is also provided with a gripping assembly therein. When the traversing carriage 200 moves to the first cathode plate 300 in the target electrolytic cell body, the grabbing component can grab the cathode plate 300 in the electrolytic cell and take the cathode plate 300 out of the cell body of the electrolytic cell.

The gripper assembly comprises a crane 23, a boom 21 and a grapple 22. The crane 23 is provided on the top of the traverse carriage 200, and the output end of the crane 23 is connected to the boom 21 so that the boom 21 can be driven to move up and down by the crane 23. The length direction of the boom 21 is arranged along the X direction. The suspension arm 21 is also provided with a downward hanging grab 22, and the grab 22 can grab the top of the cathode plate 300. The PLC system can control the operation state of the crane 23, including starting, stopping, and outputting power of the crane 23.

The PLC system can control the suspension arm 21 to move up and down by controlling the crane 23, and further can control the grapple 22 to move up and down, so that the grapple 22 can be conveniently used for hooking the electrolytic plates in the electrolytic bath. Generally, in the process of controlling the boom 21 to move downwards by the PLC system, the PLC system first moves at a slightly faster speed, and when the grapple 22 passes through a preset working position, i.e., a matching point of the grapple 22 and the electrolytic plate, the boom 21 is switched to a slower speed in a gradual manner, so that time can be saved, and the matching accuracy of the grapple 22 and the electrode plate can be ensured.

The top of the electrode plate is provided with a positioning hole 301, and the positioning hole 301 can be matched with the grapple 22.

The grapple 22 comprises a first clasp 221, a second clasp 222 and a relay which are oppositely arranged, and a baffle 223 is arranged on the outer sides of the first clasp 221 and the second clasp 222, so that the protection of the related structure of the grapple 22 can be enhanced. The relay can control the end of the first hook 221 and the end of the second hook 222 to approach or separate from each other, so that the catching hook 22 is engaged or disengaged, and the operation of the relay is controlled by the PLC system.

A slide rail 24 vertically arranged along the Z direction is further configured in the traverse trolley 200, three rollers are respectively arranged at two tail ends of the suspension arm 21, and the rollers are slidably connected with the slide rail 24. The three rollers at the end of the boom 21 include two lateral rollers 211 rolling along the X direction and a longitudinal roller 212 rolling along the Y direction, wherein the two lateral rollers 211 are symmetrically arranged along the length direction of the boom 21, and the longitudinal roller 212 is arranged at the extreme end far away from the center of the boom 21.

The slide rail 24 includes two support rods 241 arranged in parallel, grooves 243 are formed on opposite side surfaces of the support rods 241, and the grooves 243 of the two support rods 241 arranged in parallel are symmetrically arranged. A slide 242 is attached to the side of the longitudinal roller 212 remote from the boom 21. Outwardly projecting flanges 244 are symmetrically provided on opposite sides of the slider 242. The flange 244 can be inserted into the groove 243 on the upper side of the support bar 241.

The opposite side surfaces of the two support rods 241 arranged in parallel are connected with the sliding block 242 in a sliding way and are simultaneously connected with the longitudinal roller 212 in a rolling way. The side surfaces of the two support rods 241 arranged in parallel and close to the suspension arm 21 are respectively connected with a transverse roller 211 in a rolling way.

Therefore, in the process that the crane 23 drives the suspension arm 21, the grab hook 22 and other structures to move up and down, the suspension arm 21 can be ensured to move along the Z direction all the time through the matching between the roller and the slide rail 24, and the deviation is prevented; on the other hand, the surface contact can be converted into rolling contact through the rolling of the roller, and the suspension arm 21 is ensured to be stable and smooth in the moving process. The slide rails 24 and the rollers are arranged to play a role in guiding and smoothing. The matching of the sliding block 242, the longitudinal roller 212 and the two support rods 241 can improve the stability and prevent the suspension arm 21 from shaking.

When the hanger arm 21 moves down to a proper position, the first hook 221 and the second hook 222 are respectively positioned at two sides of the cathode plate 300, and the heights of the first hook 221 and the second hook 222 can be just aligned with the positioning hole 301 arranged at the top end of the cathode plate 300.

Generally, a positioning sensor connected to the PLC system is disposed at the positioning hole 301 of the cathode plate 300, and after the positioning sensor senses the first hook 221 and the second hook 222, the positioning sensor feeds back position information of the first hook 221 and the second hook 222 to the PLC system, and at this time, the PLC system controls the relay to enable the tail end of the first hook 221 and the tail end of the second hook 222 to approach each other, and in this process, the first hook 221 passes through the positioning hole 301 at the top end of the cathode plate 300. The grapple 22 is sucked so that the cathode plate 300 is firmly grasped in the grapple 22. Then, the PLC system operates the crane 23 to drive the boom 21 to move upwards, so that the cathode plate 300 grabbed by the grabbing hook 22 can be lifted upwards from the electrolytic bath until the inside of the traverse cart 200.

Still be equipped with the subassembly of polishing of two sets of relative settings in the sideslip dolly 200, snatch the subassembly and can drive the plate electrode and reciprocate between two sets of subassemblies of polishing. After the grabbing assembly lifts the cathode plate 300 to the inside of the traverse trolley 200 from the target electrolytic cell, the polishing assembly can start to inspect and polish the cathode plate.

The grinding assembly includes a grinder 31, and a grinding head of the grinder 31 is disposed opposite to the cathode plate 00 lifted to the inside of the traverse carriage 200. So, two sets of subassemblies of polishing can polish two sides of negative plate 300 respectively.

The sander 31 is connected to the lower surface of the translation frame 32, and the translation frame 32 can drive the sander 31 to move in the X direction, the Y direction and the Z direction.

Specifically, a transverse guide bar 33 arranged along the X direction and a vertical guide bar 35 arranged along the Z direction are arranged in the traverse trolley 200, and a third synchronous belt 34 along the X direction and a fourth synchronous belt 36 along the Z direction are further arranged.

The upper surface of the translation frame 32 is connected with the first connecting piece 37, the first connecting piece 37 comprises a first fixing plate 371 which is horizontally arranged, a first sleeve 372 is arranged on the upper surface of the first fixing plate 371, the first sleeve 372 is sleeved on the outer side of the transverse guide rod 33, the first connecting piece 37 is connected with the transverse guide rod 33 in a sliding mode through the first sleeve 372, and the first connecting piece 37 can move back and forth along the transverse guide rod 33.

The upper surface of the first connecting member 37 is further provided with a first fixing member 373, and the first fixing member 373 is fixedly connected with the third synchronous belt 34 through insections, so that when the third synchronous belt 34 operates, the first connecting member 37, the translation frame 32 and the polishing machine 31 arranged below the translation frame 32 can be driven to move back and forth along the X direction.

The end of the transverse guide rod 33 is fixedly connected with the second connecting piece 38, the second connecting piece 38 comprises a vertically arranged second fixing plate 381, a second sleeve 382 is arranged on the side face of the second fixing plate 381, the second sleeve 382 is sleeved on the outer side of the vertical guide rod 35, the second connecting piece 38 is slidably connected with the vertical guide rod 35 through the second sleeve 382, and the second connecting piece 38 and the transverse guide rod 33 connected with the second connecting piece can move up and down along the vertical guide rod 35.

The side of the second connecting piece 38 is further provided with a second fixing piece 383, and the second fixing piece 383 and the fourth synchronous belt 36 are fixedly connected through insections, so that when the fourth synchronous belt 36 operates, the second connecting piece 38, the transverse guide rod 33, the translation frame 32 and the polisher 31 arranged below the translation frame 32 can be driven to move up and down along the Z direction.

The lower surface of the first fixing plate 371 is provided with a guide rail 374 extending along the Y-direction, the guide rail 374 is provided with a sliding member 375, the sliding member 375 can reciprocate along the guide rail 374, and the translation frame 32 is fixedly connected with the sliding member 375. In this manner, the pan carriage 32 can move the grinder 31 closer to or further away from the cathode plate 300 by the cooperation between the guide rail 374 and the slider 375. The grinding head of the grinder 31 is connected with a limit sensor, so that when the distance between the grinder 31 and the cathode plate 300 is too small, the grinding head can be found and adjusted in time, and the grinding head is prevented from overshooting.

The movement of the translation frame 32 in the X, Y and Z directions is also controlled by the PLC system, and the operation of the third timing belt 34, the operation of the fourth timing belt 36 and the sliding movement of the translation frame 32 along the guide rail 374 are controlled by the PLC system.

The two translation frames 32 are provided with cameras, the cameras can move along the X direction and the Z direction along with the translation frames 32 in a certain sequence, in the process, the cameras can shoot different areas on the cathode plate 300 and upload shot view information to the PC, and the PC can perform defect frame selection on the received view information from the cameras and store the position information of the selected defects into the PLC system. The PLC system can control the translation stage 32 and the sander 31 thereon to reach the flaw location for precision sanding.

After polishing, the PLC system controls the crane 23 to drive the boom 21 to move downwards, so that the cathode plate 300 can fall back downwards into the target electrolytic cell from the inside of the traverse trolley 200. After the cathode plate 300 enters the interior of the electrolytic cell body, the PLC system controls the control relay to separate the tail end of the first hook fastener 221 from the tail end of the second hook fastener 222, and the positioning hole 301 at the top end of the cathode plate 300 is separated from the first hook fastener 221, so that the cathode plate 300 is released from the grabbing hook 22. The PLC system then operates the crane 23 to lift the boom 21 to the starting position.

After the grabbing assembly is reset, the PLC system controls the second servo motor 17 to drive the transverse moving trolley 200 to move to the position of the second cathode plate 300 in the target electrolytic cell, and then the next cathode plate 300 is patrolled and polished. Repeating the steps until the cathode plates 300 in the whole target electrolytic cell are all patrolled and polished, and returning the traverse trolley 200 to the initial position under the control of the PLC system. The PLC system then maneuvers the truss 100 along the track to move to the next target cell to begin inspection and polishing of the electrode plates in the next target cell.

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.

Claims

1. The double-span truss robot for inspecting the electrode plate is characterized by comprising a truss (100), a transverse moving trolley (200) and a PLC (programmable logic controller) system, wherein the PLC system can operate according to an instruction of an upper computer; the length direction of the truss (100) is Y direction, the transverse trolley (200) is arranged on the truss (100), the truss (100) and the transverse trolley (200) are both connected with the PLC system, and the PLC system can control the truss (100) to move to the upper part of the electrolytic cell; the PLC system can control the transverse trolley (200) to move back and forth along the Y direction;

the cross travelling trolley (200) comprises a grabbing component and a grinding component; the grabbing assembly comprises a grabbing hook (22) capable of moving up and down, and the grabbing hook (22) can grab or release the electrode plate; the grinding assembly comprises a grinding machine (31), and the grinding machine (31) can be matched with the surface of the electrode plate; the grabbing component and the polishing component are connected with the PLC system.

2. The double-span truss robot for inspecting electrode plates according to claim 1, wherein a rail is arranged above the electrolytic bath, the truss (100) can move along the rail, positioning plates are arranged on the rail, the positioning plates correspond to the electrolytic bath one by one, positioning sensors are arranged on the truss (100), the positioning sensors can sense the positioning plates, and the positioning sensors are connected with the PLC system;

the front end and the rear end of the truss (100) are respectively provided with a first servo motor (41), the first servo motors (41) can drive the truss (100) to move, the PLC system can control the operation state of the first servo motors (41), and the PLC system can designate one of the first servo motors (41) as a main motor and the other one of the first servo motors (41) as a slave motor.

3. The double-span truss robot for inspecting electrode plates according to claim 2, wherein the positioning sensors comprise a braking start limit sensor and a braking end limit sensor, and the truss (100) is configured with an over-displacement breaking sensor.

4. The double-span truss robot for inspecting electrode plates according to claim 1, 2 or 3, wherein the truss (100) comprises two cross beams (101) symmetrically arranged along the Y direction, a first synchronous belt (11) is arranged on the cross beams (101) along the Y direction, and the traverse trolley (200) is connected with the first synchronous belt (11) through a traverse pulley (12);

the transverse moving belt wheel (12) is connected with the output end of a second servo motor (17), and the PLC system can control the operation state of the second servo motor (17).

5. The double-span truss robot for inspecting electrode plates according to claim 1, 2 or 3, wherein the grabbing assembly comprises a boom (21) capable of moving up and down, the boom (21) is arranged along the X direction, and the grabbing hook (22) is arranged on the boom (21);

the electrode plate is provided with a positioning hole (301), and a positioning sensor is also arranged at the positioning hole (301); the positioning hole (301) can be matched with the grabbing hook (22).

6. The double-span truss robot for inspecting electrode plates according to claim 5, wherein the boom (21) is connected with a crane (23), the crane (23) is arranged at the top of the traverse trolley (200), and the PLC system can control the operation state of the crane (23);

the trolley is characterized in that a sliding rail (24) vertically arranged along the Z direction is arranged in the traversing trolley (200), the tail end of the suspension arm (21) is provided with a roller, and the roller can move up and down along the sliding rail (24).

7. The double-span truss robot for inspecting electrode plates according to claim 1, 2 or 3, wherein the grinding machine (31) is disposed below a translation frame (32), and the translation frame (32) is movable in X, Y and Z directions.

8. The double-span truss robot for inspecting electrode plates according to claim 7, wherein two sets of grinding assemblies are provided in the traverse trolley (200), and the electrode plates can move up and down between the two sets of grinding assemblies.

9. The double-span truss robot for inspecting electrode plates according to claim 8, wherein a grinding head of the grinding machine (31) is connected with a limit sensor.

10. The double-span truss robot for inspecting electrode plates according to claim 7, wherein a camera is arranged on the translation frame (32), and the camera is connected with the upper computer.