CN114619081A - Method capable of accurately guiding milling of copper particles and high-precision equipment - Google Patents
Method capable of accurately guiding milling of copper particles and high-precision equipment Download PDFInfo
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- CN114619081A CN114619081A CN202111396627.XA CN202111396627A CN114619081A CN 114619081 A CN114619081 A CN 114619081A CN 202111396627 A CN202111396627 A CN 202111396627A CN 114619081 A CN114619081 A CN 114619081A
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- milling
- copper
- copper particles
- accurately
- particles
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 title claims abstract description 92
- 229910052802 copper Inorganic materials 0.000 title claims abstract description 66
- 239000010949 copper Substances 0.000 title claims abstract description 66
- 239000002245 particle Substances 0.000 title claims abstract description 53
- 238000003801 milling Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 238000001816 cooling Methods 0.000 claims description 16
- 238000003384 imaging method Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 2
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 239000011889 copper foil Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electrolytic Production Of Metals (AREA)
- Powder Metallurgy (AREA)
Abstract
The invention discloses a method and high-precision equipment capable of accurately guiding and milling copper particles, which comprises the following steps: s1, preparing for milling; s2, accurate calculation; s3, accurate milling; the coordinate position of the particle distribution on the surface of the cathode copper plate can be accurately identified, the height of the copper particles is automatically calculated, and finally, the milling is accurately carried out according to the particle distribution area and the height of the surface without damaging the surface of the cathode copper, and only the position with redundant copper particles is milled.
Description
Technical Field
The invention relates to the technical field of metallurgical tools, in particular to a method and high-precision equipment capable of accurately guiding and milling copper particles.
Background
At present, the common milling operation is used in the market at home and abroad, and the electrolytic process of cathode copper is complex. There are problems that cannot be solved:
1) the cathode copper is thick in the middle and thin in the edge, a common milling machine can only mill one surface for a fixed distance, and the thick part mills the normal cathode copper, so that direct economic loss is caused. The thin particles are often not milled, so that the cathode copper of the block can not reach the standard of normal trade copper.
2) The conventional cathode copper area length and width is 1m, and a common milling machine can only perform milling operation on the whole area, so that the operation cycle time is long, and the efficiency is low. Because the power consumption is large, the operation in this way causes a great waste of energy.
For example, a "copper foil milling machine" disclosed in chinese patent literature has a publication number: CN204565241U discloses a spindle cylinder, a cylinder frame, and an adjusting plate, which are milling tables stamped by cylinders, but due to the mechanical structure characteristics of the milling tables, the milling operation with high precision cannot be realized, the working efficiency is low, and the energy consumption is large.
Disclosure of Invention
Therefore, the invention provides a method and a high-precision device capable of accurately guiding and milling copper particles, which can accurately identify the coordinate position of the particle distribution on the surface of a cathode copper plate, automatically calculate the height of the copper particles, finally accurately mill according to the distribution area and the height of the surface particles without damaging the surface of the cathode copper, and only mill the position of redundant copper particles.
In order to achieve the above purpose, the invention provides the following technical scheme:
a method for accurately guiding milling of copper particles, comprising the steps of:
s1, preparing for milling; unstacking is carried out from a B-level copper feeding station, and a copper plate is grabbed and automatically fed to a three-axis robot workbench.
S2, accurate calculation; the cathode copper surface is converted into XYZ three-axis three-dimensional coordinate values, and the position with copper particles is automatically marked with the unique coordinate values and stored in the system.
And S3, precise milling. The XYZ three-axis manipulator drives a special cutter to accurately mill according to the copper particle distribution coordinate values stored in the system; after the single-side treatment of the particle copper plate is finished, the turning-over operation of the copper plate is finished through a robot; after the processing is finished, the robot grabs the copper plate stack to the blanking station.
Preferably, preparing for milling includes area identification and profile scan detection of the copper plate with the particles. The working range is accurately determined, and useless operation in the milling process is reduced.
Preferably, the precise calculation includes reducing the cathode copper surface to a three-dimensional image. The surface of the cathode copper can be scanned in a three-dimensional mode, a coordinate database is established, and three-dimensional imaging is formed through background data calculation.
Preferably, the precision milling comprises extracting and transmitting three-dimensional imaging data of the cathode copper surface to a three-axis robot for particle removal. Three-dimensional imaging data of the cathode copper surface is extracted through a vision measurement algorithm and transmitted to a three-axis manipulator, and the manipulator automatically moves to a data designated position to perform accurate particle removal operation according to the obtained three-dimensional data without damaging the qualified cathode copper surface.
A high precision apparatus capable of precisely directing milling of copper particles, comprising: the workbench is used for accommodating the copper plate; the manipulator is used for accurately milling the copper plate; the computer is used for calculating the operation process; the scanning device is used for scanning and analyzing the copper plate on the workbench; and the cooling device is used for cooling the manipulator.
Preferably, the robot is provided with a special tool which can be used for milling copper particles. Can realize snatching, milling multiple operation to the copper.
Preferably, the cooling device is an air cooler for performing 360-degree air cooling on the manipulator. The air cooling device can automatically carry out 360-degree all-dimensional air cooling on the three-axis robot when the three-axis robot works, thereby ensuring continuous high-precision operation of the three-axis robot.
The embodiment of the invention has the following advantages:
the coordinate position of the particle distribution on the surface of the cathode copper plate can be accurately identified, the height of the copper particles is automatically calculated, and finally, the milling is accurately carried out according to the particle distribution area and the height of the surface without damaging the surface of the cathode copper, and only the position with redundant copper particles is milled.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art will understand and read the present invention, and do not limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any modifications of the structures, changes of the ratio relationships, or adjustments of the sizes, should still fall within the scope that the technical contents disclosed in the present invention can cover without affecting the efficacy and the achievable purpose of the present invention.
FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
While embodiments of the present invention will be described with reference to particular embodiments, those skilled in the art will readily appreciate that the present invention has additional advantages and benefits that may be realized from the teachings herein, and that the embodiments described are only a few, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In a preferred embodiment, as shown in fig. 1, the present invention discloses a wrench for temporary insertion, comprising the following steps:
the robot destacks from the B-level copper feeding station, picks the copper plate and automatically feeds the copper plate to the three-axis robot workbench.
And carrying out region identification and contour scanning detection on the copper plate with the particles on a three-axis robot workbench. The cathode copper surface is converted into XYZ three-axis three-dimensional coordinate values, and the position with copper particles is automatically marked with the unique coordinate values and stored in the system.
And the XYZ three-axis manipulator drives a special cutter to accurately mill according to the copper particle distribution coordinate values stored in the system.
And after the single-side treatment of the particle copper plate is finished, the turning operation of the copper plate is finished by a robot.
After the processing is finished, the robot grabs the copper plate stack to the blanking station.
And recovering the milled copper particles through an automatic recovery device.
Wherein the technological parameters are as follows: milling range: the copper particles are distributed in a granular shape, and the size of the protrusions of the particles is between 3mm and 15 mm.
Technological parameter table
| Process parameters | Parameter value |
| Milling speed | 250-400m/min |
| Feed rate | 10-15m/min |
| Depth of longitudinal cut | 1.5-3mm |
| Per edge feed | 0.1-1mm/t |
In another embodiment, a method for accurately directing milling of copper particles, comprises the steps of:
s1, preparing for milling; unstacking is carried out from a B-level copper feeding station, and a copper plate is grabbed and automatically fed to a three-axis robot workbench.
S2, accurate calculation; the cathode copper surface is converted into XYZ three-axis three-dimensional coordinate values, and the position with copper particles is automatically marked with the unique coordinate values and stored in the system.
And S3, precise milling. The XYZ three-axis manipulator drives a special cutter to accurately mill according to the copper particle distribution coordinate values stored in the system; after the single-side treatment of the particle copper plate is finished, the turning-over operation of the copper plate is finished through a robot; after the processing is finished, the robot grabs the copper plate stack to the blanking station.
The preparation for milling includes area identification and profile scan inspection of the copper plate with the particles. The working range is accurately determined, and useless operation in the milling process is reduced.
The precise calculations involved reducing the cathode copper surface to a three-dimensional image. The surface of the cathode copper can be scanned in a three-dimensional mode, a coordinate database is established, and three-dimensional imaging is formed through background data calculation.
Precision milling involves extracting and transmitting three-dimensional imaging data of the cathode copper surface to a three-axis robot for particle removal. Three-dimensional imaging data of the cathode copper surface is extracted through a vision measurement algorithm and transmitted to a three-axis manipulator, and the manipulator automatically moves to a data designated position to perform accurate particle removal operation according to the obtained three-dimensional data without damaging the qualified cathode copper surface.
A high precision apparatus capable of precisely directing milling of copper particles, comprising: the workbench is used for accommodating the copper plate; the manipulator is used for accurately milling the copper plate; the computer is used for calculating the operation process; the scanning device is used for scanning and analyzing the copper plate on the workbench; and the cooling device is used for cooling the manipulator.
The manipulator is provided with a special cutter which can be used for milling copper particles. Can realize snatching, milling multiple operation to the copper.
The cooling device is an air cooler and is used for carrying out 360-degree air cooling on the manipulator. The automatic air cooling device can automatically carry out 360-degree all-dimensional air cooling on the three-axis robot when the three-axis robot works, thereby ensuring continuous high-precision operation of the three-axis robot.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. A method for accurately guiding and milling copper particles is characterized by comprising the following steps:
s1, preparing for milling;
s2, accurate calculation;
and S3, precise milling.
2. The method for accurately guided milling of copper particles as claimed in claim 1, wherein the preparation milling comprises area identification and contour scan detection of the copper plate with particles.
3. The method for accurately guided milling of copper particles according to claim 1, wherein the accurate calculation comprises reduction of the cathodic copper surface into a three-dimensional volumetric image.
4. The method of claim 1, wherein the precise milling comprises extracting and transmitting three-dimensional imaging data of the cathode copper surface to a three-axis robot for particle removal.
5. A high-precision device capable of precisely guiding and milling copper particles, which is suitable for the method capable of precisely guiding and milling copper particles as claimed in claims 1 to 4, and is characterized by comprising: the workbench is used for accommodating the copper plate; the manipulator is used for accurately milling the copper plate; the computer is used for calculating the operation process; the scanning device is used for scanning and analyzing the copper plate on the workbench; and the cooling device is used for cooling the manipulator.
6. A high precision apparatus for precision guided milling of copper particles as claimed in claim 5 wherein said robot arm is equipped with a special tool for milling copper particles.
7. A high precision apparatus for accurately guiding the milling of copper particles according to claim 5 wherein said cooling means is an air cooler for 360 degree air cooling of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111396627.XA CN114619081B (en) | 2021-11-23 | 2021-11-23 | Method capable of guiding milled copper particles accurately and high-precision equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111396627.XA CN114619081B (en) | 2021-11-23 | 2021-11-23 | Method capable of guiding milled copper particles accurately and high-precision equipment |
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| CN114619081A true CN114619081A (en) | 2022-06-14 |
| CN114619081B CN114619081B (en) | 2024-03-22 |
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| CN111738985A (en) * | 2020-05-29 | 2020-10-02 | 长安大学 | Visual detection method and system for weld contour |
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2021
- 2021-11-23 CN CN202111396627.XA patent/CN114619081B/en active Active
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| CN114619081B (en) | 2024-03-22 |
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Denomination of invention: A method and high-precision equipment that can accurately guide milling of copper particles Granted publication date: 20240322 Pledgee: Three branches of the Industrial Commercial Bank of China Ltd. Pledgor: SANMEN SANYOU TECHNOLOGY Inc. Registration number: Y2024330001599 |
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