CN114619081B - Method capable of guiding milled copper particles accurately and high-precision equipment - Google Patents
Method capable of guiding milled copper particles accurately and high-precision equipment Download PDFInfo
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- CN114619081B CN114619081B CN202111396627.XA CN202111396627A CN114619081B CN 114619081 B CN114619081 B CN 114619081B CN 202111396627 A CN202111396627 A CN 202111396627A CN 114619081 B CN114619081 B CN 114619081B
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- copper
- milling
- copper particles
- precisely
- milled
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 title claims abstract description 95
- 229910052802 copper Inorganic materials 0.000 title claims abstract description 67
- 239000010949 copper Substances 0.000 title claims abstract description 67
- 239000002245 particle Substances 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000003801 milling Methods 0.000 claims abstract description 35
- 238000001816 cooling Methods 0.000 claims description 14
- 238000003384 imaging method Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000011889 copper foil Substances 0.000 description 1
- 238000005868 electrolysis reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electrolytic Production Of Metals (AREA)
- Powder Metallurgy (AREA)
Abstract
The invention discloses a method capable of precisely guiding milled copper particles and high-precision equipment, which comprises the following steps: s1, preparing milling; s2, accurately calculating; s3, precisely milling; the method can accurately identify the coordinate position of the surface particle distribution of the cathode copper plate, automatically calculate the height of copper particles, and finally accurately mill according to the surface particle distribution area and the height without damaging the surface of the cathode copper plate, and only mill the position with redundant copper particles.
Description
Technical Field
The invention relates to the technical field of metallurgical tools, in particular to a method capable of precisely guiding milled copper particles and high-precision equipment.
Background
At present, common milling operation is used in the market both abroad and domestic, and the cathode copper electrolysis process is complex. There are problems that cannot be solved:
1) The cathode copper is thick in the middle and thin in the edge, the common milling machine can only mill a surface at a fixed distance, and the normal cathode copper is milled away in the thick place, so that direct economic loss is caused. Thin local particles are often not milled, resulting in the block of cathode copper not meeting normal trade copper standards.
2) The length and width of the conventional cathode copper area are 1 mm, the general milling machine can only perform milling operation of the whole area, the operation period time is long, and the efficiency is low. Because of higher power consumption, the operation in the mode causes great waste of energy, and is unfavorable for the carbon neutralization target proposed by the nation.
For example, a "a copper foil mill" disclosed in chinese patent literature, its bulletin number: CN204565241U discloses a spindle cylinder, a cylinder frame, an adjusting plate, a milling workbench stamped by the cylinder, but due to its mechanical structural characteristics, high-precision milling operation cannot be realized, the working efficiency is low and the energy consumption is large.
Disclosure of Invention
Therefore, the invention provides a method and high-precision equipment capable of precisely guiding and milling copper particles, which can precisely identify the coordinate position of the particle distribution on the surface of a cathode copper plate, automatically calculate the height of copper particles, and finally precisely mill according to the surface particle distribution area and the height, without damaging the surface of the cathode copper, and only mill the position with redundant copper particles.
In order to achieve the above object, the present invention provides the following technical solutions:
a method for precisely guiding milled copper particles, comprising the steps of:
s1, preparing milling; unstacking from the B-stage copper feeding station, and automatically feeding the grabbing copper plate to a three-axis robot workbench.
S2, accurately calculating; and converting the cathode copper surface into three-dimensional coordinate values of XYZ three axes, automatically marking the unique coordinate value of the position with copper particles, and storing the unique coordinate value in a system.
S3, precisely milling. The XYZ three-axis manipulator drives the special tool to precisely mill according to the copper particle distribution coordinate value stored in the system; after the single-sided treatment of the particle copper plate is finished, finishing the turn-over operation of the copper plate by a robot; after the treatment is completed, the robot grabs the copper plate which is processed from the equipment and stacks the copper plate to a blanking station.
Preferably, the preparation milling comprises region identification and contour scanning detection of the copper plate with particles. The working range is accurately determined, and useless operation in the milling process is reduced.
Preferably, the accurate calculation includes reduction of the cathode copper surface to stereoscopic three-dimensional imaging. The method can carry out three-dimensional scanning on the surface of the cathode copper, establish a coordinate database and calculate and form three-dimensional imaging through background data.
Preferably, the precision milling includes 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 are extracted and transmitted to a three-axis robot through a vision measurement algorithm, and the robot automatically moves to a data designated position to perform accurate particle removal operation according to the obtained three-dimensional data, so that the qualified cathode copper surface is not damaged.
A high precision apparatus capable of precisely guiding milled copper particles, comprising: a workbench for accommodating the copper plate; the manipulator is used for precisely milling the copper plate; a computer for calculation of an operational 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. The copper plate can be subjected to various grabbing and milling operations.
Preferably, the cooling device is an air cooler and is used for cooling the manipulator by 360 degrees. The three-axis robot can be automatically subjected to 360-degree omnibearing air cooling when working, so that continuous high-precision operation of the three-axis robot is ensured.
Embodiments of the present invention have the following advantages:
the method can accurately identify the coordinate position of the surface particle distribution of the cathode copper plate, automatically calculate the height of copper particles, and finally accurately mill according to the surface particle distribution area and the height without damaging the surface of the cathode copper plate, and only mill the position with redundant copper particles.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the objects of the invention, are deemed to fall within the ambit of the technical disclosure.
Fig. 1 is a flow chart of the method of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following description, which is to be read in connection with the accompanying drawings, wherein like reference numerals indicate like elements throughout the several views. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, in a preferred embodiment, the method comprises the steps of:
the robot destacks from the B-stage copper feeding station, and the grabbing copper plate is automatically fed to the three-axis robot workbench.
And carrying out region identification and contour scanning detection on the copper plate with particles on the three-axis robot workbench. And converting the cathode copper surface into three-dimensional coordinate values of XYZ three axes, automatically marking the unique coordinate value of the position with copper particles, and storing the unique coordinate value in a system.
The XYZ three-axis manipulator drives the special tool to precisely mill according to the distribution coordinate value of copper particles stored in the system.
After the single-sided treatment of the particle copper plate is finished, the overturning operation of the copper plate is finished through a robot.
After the treatment is completed, the robot grabs the copper plate which is processed from the equipment and stacks the copper plate to a blanking station.
And recovering the milled copper particles by an automatic recovery device.
Wherein, the technological parameters are as follows: milling range: copper particles are distributed in a granular form, and the particle protrusion size is between 3mm and 15 mm.
Process parameter table
| Process parameters | Parameter value |
| Milling speed | 250-400m/min |
| Feed speed | 10-15m/min |
| Depth of longitudinal cut | 1.5-3mm |
| Feeding per blade | 0.1-1mm/t |
In another embodiment, a method for precisely guiding milled copper particles includes the steps of:
s1, preparing milling; unstacking from the B-stage copper feeding station, and automatically feeding the grabbing copper plate to a three-axis robot workbench.
S2, accurately calculating; and converting the cathode copper surface into three-dimensional coordinate values of XYZ three axes, automatically marking the unique coordinate value of the position with copper particles, and storing the unique coordinate value in a system.
S3, precisely milling. The XYZ three-axis manipulator drives the special tool to precisely mill according to the copper particle distribution coordinate value stored in the system; after the single-sided treatment of the particle copper plate is finished, finishing the turn-over operation of the copper plate by a robot; after the treatment is completed, the robot grabs the copper plate which is processed from the equipment and stacks the copper plate to a blanking station.
The preparation for milling includes region identification and contour scan detection of the copper plate with particles. The working range is accurately determined, and useless operation in the milling process is reduced.
Accurate calculations include reduction of the cathode copper surface to stereoscopic three-dimensional imaging. The method can carry out three-dimensional scanning on the surface of the cathode copper, establish a coordinate database and calculate and form three-dimensional imaging through background data.
Accurate milling involves extracting and transmitting three-dimensional imaging data of the cathode copper surface to a tri-axis robot for particle removal. Three-dimensional imaging data of the cathode copper surface are extracted and transmitted to a three-axis robot through a vision measurement algorithm, and the robot automatically moves to a data designated position to perform accurate particle removal operation according to the obtained three-dimensional data, so that the qualified cathode copper surface is not damaged.
A high precision apparatus capable of precisely guiding milled copper particles, comprising: a workbench for accommodating the copper plate; the manipulator is used for precisely milling the copper plate; a computer for calculation of an operational 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 tool which can be used for milling copper particles. The copper plate can be subjected to various grabbing and milling operations.
The cooling device is an air cooler and is used for carrying out 360-degree air cooling on the manipulator. The three-axis robot can be automatically subjected to 360-degree omnibearing air cooling when working, so that continuous high-precision operation of the three-axis robot is ensured.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (4)
1. A method for precisely guiding milled copper particles, comprising the steps of:
s1, preparing milling; preparing milling, namely performing region identification and contour scanning detection on the copper plate with particles;
s2, accurately calculating; converting the cathode copper surface into XYZ three-axis three-dimensional coordinate values, and automatically marking the position with copper particles with unique coordinate values; the accurate calculation comprises the steps of reducing the surface of cathode copper into three-dimensional imaging; particle protrusion sizes are between 3mm and 15 mm;
s3, precisely milling; carrying out accurate milling according to the copper particle distribution coordinate values stored in the system;
accurate milling involves extracting and transmitting three-dimensional imaging data of the cathode copper surface to a tri-axis robot for particle removal.
2. High precision equipment capable of precisely guiding milled copper particles, suitable for use in a method of precisely guiding milled copper particles according to claim 1, comprising: a workbench for accommodating the copper plate; the manipulator is used for precisely milling the copper plate; a computer for calculation of an operational 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.
3. A high precision apparatus for precisely guiding milled copper particles according to claim 2, wherein the robot is provided with a special tool for milling copper particles.
4. The high-precision equipment capable of precisely guiding and milling copper particles according to claim 2, wherein the cooling device is an air cooler and is used for carrying out 360-degree air cooling on the manipulator.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114619081A CN114619081A (en) | 2022-06-14 |
| CN114619081B true CN114619081B (en) | 2024-03-22 |
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| CN202111396627.XA Active CN114619081B (en) | 2021-11-23 | 2021-11-23 | Method capable of guiding milled copper particles accurately and high-precision equipment |
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2021
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| CN114619081A (en) | 2022-06-14 |
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