EA041998B1 - REMOVAL OF METAL FROM CATHODES - Google Patents

Description

Technical field

The present invention relates to a method for stripping metal from a cathode plate. The present invention also relates to a device for removing metal from a cathode plate.

State of the art

Metal production using electrochemical processes involves the deposition of metal on a cathode plate. For example, in the electrowinning or electrolytic refining of copper, copper is deposited on stainless steel cathode plates. When the deposited copper has reached the required thickness, the cathode plate is removed from the electrolytic cell and the deposited metal is removed from the cathode plate. Some experts in this field refer to the cathode plate as a cathode sheet. These terms are interchangeable.

In order to achieve a high productivity of the metal stripping plant, stripping of the deposited metal from the cathode plate is preferably carried out using a highly automated process. For example, US Pat. No. 4,840,710, the entire contents of which are incorporated herein by cross-reference, describes a method for removing electrodeposited copper from a cathode. In this method, the cathode is bent by an amount exceeding the adhesion strength between the deposited metal and the cathode, but not exceeding the elastic limit of the cathode. This causes at least a portion of the deposited metal to separate from the cathode, leaving a gap between that portion of the deposited metal and the cathode. The deposited metal is then removed from the cathode using wedges that are pushed between the cathode surface and the deposited metal. The use of wedges to strip metal from the cathode involves moving the wedge up and down. The wedges leverage the metal from the cathode plate in such a way that the angle between the metal and the cathode plate is typically between 15-25°. The grippers are then used to grip the metal in this position and rotate the metal around the bottom of the cathode plate to a horizontal position. The wedges are generally much smaller than the cathode in height and width, and when used in combination with grippers, sometimes create a kink at the bottom of the stripped metal. US Pat. No. 4,840,710 also describes the use of a gas purge to remove deposited metal from the cathode.

The process of US Pat. No. 4,840,710 has been commercialized in some copper smelters around the world and is part of the ISA PROCESS™ technology commercially supplied by the present applicant. When metal is deposited onto the cathode plates, edge strips are typically placed on the vertical edges of the cathode plates to prevent metal from being deposited along the vertical or side edges of the cathode plates. As a result, sheets of metal are deposited on both sides of the cathode plate. These sheets of metal on both sides of the cathode plate are not connected to each other along their vertical edges.

In some installations, the bottom edge of the cathode plates is waxed or provided with bottom stripes before metal is deposited thereon. This prevents metal deposition along the lower edge of the cathode plates, and hence the sheets of metal that are deposited on either side of the cathode plate remain separate from each other.

In other installations, the bottom edges of the cathode plates are not waxed or provided with bottom stripes prior to metal deposition, resulting in metal deposition along the bottom edge of the cathode plate as well. The cathodes may have a substantially flat bottom edge (for example, if it is undesirable to destroy the metal deposited along the bottom edge), or alternatively, notches, grooves, or the like can be provided in the bottom edge. This last mentioned type of cathode is designed to aid in the separation of metal from the cathode as described in AU 768314. In this case, the cathode is designed to be electrodeposited with metal. The cathode is designed with a groove on its bottom where metal is deposited to form a brittle area. The groove is shaped such that a line of weakness is formed in the metal deposited inside the groove, so that the separation of the two sheets of deposited metal begins along this line of weakness. In such installations, the sheets of deposited metal on both sides of the cathode plate are connected to each other by metal deposited along the bottom edge. During removal from cathodes on which metal is deposited along the bottom edge, as well as on both sides of the cathode plate, the wedges push the sheets of metal from the sides of the cathode plate to the grippers by about 1520°. The grippers then bring the copper to a horizontal position and pull it to separate.

However, if the metal deposited on the bottom edge of the cathode plate does not break during the initial stripping operation, it is necessary to bend the sheets up and then down until the metal breaks. The grippers are then used to bend the sheets of metal up and down until the connecting metal between the sheets breaks.

In our Australian Patent No. 2010210310, the entire contents of which are incorporated herein by cross-reference, we describe a device for removing metal from a cathode plate. The device contains a stripping means adapted to be placed between the metal and the cathode plate when removing the metal from the cathode plate, while the movement of the stripping means is achieved due to the movement of the robotic arm.

Australian Patent No. 2010210310 describes several ways in which a metal bridge connecting sheets of metal deposited on both sides of a cathode plate can

- 1 041998 be broken so that the metal sheets on both sides of the cathode plate are separated from each other. In this way, two separate sheets of metal are obtained from each cathode plate, the individual sheets of metal being usually placed in a stack containing a number of sheets of metal.

Variants of the device described in Australian Patent No. 2010210310 have been installed in several locations around the world.

In some cathode stripping operations, the cathode deposits do not separate from each other during the stripping process. In other words, the metal bridge that connects the deposited metal sheet on one side of the cathode plate to the deposition from the metal sheet deposited on the other side of the cathode plate is not destroyed during stripping. Typically, after stripping, opposite sheets of metal that are still bridged at the bottom edge are stacked together after stripping. It has been found that such stripping systems are more complex, and in order to achieve high machine output (eg, approximately 500 cathodes per hour), two stripping units were required in the stripping mechanisms.

It will be expressly apparent that if a prior art publication is referred to herein, the reference is not an admission that the publication is part of the general knowledge of the art in Australia or in any other country.

Brief summary of the invention

The present invention relates to a cathode plate stripping method and a cathode plate stripping device, which aim to keep the metal bridge connecting the deposited metal sheets on both sides of the cathode plate intact during the stripping process while ensuring good productivity. In view of the foregoing, the present invention, in one aspect, broadly relates to a method for removing metal deposited on a cathode plate, wherein the cathode plate has a first metal sheet deposited on a first side and a second metal sheet deposited on a second side, with a metal bridge formed on the lower edge of the cathode plate and connecting the first sheet of metal with the second sheet of metal, the method includes moving the first removal device using the first robotic arm to separate the first sheet of metal from the first side of the cathode plate;

moving the second pickup device with the second robotic arm to separate the second metal sheet from the second side of the cathode plate, while the first metal sheet and the second metal sheet remain connected by a metal bridge at the bottom edge;

gripping the cathode plate with the first gripper, the first gripper being associated with the first robotic arm, actuating the first robotic arm to remove the cathode plate from the stripper, and placing the cathode plate in a storage or transport area; and moving the first metal sheet and the second metal sheet to a metal storage area or a metal transportation area.

In one embodiment of the invention, the step of moving the first metal sheet and the second metal sheet to the metal storage area or the metal transport area includes moving the first metal sheet and the second metal sheet to the metal storage area or the metal transportation area using the second robotic arm. In one embodiment of the invention, this may include grasping one or both of the first sheet of metal and the second sheet of metal with a second gripper associated with the second robotic arm and actuating the second robotic arm to move the first sheet of metal and the second sheet of metal into the zone metal storage or metal transportation area.

In one embodiment of the invention, the second sheet of metal is held in place by the side rails and the pusher pushes the first sheet of metal against the picking device (which may be a wedge) and the second gripper associated with the second robotic arm grips the first sheet of metal and/or the second the metal sheet, and the second robotic arm is actuated to move the first metal sheet and the second metal sheet into the metal storage area or the metal transportation area.

In one embodiment, the second sheet of metal is gripped by a second gripper associated with the second robotic arm and the pusher pushes the first sheet of metal against the stripper (which may be a wedge) to close the gap between the first sheet of metal and the second sheet of metal, and the second the robotic arm is actuated to move the first metal sheet and the second metal sheet into the metal storage area or the metal transportation area. In some embodiments, the second gripper grips the first sheet of metal as soon as it is pushed against the second sheet of metal.

In one embodiment of the invention, the second robotic arm moves the first sheet of metal and the second sheet of metal towards the movable support, the second gripper is actuated to release the first sheet of metal and the second sheet of metal, and the movable support moves so that the first sheet of metal and the second sheet metal are moved to the conveyor. Movable support

- 2 041998 may include a tilter having a support surface, while the support surface can move between a lower position in which the support surface is at least partially located under the conveyor, and an upper position in which the support surface extends upward above the conveyor, while the first sheet of metal and the second sheet of metal are moved by the second robotic arm to a position in which the first sheet of metal and the second sheet of metal are supported by the support surface in an up position, the second gripper releases the sheets of metal, and the second robotic arm is actuated to retract the second gripper from the metal sheets, the tilter is actuated so that the support surface moves to the lower position and the metal sheets come into contact with the conveyor and are retracted by the conveyor.

In the method of the present invention, one of the robotic arms is used to remove the cathode plate from the stripper after removing the metal from the cathode plate. Another robotic arm is used to move the stripped metal sheets to the metal transport area or the metal storage area. In this way, a very efficient use of robotic arms is achieved. In addition, the capital costs associated with the use of separate portable means for removing the cathode plate from the stripper after stripping can be avoided.

In one embodiment of the invention, the steps of separating the first sheet of metal and the second sheet of metal from respective sides of the cathode plate include placing a first stripper between the cathode plate and the first sheet of metal, placing a second stripper between the cathode plate and the second sheet of metal, wherein the first stripper is moved by the first robotic arm, and the second stripper is moved by the second robotic arm, moving the first stripper between the first metal sheet and the cathode plate to thereby separate the first metal sheet from the cathode plate, and moving the second stripper between the second metal sheet and cathode plate to thereby separate the second metal sheet from the cathode plate, while the first metal sheet and the second metal sheet remain connected to each other by a metal bridge at the bottom edge.

In preferred embodiments of the present invention, the cathode plates are already bent before being placed in the stripper. Thus, a small gap can be opened from above between the deposited metal sheets and the cathode plate, and the stripping device can then be inserted into these small gaps in the stripping machine to complete the stripping process. The step of bending the cathode plates to partially separate the deposited metal from the cathode plate before inserting the stripper between the cathode plate and the deposited metal sheets is well known in the art.

This invention also relates to a device for stripping metal from cathode plates.

According to a second aspect, the present invention provides a device for stripping metal deposited on a cathode plate, the device including a stripping device having a support for supporting the cathode plate with a first sheet of metal deposited on a first side of the cathode plate and a second sheet of metal deposited on the second side of the cathode plate, wherein the first metal sheet and the second metal sheet are connected to each other by a metal bridge deposited on the lower edge of the cathode plate, while the device contains the first removal mechanism located on the first side of the cathode plate, the first removal mechanism contains the first robotic arm , carrying a first pickup device, wherein the first pickup mechanism has a first gripper associated with the first robotic arm, the first gripper being adapted to grip the cathode plate such that the first robotic arm can be driven to thereby raise the cathode plate from the stripper after removing the first metal sheet and the second metal sheet from the cathode plate;

a second pickup mechanism located on a second side of the cathode plate, the second pickup mechanism comprising a second robotic arm carrying a second pickup device, the second pickup mechanism having a second gripper associated with the second robotic arm, the second gripper adapted to grip one or both of the first metal sheet and the second metal sheet, wherein the second robotic arm can be actuated to move the first metal sheet and the second metal sheet into the metal storage area or the metal transport area after removing the first metal sheet and the second metal sheet from the cathode plate, wherein the first stripping device and the second stripping device are configured to remove the first metal sheet and the second metal sheet from the cathode plate without destroying the metal bridge connecting the first metal sheet and the second metal sheet.

The first stripper and the second stripper are typically inserted into the gap between the deposited metal sheets and the cathode plate. The robotic arm is then driven

- 3 041998 into action to move the first stripping device and the second stripping device along the cathode plate, which actually pushes the first deposited metal sheet and the second deposited metal sheet away from the cathode plate, thereby removing the metal sheet from the cathode plate.

The first pickup device may be connected to the first robotic arm. The second pickup device may be connected to the second robotic arm. The pickup device may be mounted directly on the robotic arm, or it may be mounted indirectly, with one or more intermediate parts between the robotic arm and the pickup device. In one embodiment, the removal device may include one or more insertion means. The insertion means may be adapted to be inserted between the metal and the cathode plate to separate at least a portion of the metal from the cathode plate. Any suitable insertion means may be used, in particular, but not limited to, one or more grips, knives, chisels, wedges, and the like. or any combination of them. In some embodiments of the invention, complementary means may be used, the complementary means adapted to be placed adjacent to the outer surface of the metal such that the inserted means and the additional means form, for example, a pair of grippers adapted to grip at least a portion of the metal. In some embodiments of the invention, one or more insertable means are used. In this embodiment, the insertion means are preferably spaced apart so that the insertion means can be inserted into the gap between the metal and the cathode plate at points along at least a portion of the width of the cathode plate to ensure that the metal is separated from the cathode plate along its entire width.

In some embodiments, the stripping device comprises a stripping means, and the shape of the stripping means may be such that movement of the stripping means between the metal and the cathode plate is sufficient to cause the metal to be stripped from the cathode plate. For example, the stripping means may comprise a wedge-shaped portion, wherein the wedge-shaped portion is inserted with a point between the metal and the cathode plate. Since the wedge is inserted along the metal, the divergent sides of the wedge lead to separation of the metal from the cathode plate. In embodiments of the invention in which a wedge-shaped part is used, it is preferable that the top of the wedge-shaped part is brought to the bottom of the cathode plate.

In a preferred embodiment of the invention, the dimensions of the wedge are such that only a relatively small angle is formed between the cathode and the metal sheet, even when the wedge is brought to the bottom of the cathode plate. In a preferred embodiment, the angle between the metal sheet and the cathode plate is no more than 20°, more preferably no more than 15°, and most preferably about 10° to 12° when the wedge is brought to the bottom of the cathode plate. In a preferred embodiment of the invention, a relatively small angle between the metal sheet and the cathode plate is achieved by using a wedge with a relatively small angle between the sides of the wedge that converge at the top of the wedge. The angle between the sides of the wedge-shaped part is preferably not more than 20°, more preferably not more than 15°, and most preferably about 10 to 12°.

By maintaining a relatively small angle between the cathode plate and the metal during stripping (preferably using a wedge with a relatively small angle between the sides that meet at the top of the wedge), buckling or outward bending of the metal can be reduced or prevented (especially over the bonding metal between sheets of metal) . Furthermore, it is preferable that the dimensions of the wedge portion are such that the height of the wedge portion is approximately equal to the height of the metal sheet, and the width of the wedge portion is approximately equal to the width of the cathode plate. Thus, the contact between the metal and the wedge part can be maximized, and the metal removal process can be carried out with high efficiency.

In some embodiments of the invention, a plurality of wedge-shaped parts may be used. For example, in one preferred embodiment of the invention, four wedge-shaped parts can be used. Preferably, when there are a plurality of wedge-shaped parts, the wedge-shaped parts are located at approximately the same distance from each other across the width of the cathode plate. Preferably, the stripping agents are introduced virtually vertically downwards into the gap between the metal and the cathode plate. While in some embodiments the insertion of the wedge into the gap between the metal and the cathode plate may be sufficient to cause separation of the metal from the cathode plate, in other embodiments the stripping means may be provided with one or more rollers to reduce friction when the stripping agent is introduced into the gap between the metal and the cathode plate. In one embodiment of the invention, the stripping means comprises a pair of rollers. In this embodiment of the invention, it is preferred that one of said pair of rollers is adapted to contact the inner surface of the metal, while the second of said pair of rollers is adapted to contact the surface of the cathode plate. In some embodiments of the invention, one or more rollers may be adapted to be placed on a vertical

- 4 041998 edge of metal or near it when using the device. In a preferred embodiment of the invention, one or more rollers are adapted to be placed on each of the vertical edges of the metal. In this embodiment of the invention, the wedge-shaped part is located between one or more rollers adapted to be placed on each of the vertical edges of the metal.

In another embodiment of the invention, the stripping means comprises at least one bead in contact with the cathode plate and at least one protrusion in contact with the metal. The protrusion may be wedge-shaped. The protrusion may protrude below at least one bead. In this embodiment, at least one roller contacts the cathode plate, thereby minimizing damage to the cathode plate. This is advantageous since the cathode plates are reused many times. Other removal means may also be used in the present invention, such as those described in Australian Patent No. 2010210310. Any suitable robotic arm may be used in the present invention. However, it is preferred that the robotic arm be suitably designed to be able to perform the movements (eg, bending and/or pivoting) required to strip metal from the cathode and move the cathode plate or stripped metal sheets. Thus, it is preferred that the robotic arm has one or more articulated parts which enable the robotic arm to perform the required movements. The robotic arm may be powered by any suitable power source such as, but not limited to, batteries, mains power, generators, solar power, and the like. or any combination of them.

In one embodiment of the invention, each robotic arm may include a first link having a second link rotatably coupled to it. The pickup device can be rotatably connected to the second link of the robotic arm. The first link of the robotic arm may be rotatably connected to the base. The base can rotate around a vertical axis. The first robotic arm may be rotatably coupled to the base, for example about a horizontal axis. The second robotic arm can be connected to the first link for rotation, for example, around a horizontal axis. The removing device can be connected to the second link in a rotatable manner, for example, around a horizontal axis. The robotic arm can be positioned such that the distal end of the second link can move up and down, as well as in and out of the base. The robotic arm can be controlled using a programmable controller. The movement of the robotic arm can be programmed into a programmable controller. The first robotic arm may be programmed to perform a series of first movements. The second robotic arm may be programmed to perform a second set of motions. The robotic arms can be controlled such that the first stripper and the second stripper move simultaneously with each other during stripping of the metal sheets from the cathode plate.

The removal means may be integral with the robotic arm, or the robotic arm may be configured to attach a removal means thereto. The removal means may be attached to the robotic arm by any suitable method. Typically, and most likely, the stripper is connected to the robotic arm with bolts, nuts, or the like. The first gripper may be any suitable device that can grip and hold the cathode plate. The gripper may include one or more clamps, suction cups, clips, or the like. or any combination of them. In some embodiments of the invention, the gripper includes one or more clamps, and these one or more clamps can be actuated electrically, hydraulically, pneumatically, or any combination of these methods.

The first gripper may be mounted on a frame or support that forms part of the first gripper.

The first gripping device may include at least one clip located on one side of the first removing device and at least one clip located on the opposite side of the first removing device. Accordingly, the first gripping device grips the cathode plates from both side edges of the cathode plate to thereby securely hold the cathode plate while the cathode plate is being withdrawn from the stripper.

The second gripper may be any suitable device that can grip and hold the sheet or sheets of metal. The second gripper may include one or more clips, suction cups, clips, or the like. or any combination of them. In some embodiments of the invention, the second gripper includes one or more clamps, and these one or more clamps can be actuated electrically, hydraulically, pneumatically, or any combination of these methods.

The second gripper may include at least one clip located on

- 5 041998 one side of the second removal device, and at least one clip located on the opposite side of the second removal device. Accordingly, the second gripping device grips one or both of the metal sheets from both side edges of the metal sheets to thereby securely hold the metal sheets during the removal of the metal sheets from the stripper. In one embodiment of the invention, a first set of clamps is provided to hold the first sheet of metal, and a second set of clamps is provided to hold the second sheet of metal. The second gripper may be mounted on a frame or support that forms part of the second gripper.

In one embodiment, the grips associated with the first robotic arm are used to grip the edges of the cathode plate and lift it out of the copper sheath (deposited copper). These grippers may have a smooth gripping surface to avoid scratches or other damage to the cathode plate. The grippers associated with the second robotic arm grip the copper sheath (deposited copper). In some embodiments, there are two grippers on each side of the stripping wedge (opposite each other), so both copper sheets are fixed for lifting. The primary grips grip the copper when the downward pulling action is complete. Secondary grippers on the opposite side wait for robotic arm #1 to remove the cathode plate from the inside of the shell. The pushing device pushes the second copper sheet against the wedge so that the secondary grips can grip. The copper grippers are similar in design to the original robotic stripping mechanism described in our Australian Patent #2010210310. In all aspects of the present invention, a bending machine is provided that bends the cathodes prior to stripping the metal sheets from the cathodes. The bending machine bends the cathodes and breaks the adhesive bond between the cathode and at least a portion of the metal. This can be achieved, for example, in accordance with the method described in US patent No. 4840710, or using a removal element that can be moved to rotate in the vertical direction of the cathode, as described in PCT/FI 2004/000719 (WO 2005/ 054546 A1). Any other bending operation known to the person skilled in the art or described in the literature can also be used to form the gaps.

To maintain a gap between the cathode plate and the metal, one or more wedges can be inserted between the metal and the cathode plate. A corresponding example is shown in FIG. 12 and 13 of Australian Patent No. 625243. Alternatively, one or more levers can be inserted between the metal and the cathode plate, and the levers are slightly retracted from the cathode plate to maintain a gap between the metal and the cathode plate. Alternatively, one or more levers can be inserted between the metal and the cathode plate and the metal pushed against the rod to create a slight outward bend in the copper sheet. This prevents the copper sheet from falling back onto the cathode plate. The present invention can be used in both electrowinning plants and electrolytic refining plants.

Any of the features described herein may be combined in any combination with any one or more of the other features described herein, within the scope of the invention.

Reference to any prior art in this specification is not and should not be taken as an endorsement or any form of assertion that the prior art forms part of the general knowledge.

Brief description of the drawings

Various embodiments of the invention will be described with reference to the following drawings, which show the following.

Fig. 1-14 show side views and perspective views of various steps involved in stripping deposited metal from cathode plates in accordance with one embodiment of the present invention. In FIG. 1-14, the robotic arms to which the pickup device is attached have been removed for clarity.

Fig. 15 shows a perspective view of the device according to the present invention, operating in the step of stripping the deposited metal from the cathode plate. In FIG. 15 shows robotic arms.

Fig. 16-18 show a stripper that can be used to strip the deposited metal from the cathode plate and remove the cathode plate from the stripper.

Fig. 19-21 show a stripping device that can be used to strip the deposited metal from the cathode plate and remove the stripped deposited metal from the stripper.

Description of embodiments of the invention

It should be understood that the drawings are given to illustrate the preferred embodiments of the invention. Therefore, one skilled in the art will appreciate that the present invention should not be construed as limited to the features shown in the drawings.

Referring first to FIG. 15, which shows an apparatus suitable for use in the method of this invention, it can be seen that the sheets of deposited metal 12, 14 are removed from the cathode plate 16, on which the sheets of metal were deposited in the electroplating process, or electrodeposition. The cathode plate 16 is usually a stainless steel plate,

- 6 041998 connected to the suspension rod 18. The cathode plate is of a conventional type and needs no further description. The deposited metal 12, 14 is removed from the cathode plate in a stripper 20. The stripper 20 includes a support frame containing four posts, three of which are indicated by 22, 23, 24, and upper horizontal members 25, 26. The support frame carries a cathode plate support (not visible in FIG. 15) which generally guides the cathode plate suspension bar so that the cathode plate 16 extends in a substantially vertical direction. The guides are mounted on the frame along the transverse conveyor and hold the cathode in a vertical position while moving along the conveyor. The plant also has a cathode lifting device, in this case controlled by a hydraulic cylinder, which lifts the cathode plate during the metal stripping operation. Again, the stripper is of a conventional type and will be well understood by one skilled in the art. A chain conveyor 28 is located under the removal unit. A pusher 30 is located on one side of the cathode plate. The pusher 30 contains two racks 31, 32 and a horizontal contact element 33. pusher to the right from the position shown in Fig. 15, an actuator 35 is used so that the pusher contacts one of the deposited metal sheets and moves that deposited metal sheet to the second pickup device (and the other deposited metal sheet that has been deposited onto the cathode plate). The actuator can also move the pusher back to the position shown in FIG. 15. The removal apparatus also includes a tilter (not visible in FIG. 15) located on the side of the cathode plate 16 opposite the pusher 30. The design and operation of the tilter will be described in more detail below. On one side of the stripper is a first robot 36. On the other side of the stripper is a second robot 38. The first robot 36 is partially hidden in FIG. 15. The first robot 36 carries the first pickup device 40 and the second robot 38 carries the second pickup device 42. These are described in more detail below.

The first robot 36 includes a base 43. The base 43 is positioned fixed to the floor. The base 43 carries the robot main body 44. The robot main body 44 is rotatable about a vertical axis. The robot main unit 44 carries the first robot arm 46. The first robot arm 46 is mounted on the robot main unit 44 on an axle or pivot pin 47. The axle or pivot pin 47 allows the first robot arm to rotate about a horizontal axis. The second robot link 48 is mounted at the distal end of the first robot link 46 on an axle or pivot pin 49. Again, the axle or pivot pin 49 allows the second robot arm to rotate about a horizontal axis.

The distal end of the second robot link 48 is provided with a universal joint 50, and the first pickup device 40 is mounted on the universal joint 50. The universal joint 50 includes a horizontal axis 51, a vertical axis 52 and an additional axis 52A, which generally coincides with the longitudinal axis of the link 48. Due to the design of the second link of the robot 38, the second pickup device 42 has a wide range of movement. It can move horizontally, vertically, and also rotate around the horizontal and vertical axes. It should be understood that other robots of a different design can also be used in the present invention.

The first robot 46 and the second robot 48 are of the corresponding conventional type. The movement of the robots is controlled by appropriate controllers and actuators built into the robots. Again, they may be conventional and need no further description.

In FIG. 16, 17, and 18 show a front view, a perspective view, and a side view of the first stripper 40, respectively. 58, either made integral with it, or attached to it. To give the frame additional strength, a number of transverse members are bolted or otherwise attached between adjacent vertical members, some of which are shown at 59 and 60. The top member 56 has a mounting foot 61 attached to it. the first link of the robot. The mounting support 61 includes a short cylinder welded to the top member 56, the short cylinder having a flange attached thereto and a number of gussets welded to the flange and the top member for added strength. Other mounting support designs may also be used.

The first pick-up device 40 also has two gripping means in the form of clips 62, 63 mounted on opposite sides of the frame. The clamps 62, 63 are almost identical to each other. Clamp 62 includes two ears 64, 65 welded or otherwise attached to side plate 53. These ears support pin 66. Attached to pin 66 by short arms 68, 69 is a swivel clamp plate 67. Eccentric arm 70 is rotatably mounted. about axis 71. An actuator, such as a hydraulic cylinder or pneumatic cylinder 72, can be extended and retracted to move the eccentric arm 70 about axis 71, which in turn causes the pin 66 to rotate, which also causes the rotary clamp plate 67 to rotate. In this way, the clamp plate can be selectively opened and closed.

Clamp 63 has an almost identical design. The hydraulic cylinder or pneumatic cylinder 72 can be replaced by other drive devices. As best shown in FIG. 18, clamp 62

- 7 041998 extends beyond the inner periphery of the side member 53. Thus, when the clamp is actuated, the clamp plate 67 can move around the edge of the cathode plate 16 so that the clamp plate 67 can press the cathode plate 16 against the first stripper 40. Clamp 63 acts in a similar manner to press the cathode plate 16 against the first stripper 40. The first stripper 40 also includes a plurality of rollers, some of which are numbered 73, 74. As seen in FIG. 17, the rollers 73 are offset from the rollers 74. In operation, one of the rollers 73 or 74 may contact and roll on the surface of the cathode plate or deposited metal sheet, while the other rollers 73, 74 may contact and roll on the surface of the deposited metal sheet. Thus, possible damage to the cathode plate and the deposited metal sheet, which may be caused by movement of the first stripper along the cathode plate and the first metal sheet, can be minimized. These rollers also support the wedge during the downward stripping operation and reduce friction between the copper-deposited wedge and the cathode plate during movement.

In FIG. 19, 20, and 21 show a front view, a perspective view, and a side view, respectively, of the second pickup device 42. The second pickup device 42 has a number of elements identical to the first pickup device. For convenience, if the second pickup device 42 has the same elements as the first pickup device 40, then the reference numbers used to refer to those elements in the first pickup device 40 will be used to refer to the same elements in FIG. 19-21, but with the addition of '. For example, the wedge 58 of the first stripper 40 corresponds to the wedge 58' in the second stripper 42. These features need not be further described.

The second stripping device 42 differs from the first stripping device 40 in that the second stripping device 42 includes a second set of clips 76, 77. The second set of clips 76, 77 may be of a substantially identical design with virtually identical actuators used for the clips 62, 63 However, as seen in FIG. 21, the clamps 62' and 63' have clamp plates that may extend beyond the outer periphery of the second picker 42, while the clamps 76, 77 have clamp plates that extend beyond the inner periphery of the second picker 42. Thus, the clamps 76 , 77 can be clamped onto a sheet of deposited metal that has been removed from the cathode plate and is near the inner periphery of the second stripper 42 (this corresponds to a sheet of deposited metal that has been removed from the cathode plate on the side of the cathode plate along which the first stripper moves) , while the clamps 62', 63' can be clamped onto the sheet of deposited metal that has been removed from the cathode plate by the second stripper (this corresponds to the sheet of deposited metal that has been removed from the cathode plate on the side of the cathode plate along which the second stripper moves). device).

The second stripper 42 also includes side guides 78, 79 which are mounted on respective side elements 53', 54' of the second stripper 42. The guide 78 includes an angled guide plate having a first section 80 and an outwardly angled second section 81. The guide 78 is mounted on the side plate 82 or formed by the side plate 82 which is welded to the side member 53'. The guide 79 has a virtually identical design. The guides help to hold the second sheet of metal 14 in place with the help of the side guides, and the pusher pushes the first sheet of metal towards the stripper. The guides prevent the cathodes from tilting during the removal operation, which would otherwise cause the cathode deposits to move out of reach of the clamps/grip.

As mentioned above, the first stripper 40 is mounted on the robotic arm of the first robot 36, and the second stripper 42 is mounted on the robotic arm of the second robot 38. removing the cleaned cathode plate from the stripper and moving the stripped metal to a transport area or a storage area will now be described with reference to FIG. 1-14. In FIG. 1-14 robotic arms are not shown for clarity. However, one of skill in the art will appreciate that robotic arms are used to achieve the necessary movements of the first and second pickup devices. Robotic arms can be programmed with the appropriate sequence of commands to make the required movements. Similarly, the control system that controls the movement of the robotic arms may also control the operation of the clamps on the first pickup device and the second pickup device.

Before placing the cathode plate with the deposited metal sheets on it in the stripper, the cathode plate is bent to open a small gap at the top between the deposited metal sheets and the cathode plate. The stripper can be inserted into such small gaps in the stripper to complete the stripping process. The step of bending the cathode plates to partially separate the deposited metal from the cathode plate before placing the stripper between the cathode plate and the deposited metal sheets is well known in the art.

- 8 041998 technology and does not need additional description.

A conventional cathode driver is used to place the thus bent cathode plate into the stripper 20. This is shown in FIG. 1 and 2. In FIG. 1 shows a cathode plate 16 having on it bent sheets of deposited metal 12, 14. FIG. 1 also shows that the first stripper 40 is positioned such that the wedge 58 of the first stripper 40 is placed in the gap between the deposited metal sheet 12 and the cathode plate 16. Similarly, the second stripper 42 is positioned such that its wedge 58' is located in the gap between the deposited metal sheet 14 and the cathode plate 16.

In FIG. 1 and 2 also show a tilter 84. The tilter 84 comprises two spaced apart frame members 85, 86 which are pivotally mounted at their lower ends on an axle 88. Alternatively, instead of using an axle, the lower ends of the frame members 85, 86 may be independently mounted on axles in separate bearings. The bearings are properly aligned with each other. To move the tilter 84 from the vertical position shown in FIG. 1 to a position where the upper end of the tilter 84, as shown in FIG. 1 is lowered to a position where the tilter is located under the top surface of the chain conveyor 28, an actuator 90 may be used, which may be an electric motor having an appropriate gearing system. The operation of the tilter will be described in more detail below. In FIG. 1 and 2 also show the plunger 30. As best shown in FIG. 1, the pusher 30 is positioned so that the horizontal contact member 33 is at a distance from the deposited metal sheet 12 at this stage of the metal removal cycle.

After the wedges 58, 58' are inserted into the gap between the deposited metal sheets 12, 14 and the cathode plate 16 (as shown in FIG. 1), the first robotic arm and the second robotic arm simultaneously move the first stripping device 40 and the second stripping device 42 down along the cathode plate 16 and the corresponding sheets of deposited metal 14, 12. As seen in FIG. 1 and 3, a first pickup device 40 is located on one side of the cathode plate 16 and a second pickup device 42 is located on the other side of the cathode plate 16. In FIG. 3 and 4 show a first stripper 40 and a second stripper 42 positioned such that the lower ends of the respective strippers are adjacent to the lower edge of the cathode plate 16. At this stage, the deposited metal sheets 14, 16 are still bonded to each other along their lower edge, but they are actually separated from the cathode plate 16. In order to ensure the separation of the cathode plate from the deposited metal during the stripping operation, a lifting device (not visible in the drawings), which may form part of the stripping apparatus 20, can also lift the cathode a short distance up (for example, about 70 mm). At this point, the jaws 62, 63 on the first stripper are actuated to grip the cathode plate 16. Similarly, the jaws 62', 63' on the second stripper are actuated to clamp onto the deposited metal sheet 14. The first stripper is then actuated. a robotic arm to begin lifting the first pickup device 40 upwards. This also starts the lifting of the cathode plate 16 from the stripper 20. The first stage of this movement is shown in FIG. 5. As shown in FIG. 5, the first stripper 40 has been moved up a small distance so that there is now a small gap between the metal sheet 12 and the first stripper 40. When the second sheet of deposited metal 14 is gripped by the clamps 62', 63' on the second stripper 42, the second sheet of metal 14 and the attached sheet of metal 12 remain in place.

In FIG. 7 and 8 show the first stripping device 40 which continues to rise upwards by the first robotic arm which practically removes the cathode plate 16 from the stripping machine 20. The pusher 30 is actuated such that the horizontal contact member 33 comes into contact with the metal sheet 12 and pushes the sheet of metal 12 towards the second stripper 42. The jaws 76, 77 are then actuated to grip another sheet of metal 12. Thus, both sheets of metal 12, 14 are grasped by the jaws or grippers mounted on the second stripper 42.

In FIG. 9 and 10, the first pickup device 40 is moved by the first robot into the area of transportation or storage of the cathode plate. At this point, the clamps 62, 63 on the first pickup device 40 can be actuated to release the cathode plate 16. The cathode plate 16 is then either stored or moved as needed. Typically, cathode plate 16 is stored until it is needed for reuse in an electrodeposition or electrowinning plant.

In FIG. 11 and 12 show a second stripping device 42 moved by a second robotic arm so that the deposited metal sheet 14 comes into contact with or abuts against the tilter 84. The clamps 76, 77 and 62', 63' are then actuated to release the respective cathode sheets/ sheet of deposited metal 14 and 12. The second robotic arm is then actuated to lift the second stripper 42 up and away from the sheets of deposited metal 12, 14 so that the sheets of deposited metal 12, 14 remain on the tilter 84. It should be understood that the step shown in fig. 11 and 12 may begin as soon as the lower part of the first stripper 40 is lifted separately above the upper end of the deposited metal sheet 12. In other words, the step until

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Claims (27)

shown in Fig. 11 and 12 may start as soon as the first pickup device 40 reaches the position shown in FIG. 7 and 8. When the second stripper 42 is removed from the space between the deposited metal sheets 12 and 14, the tilter 84 is lowered into the position shown in FIG. 13 and 14. After removing the second stripper 42 from the space between the deposited metal sheets 12 and 14, but while the tilter 84 is still in the position shown in FIG. 11, the pusher 30 may also be actuated to push the deposited metal sheet 12 closer to the deposited metal sheet 14, thereby closing the gap near the upper ends of the deposited metal sheets 12, 14. This step may be optional. In some embodiments, the tilter rotates far enough so that the rear end 92 of the tilter 84 (see FIG. 14) contacts and pushes the metal picked up by the first robot against the metal picked up by the second robot so that the sheets of deposited metal come close to each other. in a horizontal position on the conveyor. When the tilter 84 reaches the position shown in FIG. 13, the tilter 84 is positioned below the top surface of the chain conveyor 28. However, since the sheets of metal 12, 14 are wider than the distance between adjacent chains of the chain conveyor 28, the deposited metal sheet 14 comes into contact with the chains of the chain conveyor 28. Preferably, these chains start operate when a pair of deposited metal sheets 12, 14 enters and moves with the chain conveyor after the tilter 84 reaches the position shown in FIG. 13 and 14. This brings the deposited metal sheets 12, 14 out of the stripper 20 and away from the tilter. In one embodiment of the invention, the conveyor is driven and the chains are started and run a fixed distance each time a pair of cathodic deposition is received. The conveyor may have a standard design and work in the usual way. To prepare the stripper 20 for stripping the deposited metal from the other cathode plate, the pusher 30 is returned to a more vertical position (as shown in FIG. 13) and the tilter 84 is raised back to the position shown in FIG. 1. The next cathode plate with metal deposited thereon can then be placed in the stripper 20 and the sequence of operations can be repeated. Preferred embodiments of the present invention enable efficient handling of cathode plates and stripped metal that has been removed from the cathode plates. This can lead to increased productivity and increased metal production in strippers. In addition, since the cathode plates are removed from the strippers by one of the robots, a separate cathode plate handler is not required to remove the stripped cathode plates from the stripper. In the present description and the claims (if any), the word containing and its derivatives, including contains and contain, include each of these systems, but do not exclude the inclusion of one or more additional systems. Reference throughout this specification to one embodiment or embodiment means that a particular feature, structure, or characteristic described in connection with said embodiment is included in at least one embodiment of the present invention. Thus, the presence of phrases in one embodiment or in an embodiment in various places throughout this description does not necessarily refer to the same embodiment. In addition, specific features, designs, or characteristics may be combined in any suitable manner into one or more combinations. In accordance with the law, the invention is described in language more or less characteristic of the features of the design or method. It is to be understood that the invention is not limited to the specific features shown or described, as long as the means described herein includes the preferred embodiments of the invention. Therefore, the invention is claimed in any of its forms or modifications within the proper scope of the appended claims (if any) as properly understood by those skilled in the art. CLAIM 1. A method for removing metal deposited on a cathode plate, wherein the cathode plate has a first metal sheet deposited on a first side and a second metal sheet deposited on a second side, with a metal bridge formed on the lower edge of the cathode plate connecting the first metal sheet with a second sheet of metal, the method comprising placing the cathode plate in a stripper; moving the first stripping device with the first robotic arm to separate the first sheet of metal from the first side of the cathode plate; moving the second pickup device with the second robotic arm to separate the second metal sheet from the second side of the cathode plate, while the first metal sheet and the second metal sheet remain connected by a metal bridge at the bottom edge; gripping the cathode plate with the first gripping device, wherein the first gripping - 10 041998 the device is associated with the first robotic arm, and actuating the first robotic arm to remove the cathode plate from the installation for removing and placing the cathode plate in a storage area or a transportation area; holding the second sheet of metal in place with the side rails and pushing the first sheet of metal against the second picking device with the pusher; and moving the first metal sheet and the second metal sheet to a metal storage area or a metal transportation area. 2. The method of claim 1, wherein the step of moving the first metal sheet and the second metal sheet to the metal storage area or the metal transportation area includes moving the first metal sheet and the second metal sheet to the metal storage area or the metal transportation area using the second robotic arm. 3. The method of claim 2, comprising grasping one or both of the first metal sheet and the second metal sheet with a second gripper associated with the second robotic arm and actuating the second robotic arm to move the first metal sheet and the second metal sheet in metal storage area or metal transportation area. 4. The method of claim 3, wherein the second metal sheet is gripped by a second gripper associated with the second robotic arm and the pusher pushes the first metal sheet towards the second picker to close the gap between the first metal sheet and the second metal sheet, and the second robotic the manipulator is actuated to move the first metal sheet and the second metal sheet into the metal storage area or the metal transportation area. 5. The method of claim 4, wherein the second gripping device grips the first sheet of metal as soon as it is pushed against the second sheet of metal. 6. The method according to any one of claims 3 to 5, wherein the second robotic arm moves the first sheet of metal and the second sheet of metal towards the movable support, the second gripper is actuated to release the first sheet of metal and/or the second sheet of metal, and the movable the support is moved so that the first sheet of metal and the second sheet of metal are transferred to the conveyor. 7. The method according to claim 6, in which the movable support includes a tilter having a support surface, and the support surface can move between a lower position in which the support surface is at least partially located under the conveyor, and an upper position in which the support surface extends upward over the conveyor, wherein the first metal sheet and the second metal sheet are moved by the second robotic arm to a position in which the first metal sheet and the second metal sheet are supported by the support surface in the up position, the second gripper releases the metal sheets, and the second robotic arm is driven actuated to move the second gripper away from the metal sheets, and the tilter is actuated such that the support surface moves to a lower position and the metal sheets come into contact with the conveyor and are retracted by the conveyor. 8. A method according to any one of the preceding claims, wherein the steps of separating the first metal sheet and the second metal sheet from respective sides of the cathode plate include placing a first stripping device between the cathode plate and the first metal sheet, placing a second stripping device between the cathode plate and the second metal sheet, wherein the first pickup device is moved by the first robotic arm and the second pickup device is moved by the second robotic arm; moving the first stripper between the first metal sheet and the cathode plate to thereby separate the first metal sheet from the cathode plate, and moving the second stripper between the second metal sheet and the cathode plate to thereby separate the second metal sheet from the cathode plate, wherein the first the sheet of metal and the second sheet of metal remain connected by a metal bridge at the bottom edge. 9. The method according to any one of the preceding claims, wherein the cathode plates are already bent before being placed in the stripper to open a small gap from above between the deposited metal sheets and the cathode plate, and subsequently the stripper is inserted into these small gaps in the stripper to complete removal process. 10. A device for stripping metal deposited on a cathode plate, comprising a stripper having a support for supporting the cathode plate with a first sheet of metal deposited on a first side of the cathode plate and a second sheet of metal deposited on a second side of the cathode plate, the first sheet metal and the second sheet of metal are connected by a metal bridge deposited on the lower edge of the cathode plate, while the device contains the first removing mechanism located on the first side of the cathode plate, and the first removing mechanism contains the first robotic arm carrying the first removing device, while the first removing mechanism has a first gripper associated with a first robotic arm, the first gripper being adapted to grip the cathode plate such that the first robotic arm can be actuated to thereby lift the cathode plate out of the stripper after taking off - 11 041998 ti the first sheet of metal and the second sheet of metal from the cathode plate; a second pickup mechanism located on a second side of the cathode plate, the second pickup mechanism comprising a second robotic arm carrying a second pickup device, the second pickup mechanism having a second gripper associated with the second robotic arm, the second gripper adapted to grip one or both of the first metal sheet and the second metal sheet, wherein the second robotic arm can be actuated to move the first metal sheet and the second metal sheet into the metal storage area or the metal transport area after removing the first metal sheet and the second metal sheet from the cathode plate, the first stripping device and the second stripping device are configured to remove the first metal sheet and the second metal sheet from the cathode plate without destroying the metal bridge connecting the first metal sheet and the second metal sheet, side guides for holding holding the second sheet of metal in place; and a pusher for pushing the first sheet of metal towards the second stripper. 11. The apparatus of claim 10, wherein the first pickup device is connected to the first robotic arm and the second pickup device is connected to the second robotic arm. 12. The apparatus of claim 11, wherein the first pickup device is mounted directly on the first robotic arm and the second pickup device is mounted directly on the second robotic arm, or the first pickup device is mounted indirectly, with one or more intermediate parts between the first robotic arm and the first pickup device, and the second pickup device is installed indirectly, with one or more intermediate parts between the second robotic arm and the second pickup device. 13. A device according to any one of claims 10-12, wherein the stripping device includes one or more insertion means adapted to be inserted between the metal and the cathode plate to separate at least a portion of the metal from the cathode plate. 14. The apparatus of claim 13, wherein the insertion means is one or more of grips, knives, chisels, wedges, and the like. or any combination of them. 15. The device of claim 13 or 14, further comprising a complementary means adapted to be placed adjacent to the outer surface of the metal such that the insertion means and the complementary means form a pair of grippers adapted to grasp at least a portion of the metal. 16. The device according to any one of claims 13 to 15, comprising a plurality of insertion means, the insertion means being spaced apart such that the insertion means are inserted into the gap between the metal and the cathode plate at points along at least a portion of the width of the cathode plate, to ensure the separation of the metal from the cathode plate across its entire width. 17. An apparatus according to any one of claims 10 to 16, wherein the stripper comprises a stripper and the shape of the stripper is such that insertion of the stripper between the metal and the cathode plate is sufficient to cause the metal to be stripped from the cathode plate. 18. The device according to claim 17, wherein the stripping means comprises a wedge-shaped portion, wherein the wedge-shaped portion is inserted with a point between the metal and the cathode plate. 19. The apparatus of claim 18 wherein the top of the wedge portion is brought to the bottom of the cathode plate during removal. 20. Apparatus according to claim 18 or 19, wherein the dimensions of the wedge portion are such that the angle between the metal sheet and the cathode plate is no more than 20°, or no more than 15°, or approximately 10-12° when the wedge portion is brought to the bottom cathode plate. 21. The apparatus of claim 20, wherein the angle between the sides of the wedge portion is not more than 20°, or not more than 15°, or about 10-12°. 22. An apparatus according to any one of claims 18-21, wherein the dimensions of the wedge portion are such that the height of the wedge portion is approximately equal to the height of the metal sheet and the width of the wedge portion is approximately equal to the width of the cathode plate. 23. An apparatus according to any one of claims 18 to 22, wherein a plurality of wedge-shaped portions are provided. 24. The apparatus of claim 23, wherein the wedge-shaped portions are approximately equidistant from each other across the width of the cathode plate. 25. Apparatus according to any one of claims 17 to 24, wherein the stripping means is provided with one or more rollers to reduce friction when the stripping means is introduced into the gap between the metal and the cathode plate. 26. The device according to claim 25, wherein the stripping means comprises a pair of rollers, wherein one of said pair of rollers is adapted to contact the inner surface of the metal, while the second of said pair of rollers is adapted to contact the surface of the cathode plate. 27. The device according to claim 25 or 26, in which one or more rollers are adapted to accommodate -