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

Abstract

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

1 . Robot System for a transfer station for cathodes or base plates comprising an anthropomorphous robotic arm of at least 5 degrees of freedom, one control, communication and programming unit, one gripper adapter, one pneumatic gripper, its fingers, one pneumatic gripper driving system, one electric supply system wherein the anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a gripping mechanism which allows in a synchronized way to take the base plates or cathodes from an equipment or mechanism so as to move, redirect, and release the plates synchronized with a second equipment or mechanism which acts as bridge between the equipment or mechanisms.  
     
     
         2 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein a anthropomorphous robotic arm of at least 5 degrees of freedom is used which allows to carry out in a sequential and synchronized way the transfer of base plates between two different equipment or mechanisms.  
     
     
         3 . Robot System for a transfer station for cathodes or base plates according to  claim 1  wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.  
     
     
         4 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.  
     
     
         5 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control analogue and/or digital input devices.  
     
     
         6 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom is provided with a pneumatic gripping mechanism which allows to take, manipulate and release, a cathode and/or base plate to move it in different paths within the work volume of the robotic system.  
     
     
         7 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein a pneumatic gripping mechanism is used to take the cathodes and/or base plates according to certain operating logics.  
     
     
         8 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors, with vectorial and/or scalar control.  
     
     
         9 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein it has the capacity to move and manipulate the base plates in different paths within the work volume of the robotic system.  
     
     
         10 . Robot System for a transfer station for cathodes or base plates according to  claim 1 , wherein the anthrophomorphous robotic arm of at least 5 degrees of freedom is mounted on a fixed and/or mobile support located between the two equipments of mechanisms.  
     
     
         11 . Robot System for transfer station for cathodes or base plates according to  claim 1 , wherein it could be integrated to the ISA process and the Kidd Process.  
     
     
         12 . Robot System for transfer station for cathodes or base plates according to  claim 1 , wherein it could be integrated not only to electrowinning processes of different metals such as copper, zinc, but also it could be used transfer processes in a wide range of other industrial productive processes.  
     
     
         13 . Robot System for transfer station for cathodes or base plates according to  claim 1 , wherein productivity and efficiency in the transfer process of cathodes and/or base plates increases.  
     
     
         14 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein an anthropomorphous robotic manipulator of at least 5 degrees of freedom and a gripping mechanism are used which allows in a synchronized way to take base plates or cathodes from an equipment or mechanism, so as the base plates can be moved, redirected and released synchronized with a second equipment or mechanism which acts as bridge between the equipment or mechanisms.  
     
     
         15 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein an anthropomorphous robotic manipulator of at least 5 degrees of freedom is used which allows carrying out in a sequential and synchronized way the transfer of base plates between the two different equipment or mechanisms.  
     
     
         16 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.  
     
     
         17 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.  
     
     
         18 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.  
     
     
         19 . A robotic method transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein an anthropomorphous robotic manipulator of at least 5 degrees of freedom is used and it is provided with a pneumatic gripping mechanism which allows to take, manipulate and release a cathode and/or base plate to move it in different paths within the work volume of the robot system.  
     
     
         20 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein a pneumatic gripping mechanisms is used to take and release the cathodes and base plates according to a certain operating logics.  
     
     
         21 . A robotic method transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein the anthropomorphous robotic manipulator has an electrical system driven by three-stage induction motors with vectorial and/or scalar control.  
     
     
         22 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein it has the capacity to move and manipulate the base plates in different paths within the work volume of the robotic system.  
     
     
         23 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein the anthropomorphous robotic manipulator of at least 5 degrees of freedom is mounted on a fixed and/or mobile support between the two equipment or mechanisms.  
     
     
         24 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein it could be integrated to the ISA process and to the Kidd process.  
     
     
         25 . A robotic method for transfer procedures of cathodes or base plates using the robot System of  claim 1  to  13 , wherein it could be integrated not only to electro-winning processes of different metals such as copper, zinc, but also it could be used transfer processes in a wide range of other industrial productive processes.  
     
     
         26 . A robotic method for transfer procedures of cathodes or base plates using the robot System of claim N o   1  to N o    13 , wherein productivity and efficiency in the transfer process of cathodes and/or base plates increases.