Robot system and method for maintenance of base plates in electrometallurgical and industrial processes

Abstract

At present, the maintenance of base plates in electrometallurgical processes is carried out manually which increases the maintenance costs and decreases the quality and the useful life of the base plates. Due to the above, a robot system and method have been developed for the polishing and replacement of base plates insulation in an automated way. The robotic system is composed mainly of a robotic manipulator ( 1 ) of at least 5 degrees of freedom, and a gripping mechanism ( 2 ) which allows to take the polishing device ( 3 ), also the system has a second robotic manipulator ( 4 ) that a gripping mechanism ( 5 ) replaces the base plates insulations.

1 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes, comprising two anthropomorphous robotic arms of at least 5 degrees of freedom, each of which is provided with one control, communication and programming unit, one gripper adapter, one pneumatic gripper, its fingers, one pneumatic gripper driving system, one electric supply system, one polishing device and a tool holder wherein the first anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a multifunctional gripping mechanism which allows in a sequential and programmed way to take a polishing device from a tool holder located at one of its sides, and move it through a defined path to the polishing area where the polishing process of the base plates is carried out and once this task is ended a second anthropomorphous robotic arm of at least 5 degrees of freedom carries out the replacement of base plates insulation in an automated way.  
     
     
         2 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.  
     
     
         3 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes 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.  
     
     
         4 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes 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.  
     
     
         5 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein a multifunctional gripping mechanism is used to manipulate and polish the base plates.  
     
     
         6 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein a multifunctional gripper is used to remove and replace the insulation and also to move the base plates.  
     
     
         7 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein it has the capacity to move, manipulate and release the polishing device for the base plates and/or cathodes in different paths within the work volume of the robotic system.  
     
     
         8 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein the anthropomorphous robotic arms of at least 5 degrees of freedom are mounted on a fixed and/or mobile support.  
     
     
         9 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein a multifunctional pneumatic gripper is used which allows in a sequential and programmed way to take, manipulate and release the polishing device of the base plates and/or cathodes.  
     
     
         10 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein a pneumatic gripper is used comprising of at least 4 fingers, which allows to grasp and/or release the polishing device of the base plates and/or cathodes.  
     
     
         11 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein a multifunctional pneumatic gripping mechanism is used to carry out the automated replacement of base plates insulation in a sequential and programmed way.  
     
     
         12 . A robot system for el the maintenance of base plates in electrometallurgical and industrial processes 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.  
     
     
         13 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein productivity and efficiency in the polishing procedures of the base plates and the replacement of base plates insulation in electrometallurgical processes of different metals increases.  
     
     
         14 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein the system may operate automatically, or semiautomatically, and also allows solutions scalability.  
     
     
         15 . A robot system for el the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein the system could be integrated to the ISA process and the Kidd process.  
     
     
         16 . A robot system for the maintenance of base plates in electrometallurgical and industrial processes according to  claim 1 , wherein it prevents the plant personnel from being subjected to a high physical demand and harsh environmental conditions.  
     
     
         17 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein the first anthropomorphous robotic arm of at least 5 degrees of freedom is provided with a multifunctional gripping mechanism which allows in a sequential and programmed way to take a polishing device from a tool holder located at one of its sides, and moves it through a defined path, to the polishing area where the polishing process of the base plates will take place, so as once this process is ended a second anthropomorphous robotic arm of at least 5 degrees of freedom replaces the insulation of base plates in an automated way.  
     
     
         18 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein the anthropomorphous robotic manipulator could communicate by itself or through a PLC interface with the control system.  
     
     
         19 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein the anthropomorphous robotic manipulator has the capacity to obtain and interpret the information from installed analogue and/or digital sensors.  
     
     
         20 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein the anthropomorphous robotic manipulator has the capacity to generate analogue and/or digital signals to control the analogue and/or digital inputs devices.  
     
     
         21 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein a multifunctional gripping mechanism is used to manipulate and polish the base plates.  
     
     
         22 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein a multifunctional gripping mechanism is used to remove and replace the insulation and also moves the base plates.  
     
     
         23 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein it has the capacity to move, manipulate and release the polishing device of the base plates and/or cathodes in different paths within the work volume of the robotic system.  
     
     
         24 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein the anthropomorphous robotic arms of at least 5 degrees of freedom are mounted on a fixed and/or mobile support.  
     
     
         25 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein a multifunctional gripping mechanism is used to take, manipulate and release in a sequential and programmed way the base plates and/or cathodes.  
     
     
         26 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein a pneumatic gripping mechanism is used comprising at least 4 fingers which allow to grasp and/or release the polishing device of base plates and/or cathodes.  
     
     
         27 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein a multifunctional gripping mechanism is used to replace in a sequential and programmed way the insulation of the base plates and/or cathodes in an automated way.  
     
     
         28 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein productivity and efficiency in the polishing procedures of the base plates and replacement of the insulation of base plates in electrometallurgical processes of different metals.  
     
     
         29 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein the system may operate automatically or semiautomatically, and also allows solution scalability.  
     
     
         30 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein the system could be integrated both to the ISA process and to the Kidd process.  
     
     
         31 . Method for the maintenance of base plates in electrometallurgical and industrial processes using the robot System of  claim 1  to  16 , wherein it prevents the plant personnel from being subjected to a high physical demand and hash environmental conditions.