Grinding ball transport tooling and linkage control method and system between the tooling and the crane

Abstract

The present invention relates to the field of intelligent manufacturing technology, and discloses a method and system for controlling a grinding ball transport tool and its linkage with a crane, thereby achieving precise control of the grinding ball unloading process in harsh environments. The method comprises: marking the position coordinates of each unloading platform in the planned route of the crane, and binding the mapping relationship between each pressure sensor and the corresponding unloading platform; tracking the change data of the corresponding pressure sensor in sequence during the descent process after the crane hook reaches the upper part of the corresponding unloading platform; when the pressure sensor data suddenly changes and increases to a maximum value, it is determined that the unloading platform and the tool have completed contact; then, the hook descends to a corresponding height according to a preset statistical experience value and stops descending, wherein, when the pressure sensor data begins to decrease from the maximum value, it is determined that the tool has started unloading; after detecting that the pressure sensor data no longer decreases, it is determined that unloading is complete, and then the crane is instructed to lift the hook to transfer the tool to the target position.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a grinding ball transport tooling and a linkage control method and system with a crane. Background Art

[0002] Grinding balls are widely used in metallurgical mines, mineral processing plants, cement plants, new building materials and other technical fields. Their main function is to act as grinding media, crushing and grinding materials such as ore, limestone, and coal in the ball mill through self-grinding and mutual impact friction. They can be divided into cast grinding balls and forged grinding balls. Their main chemical components include: carbon, silicon, manganese, chromium, sulfur, phosphorus, etc.

[0003] The production and preparation of grinding balls involves many processes. The specific processes can be referred to CN113308640A applied for by the applicant in this case. During the switching process between different processes, due to the heavy weight of the grinding balls, tooling and cranes are usually required to frame, transfer, transport and unload the grinding balls. During the unloading process of some grinding balls, manual control is impossible due to space and obstacles in the factory. How to ensure the precise control of the unloading process of the grinding balls in harsh environments has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of the present invention is to disclose a grinding ball transport tooling and a linkage control method and system with a crane, so as to achieve precise control of the grinding ball unloading process under harsh environments.

[0005] To achieve the above-mentioned purpose, the present invention discloses a grinding ball transport tool, comprising:

[0006] A symmetrical cylindrical body integrally formed by a first inclined surface, a second inclined surface, a first vertical surface, a second vertical surface, a third vertical surface, and a fourth vertical surface, with both an upper opening and a lower opening being rectangular; the first vertical surface and the third vertical surface are disposed opposite each other and are each composed of a rectangle and a trapezoid; the second vertical surface and the fourth vertical surface are disposed opposite each other and are each rectangular; the first inclined surface is rectangular and connected to the edges of the first vertical surface, the second vertical surface, and the third vertical surface; the second inclined surface is rectangular and connected to the edges of the first vertical surface, the fourth vertical surface, and the second vertical surface; the first inclined surface and the second inclined surface are located at the bottom so that the rectangular opening at the bottom is smaller than the rectangular opening at the top;

[0007] The bottom of the first inclined surface is hinged to the first bottom plate, and the bottom of the second inclined surface is hinged to the second bottom plate. The shape of the first bottom plate is consistent with the shape of the second bottom plate, and the first bottom plate and the second bottom plate are respectively provided with a first connecting portion extending from the first vertical surface and a second connecting portion extending from the third vertical surface on both sides.

[0008] At least one limiting hole is provided in the middle on the outer facades of the first vertical surface and the third vertical surface;

[0009] The lower end of the first connecting rod passes through the limiting hole on the outer surface of the first vertical surface and is fixed to the middle part of the second connecting rod to form an inverted T shape. The first end of the second connecting rod is movably riveted to the third connecting rod, and the other end of the third connecting rod is movably riveted to the first connecting portion of the first bottom plate. The other end of the second connecting rod is movably riveted to the fourth connecting rod, and the other end of the fourth connecting rod is movably riveted to the first connecting portion of the second bottom plate.

[0010] The lower end of the fifth connecting rod passes through the limiting hole on the outer surface of the third vertical plane and is fixed to the middle part of the sixth connecting rod to form an inverted T shape. The first end of the sixth connecting rod is movably riveted to the seventh connecting rod, and the other end of the seventh connecting rod is movably riveted to the second connecting portion of the first bottom plate. The other end of the sixth connecting rod is movably riveted to the eighth connecting rod, and the other end of the eighth connecting rod is movably riveted to the second connecting portion of the second bottom plate.

[0011] The upper end of the first connecting rod extends out of the upper rectangular opening and is fixed with a first snap ring, and the upper end of the fifth connecting rod extends out of the upper rectangular opening and is fixed with a second snap ring;

[0012] A detachable straight rod with both ends capable of passing through the first and second clasps, with the middle section used for docking with the crane hook;

[0013] The areas of the first bottom plate and the second bottom plate are sufficient to maintain the sealing state of the lower opening of the tooling on flat ground when the hook lifts the entire tooling, and after the first inclined surface and the second inclined surface press against the unloading platform, the hook is lowered to a corresponding height to form an opening for unloading the grinding balls.

[0014] To achieve the above-mentioned purpose, the present invention further discloses a linkage control method between a grinding ball transport tooling and a crane, comprising:

[0015] Step S1: The processor of the industrial computer marks the position coordinates of each unloading platform in the planned driving route; and binds the mapping relationship between each pressure sensor and the corresponding unloading platform;

[0016] Step S2: During the process of the crane hook descending after reaching the upper part of the corresponding unloading platform, the processor sequentially tracks the change data of the matching pressure sensor. When the pressure sensor data suddenly changes and increases to the maximum value, it is determined that the unloading platform and the tooling have completed contact. After that, the hook descends to a corresponding height according to a preset statistical experience value and stops descending to prevent the straight rod and the hook from separating and slipping. In this process, when the pressure sensor data starts to decrease from the maximum value, it is determined that the tooling has started unloading. After the tooling starts unloading, when it is detected that the pressure sensor data no longer decreases, it is determined that the unloading is completed, and then the crane is instructed to lift the hook to transfer the tooling to the target position.

[0017] Wherein, the tooling includes:

[0018] A symmetrical cylindrical body integrally formed by a first inclined surface, a second inclined surface, a first vertical surface, a second vertical surface, a third vertical surface, and a fourth vertical surface, with both an upper opening and a lower opening being rectangular; the first vertical surface and the third vertical surface are disposed opposite each other and are each composed of a rectangle and a trapezoid; the second vertical surface and the fourth vertical surface are disposed opposite each other and are each rectangular; the first inclined surface is rectangular and connected to the edges of the first vertical surface, the second vertical surface, and the third vertical surface; the second inclined surface is rectangular and connected to the edges of the first vertical surface, the fourth vertical surface, and the second vertical surface; the first inclined surface and the second inclined surface are located at the bottom so that the rectangular opening at the bottom is smaller than the rectangular opening at the top;

[0019] The bottom of the first inclined surface is hinged to the first bottom plate, and the bottom of the second inclined surface is hinged to the second bottom plate. The shape of the first bottom plate is consistent with the shape of the second bottom plate, and the first bottom plate and the second bottom plate are respectively provided with a first connecting portion extending from the first vertical surface and a second connecting portion extending from the third vertical surface on both sides.

[0020] At least one limiting hole is provided in the middle on the outer facades of the first vertical surface and the third vertical surface;

[0021] The lower end of the first connecting rod passes through the limiting hole on the outer surface of the first vertical surface and is fixed to the middle part of the second connecting rod to form an inverted T shape. The first end of the second connecting rod is movably riveted to the third connecting rod, and the other end of the third connecting rod is movably riveted to the first connecting portion of the first bottom plate. The other end of the second connecting rod is movably riveted to the fourth connecting rod, and the other end of the fourth connecting rod is movably riveted to the first connecting portion of the second bottom plate.

[0022] The lower end of the fifth connecting rod passes through the limiting hole on the outer surface of the third vertical plane and is fixed to the middle part of the sixth connecting rod to form an inverted T shape. The first end of the sixth connecting rod is movably riveted to the seventh connecting rod, and the other end of the seventh connecting rod is movably riveted to the second connecting portion of the first bottom plate. The other end of the sixth connecting rod is movably riveted to the eighth connecting rod, and the other end of the eighth connecting rod is movably riveted to the second connecting portion of the second bottom plate.

[0023] The upper end of the first connecting rod extends out of the upper rectangular opening and is fixed with a first snap ring, and the upper end of the fifth connecting rod extends out of the upper rectangular opening and is fixed with a second snap ring;

[0024] A detachable straight rod with both ends capable of passing through the first and second clasps, with the middle section used for docking with the crane hook;

[0025] The areas of the first base plate and the second base plate are sufficient to maintain the sealing state of the lower opening of the tooling on flat ground when the hook lifts the entire tooling, and after the first inclined surface and the second inclined surface press against the unloading platform, the hook is lowered to a corresponding height to form an opening for unloading the grinding balls; each unloading platform is fixed with at least one pressure sensor at the joint where it abuts the first inclined surface or the second inclined surface, and each of the pressure sensors establishes a communication connection with the industrial computer that controls the crane.

[0026] Furthermore, the present invention discloses a linkage control system between a grinding ball transport tooling and a crane, comprising an industrial computer for executing the above-described method and the tooling described above. Optionally, the tooling is available in at least two sizes; the same tooling can be paired with different cranes connected to the industrial computer for time-sharing switching.

[0027] The present invention has the following beneficial effects:

[0028] 1. The tooling is simple to prepare and has a certain degree of symmetry as a whole, which facilitates maintaining the center of gravity balance and the coordination of the movements between the various connecting parts of the first and second base plates during loading and unloading; and effectively avoids slippage between the straight rod and the hook during unloading.

[0029] 2. The tooling is in contact with the unloading platform with the first inclined surface and the second inclined surface, so that the alignment during the unloading process has adaptive adjustment.

[0030] 3. If the pressure sensor is deployed on the first or second inclined surface, the industrial computer cannot make an accurate judgment on the matching relationship between the two toolings and the crane when the two toolings are operating in parallel. If a positioning module is installed on the tooling, on the one hand, the cost is increased, and on the other hand, the movement within the factory is small, and its positioning accuracy usually cannot meet the resolution requirements. In contrast, the present invention deploys pressure sensors on the abutting surface of the unloading platform and marks the position coordinates of each unloading platform; and binds the mapping relationship between each pressure sensor and the corresponding unloading platform. This can meet the requirements of multiple cranes operating multiple toolings synchronously, accurately identify the matching relationship between the crane hook and the unloading platform, and analyze the state switching during the unloading process based on the data of the pressure sensor, so as to accurately and automatically realize automatic unloading in harsh environments.

[0031] 4. The present invention is applicable to tooling with different cylinder height specifications while meeting the condition of abutment of the unloading platform, thereby improving flexibility.

[0032] 5. The straight rod connected to the hook is detachable, which is convenient for layered stacking of tooling, thereby achieving the technical effect of saving space under specific needs.

[0033] The present invention will be described in further detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of the grinding ball transport tooling disclosed in an embodiment of the present invention.

[0036] Figure 2 The present invention is a flowchart of a method for controlling a processor in an industrial computer disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered by the claims.

[0038] Example 1

[0039] This embodiment discloses a grinding ball transport tool, comprising:

[0040] A symmetrical cylinder is integrally formed by a first inclined surface, a second inclined surface, a first vertical surface, a second vertical surface, a third vertical surface and a fourth vertical surface, and the upper opening and the lower opening are both rectangular; the first vertical surface and the third vertical surface are arranged opposite to each other and are each composed of a rectangle and a trapezoid, the second vertical surface and the fourth vertical surface are arranged opposite to each other and are each rectangular, the first inclined surface is rectangular and connected to the edges of the first vertical surface, the second vertical surface and the third vertical surface, the second inclined surface is rectangular and connected to the edges of the first vertical surface, the fourth vertical surface and the second vertical surface, and the first inclined surface and the second inclined surface are located at the bottom so that the rectangular opening at the bottom is smaller than the rectangular opening at the top.

[0041] The bottom of the first inclined surface is hinged to the first bottom plate, and the bottom of the second inclined surface is hinged to the second bottom plate; the shape of the first bottom plate is consistent with the shape of the second bottom plate, and the first bottom plate and the second bottom plate are respectively provided with a first connecting portion extending from the first vertical surface and a second connecting portion extending from the third vertical surface on both sides.

[0042] At least one limiting hole is provided in the middle of each of the first vertical surface and the third vertical surface. Preferably, the number of the limiting holes on the two vertical surfaces is two, one on each side, so as to limit the first connecting rod and the fifth connecting rod to a vertical shape.

[0043] The lower end of the first connecting rod passes through the limiting hole on the outer surface of the first vertical plane and is fixed to the middle part of the second connecting rod to form an inverted T shape. The first end of the second connecting rod is movably riveted to the third connecting rod, and the other end of the third connecting rod is movably riveted to the first connecting part of the first base plate. The other end of the second connecting rod is movably riveted to the fourth connecting rod, and the other end of the fourth connecting rod is movably riveted to the first connecting part of the second base plate.

[0044] The lower end of the fifth connecting rod passes through the limiting hole on the outer surface of the third vertical plane and is fixed to the middle part of the sixth connecting rod to form an inverted T shape. The first end of the sixth connecting rod is movably riveted to the seventh connecting rod, and the other end of the seventh connecting rod is movably riveted to the second connecting part of the first base plate. The other end of the sixth connecting rod is movably riveted to the eighth connecting rod, and the other end of the eighth connecting rod is movably riveted to the second connecting part of the second base plate.

[0045] The upper end of the first connecting rod extends out of the upper rectangular opening and is fixed with a first clamping ring, and the upper end of the fifth connecting rod extends out of the upper rectangular opening and is fixed with a second clamping ring.

[0046] A detachable straight rod with both ends capable of passing through a first clamping ring and a second clamping ring respectively, and a middle section for docking with a crane hook.

[0047] The areas of the first bottom plate and the second bottom plate are sufficient to maintain the sealing state of the lower opening of the tooling on flat ground when the hook lifts the entire tooling, and after the first inclined surface and the second inclined surface press against the unloading platform, the hook is lowered to a corresponding height to form an opening for unloading the grinding balls.

[0048] In this embodiment, preferably, the connection structure between the first clasp and the first connecting portion and the connection structure between the second clasp and the second connecting portion are mirror images of each other, so that the tooling as a whole also has symmetry, thereby achieving that when the straight rod moves up and down, the first connecting portion and the second connecting portion of the first base plate and the second base plate can synchronously perform opening and closing actions of consistent scale. Thereby, during the preparation process of each component, the structure and size of the first connecting rod and the fifth connecting rod are consistent, the structure and size of the second connecting rod and the sixth connecting rod are consistent, and the structure and size of the third connecting rod, the fourth connecting rod, the seventh connecting rod and the eighth connecting rod are consistent; the structure and size of the first clasp and the second clasp are consistent. Optionally, the two ends of the first connecting rod can be fixed to the second connecting rod and the first clasp respectively by welding. Similarly, the two ends of the fifth connecting rod can also be fixed to the sixth connecting rod and the second clasp respectively by welding. It is worth noting that the dimensional consistency described in this embodiment includes complete consistency and small errors within a certain range. As long as the error can ensure that when the straight rod moves up and down, the first connecting part and the second connecting part of the first base plate and the second base plate can synchronously perform opening and closing actions with consistent dimensions, deformations within this error range fall within the scope of protection of the present invention.

[0049] Thus, a grinding ball transport tool based on the above structure is specifically as follows Figure 1 As shown, the correspondence between the shown numbers and the above-mentioned components is specifically as follows: 1 is the second retaining ring, 2 is the second vertical surface, 3 is the first inclined surface, 4 is the limiting hole, 5 is the first connecting rod, 6 is the first vertical surface, 7 is the second connecting rod, 8 is the third connecting rod, 9 is the fourth connecting rod, 10 is the second inclined surface, 11 is the first base plate (provided with the first connecting portion extending from the first vertical surface as shown and the second connecting portion extending from the third vertical surface not shown), and 12 is the second base plate (provided with the first connecting portion extending from the first vertical surface as shown and the second connecting portion extending from the third vertical surface not shown).

[0050] In this embodiment, each unloading platform (equipped with a hollow unloading channel, and the unloading channel allows the first base plate and the second base plate to achieve unobstructed opening and closing operations within a certain range of dimensions) is fixed with at least one pressure sensor at the joint where it abuts the first inclined surface or the second inclined surface. Each of the pressure sensors establishes a communication connection with the industrial computer that controls the driving. The industrial computer includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and as Figure 2 As shown, when the processor executes the computer program, it is used to perform the following steps:

[0051] Step S1: Mark the position coordinates of each unloading platform in the planned driving route; and bind the mapping relationship between each pressure sensor and the corresponding unloading platform.

[0052] In this step, a three-dimensional spatial map of the factory building where the crane is located is optionally created, and the three-dimensional spatial coordinates of each unloading platform are marked. As an alternative, in the subsequent step S2 of this embodiment, the driving route planned for the above-mentioned tooling at each unloading port can also be constructed based on a two-dimensional plane coordinate system. In other words, only the plane coordinate system position of the hook directly above each unloading platform is required to automatically complete the lifting and lowering monitoring of the special tooling.

[0053] Step S2: As the crane hook descends after reaching the top of the corresponding unloading platform, the changing data of the matching pressure sensor is tracked in sequence. When the pressure sensor data suddenly changes and increases to the maximum value, it is determined that the unloading platform and the tooling have completed contact. The hook then descends to a certain height based on a preset statistical experience value and stops descending to prevent the straight rod from separating from the hook and slipping. During this process, when the pressure sensor data begins to decrease from the maximum value, it is determined that the tooling has begun unloading. After the tooling begins unloading, when the pressure sensor data no longer decreases, it is determined that unloading is complete, and the crane is then instructed to lift the hook to transfer the tooling to the target position. Typically, the process from contact to the start of unloading lasts for a short period of time, and this maximum value remains basically unchanged.

[0054] In this step, in order to ensure the safety of the above-mentioned special tooling of various specifications during the unloading process, the statistical empirical value of the constraint hook descent should be based on the minimum value of the maximum distance (or called "height", which will not be elaborated later) of the first connecting rod and the second connecting rod in the above-mentioned special tooling of various specifications when they synchronously descend under the action of the gravity of the grinding balls, and must be greater than the maximum value of the minimum distance when they synchronously descend under the action of the gravity of the grinding balls. Generally: the maximum height range after descending from the maximum value of the pressure sensor data should be less than the minimum value of the maximum distance.

[0055] Furthermore, the steps performed by the industrial computer processor also include:

[0056] Step S3: The processor estimates the weight and / or quantity of the grinding balls according to the maximum and minimum values ​​of the corresponding pressure sensors.

[0057] In this step, the difference between the maximum and minimum values ​​of the pressure sensor data is the result of the gravity acting on the grinding balls as a whole. At the same time, the minimum value can also represent the size, specifications, weight and other properties of the tooling itself, so that the weight of the grinding balls as a whole can be calculated by deduction. Furthermore, if the grinding balls corresponding to the factory building are unique in specifications, or different specifications of tooling classifications correspond to grinding balls of different specifications, the number of grinding balls can be further determined, thereby avoiding the impact of too many grinding balls in the later process links, such as during grinding.

[0058] Example 2

[0059] Corresponding to the above embodiment, this embodiment discloses a method for controlling the linkage between a grinding ball transport tool and a crane. The tool is the same as that in embodiment 1 and will not be described in detail. Figure 2 , the linkage control method of this embodiment includes:

[0060] Step S1: The processor of the industrial computer marks the position coordinates of each unloading platform in the planned driving route; and binds the mapping relationship between each pressure sensor and the corresponding unloading platform.

[0061] Step S2: During the process of the crane hook descending after reaching the upper part of the corresponding unloading platform, the processor sequentially tracks the change data of the matching pressure sensor. When the pressure sensor data suddenly changes and increases to the maximum value, it is determined that the unloading platform and the tooling are in contact. After that, the hook descends to a corresponding height according to a preset statistical experience value and then stops descending to avoid separation and slippage of the straight rod and the hook. In this process, when the pressure sensor data starts to drop from the maximum value, it is determined that the tooling has started unloading. After the tooling starts unloading, after detecting that the pressure sensor data no longer decreases, it is determined that the unloading is completed, and then the crane is instructed to lift the hook to transfer the tooling to the target position.

[0062] When the hook lifts the tooling after unloading, the first and second base plates, acting under the tensile force transmitted by the connecting rods, re-seal the bottom. This allows the industrial computer to accurately and in real time identify the timing corresponding to each stage of the unloading process based on the data evolution patterns of the corresponding pressure sensors, thereby achieving precise switching and coordinated control of each stage of automatic unloading.

[0063] Preferably, the method of this embodiment further includes:

[0064] Step S3: The processor estimates the weight and quantity of the grinding balls according to the maximum and minimum values ​​of the corresponding pressure sensors.

[0065] Furthermore, when at least two pressure sensors are deployed on the same unloading platform, the monitoring data from each group of pressure sensors is averaged. This can also improve the overall fault response capability of the system. For example, if some (but not all) pressure sensors on the same unloading platform fail, the basic functions intended by the present invention can still be achieved.

[0066] Example 3

[0067] This embodiment discloses a linkage control system between a grinding ball transport fixture and a crane, comprising the industrial computer and specialized fixture described in the aforementioned embodiment. In this embodiment, the fixture can be configured with at least two sizes, including cylinder height, while ensuring contact with the unloading platform. Furthermore, the same fixture can be time-shared with different cranes connected to the industrial computer during pairing.

[0068] In summary, the grinding ball transport fixture and the method and system for controlling the linkage with the crane disclosed in the above embodiments of the present invention have at least the following beneficial effects:

[0069] 1. The tooling is simple to prepare and has a certain degree of symmetry as a whole, which facilitates maintaining the center of gravity balance and the coordination of the movements between the various connecting parts of the first and second base plates during loading and unloading; and effectively avoids slippage between the straight rod and the hook during unloading.

[0070] 2. The tooling is in contact with the unloading platform with the first inclined surface and the second inclined surface, so that the alignment during the unloading process has adaptive adjustment.

[0071] 3. If the pressure sensor is deployed on the first or second inclined surface, the industrial computer cannot make an accurate judgment on the matching relationship between the two toolings and the crane when the two toolings are operating in parallel. If a positioning module is installed on the tooling, on the one hand, the cost is increased, and on the other hand, the movement within the factory is small, and its positioning accuracy usually cannot meet the resolution requirements. In contrast, the present invention deploys pressure sensors on the abutting surface of the unloading platform and marks the position coordinates of each unloading platform; and binds the mapping relationship between each pressure sensor and the corresponding unloading platform. This can meet the requirements of multiple cranes operating multiple toolings synchronously, accurately identify the matching relationship between the crane hook and the unloading platform, and analyze the state switching during the unloading process based on the data of the pressure sensor, so as to accurately and automatically realize automatic unloading in harsh environments.

[0072] 4. The present invention is applicable to tooling with different cylinder height specifications while meeting the condition of abutment of the unloading platform, thereby improving flexibility.

[0073] 5. The straight rod connected to the hook is detachable, which is convenient for layered stacking of tooling, thereby achieving the technical effect of saving space under specific needs.

[0074] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A grinding ball transport tool, characterized in that: include: A symmetrical cylindrical body integrally formed by a first inclined surface, a second inclined surface, a first vertical surface, a second vertical surface, a third vertical surface, and a fourth vertical surface, with both an upper opening and a lower opening being rectangular; the first vertical surface and the third vertical surface are disposed opposite each other and are each composed of a rectangle and a trapezoid; the second vertical surface and the fourth vertical surface are disposed opposite each other and are each rectangular; the first inclined surface is rectangular and connected to the edges of the first vertical surface, the second vertical surface, and the third vertical surface; the second inclined surface is rectangular and connected to the edges of the first vertical surface, the fourth vertical surface, and the second vertical surface; the first inclined surface and the second inclined surface are located at the bottom so that the rectangular opening at the bottom is smaller than the rectangular opening at the top; The bottom of the first inclined surface is hinged to the first bottom plate, and the bottom of the second inclined surface is hinged to the second bottom plate. The shape of the first bottom plate is consistent with the shape of the second bottom plate, and the first bottom plate and the second bottom plate are respectively provided with a first connecting portion extending from the first vertical surface and a second connecting portion extending from the third vertical surface on both sides. At least one limiting hole is provided in the middle on the outer facades of the first vertical surface and the third vertical surface; The lower end of the first connecting rod passes through the limiting hole on the outer surface of the first vertical surface and is fixed to the middle part of the second connecting rod to form an inverted T shape. The first end of the second connecting rod is movably riveted to the third connecting rod, and the other end of the third connecting rod is movably riveted to the first connecting portion of the first bottom plate. The other end of the second connecting rod is movably riveted to the fourth connecting rod, and the other end of the fourth connecting rod is movably riveted to the first connecting portion of the second bottom plate. The lower end of the fifth connecting rod passes through the limiting hole on the outer surface of the third vertical plane and is fixed to the middle part of the sixth connecting rod to form an inverted T shape. The first end of the sixth connecting rod is movably riveted to the seventh connecting rod, and the other end of the seventh connecting rod is movably riveted to the second connecting portion of the first bottom plate. The other end of the sixth connecting rod is movably riveted to the eighth connecting rod, and the other end of the eighth connecting rod is movably riveted to the second connecting portion of the second bottom plate. The upper end of the first connecting rod extends out of the upper rectangular opening and is fixed with a first snap ring, and the upper end of the fifth connecting rod extends out of the upper rectangular opening and is fixed with a second snap ring; A detachable straight rod with both ends capable of passing through the first and second clasps, with the middle section used for docking with the crane hook; The areas of the first bottom plate and the second bottom plate are sufficient to maintain the sealing state of the lower opening of the tooling on flat ground when the hook lifts the entire tooling. After the first and second inclined surfaces press against the unloading platform, the hook is lowered to a corresponding height to form an opening for unloading the grinding balls. At least one pressure sensor is fixed to each unloading platform at a joint where it abuts the first inclined surface or the second inclined surface, and each of the pressure sensors establishes a communication connection with an industrial computer that controls the crane.

2. The grinding ball transport tooling according to claim 1, wherein the industrial computer comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, it is configured to perform the following steps: Step S1: Mark the position coordinates of each unloading platform in the planned driving route; and bind the mapping relationship between each pressure sensor and the corresponding unloading platform; Step S2: When the crane hook reaches the upper part of the corresponding unloading platform and descends, the changing data of the corresponding pressure sensor is tracked in sequence. When the pressure sensor data suddenly changes and increases to the maximum value, it is determined that the unloading platform and the tooling have completed contact; Afterwards, the hook drops to a corresponding height according to the preset statistical experience value and then stops dropping to avoid separation and slippage of the straight rod and the hook. During this process, when the pressure sensor data starts to drop from the maximum value, it is determined that the tooling has started unloading; after the tooling starts unloading, after detecting that the pressure sensor data no longer decreases, it is determined that the unloading is completed, and then the crane is instructed to lift the hook to transfer the tooling to the target position.

3. The grinding ball transport tooling according to claim 2, characterized in that: Also includes: Step S3: The processor estimates the weight and / or quantity of the grinding balls according to the maximum and minimum values ​​of the corresponding pressure sensors.

4. A linkage control method between a grinding ball transport tooling and a crane, characterized in that: include: Step S1: The processor of the industrial computer marks the position coordinates of each unloading platform in the planned driving route; And bind the mapping relationship between each pressure sensor and the corresponding unloading platform; Step S2: During the process of the crane hook descending after reaching the upper portion of the corresponding unloading platform, the processor sequentially tracks the change data of the matching pressure sensor during the process of the crane hook descending after reaching the upper portion of the corresponding unloading platform. When the pressure sensor data suddenly changes and increases to a maximum value, it is determined that the unloading platform and the tooling have completed contact; Afterwards, the hook descends to a certain height based on a preset statistical empirical value and then stops to prevent the straight rod from separating from the hook and slipping. During this process, when the pressure sensor data starts to decrease from the maximum value, it is determined that the tooling has started unloading. After the tooling starts unloading, when it detects that the pressure sensor data no longer decreases, it is determined that unloading is complete, and then the crane is instructed to lift the hook to transfer the tooling to the target location. Wherein, the tooling includes: A symmetrical cylindrical body integrally formed by a first inclined surface, a second inclined surface, a first vertical surface, a second vertical surface, a third vertical surface, and a fourth vertical surface, with both an upper opening and a lower opening being rectangular; the first vertical surface and the third vertical surface are disposed opposite each other and are each composed of a rectangle and a trapezoid; the second vertical surface and the fourth vertical surface are disposed opposite each other and are each rectangular; the first inclined surface is rectangular and connected to the edges of the first vertical surface, the second vertical surface, and the third vertical surface; the second inclined surface is rectangular and connected to the edges of the first vertical surface, the fourth vertical surface, and the second vertical surface; the first inclined surface and the second inclined surface are located at the bottom so that the rectangular opening at the bottom is smaller than the rectangular opening at the top; The bottom of the first inclined surface is hinged to the first bottom plate, and the bottom of the second inclined surface is hinged to the second bottom plate. The shape of the first bottom plate is consistent with the shape of the second bottom plate, and the first bottom plate and the second bottom plate are respectively provided with a first connecting portion extending from the first vertical surface and a second connecting portion extending from the third vertical surface on both sides. At least one limiting hole is provided in the middle on the outer facades of the first vertical surface and the third vertical surface; The lower end of the first connecting rod passes through the limiting hole on the outer surface of the first vertical surface and is fixed to the middle part of the second connecting rod to form an inverted T shape. The first end of the second connecting rod is movably riveted to the third connecting rod, and the other end of the third connecting rod is movably riveted to the first connecting portion of the first bottom plate. The other end of the second connecting rod is movably riveted to the fourth connecting rod, and the other end of the fourth connecting rod is movably riveted to the first connecting portion of the second bottom plate. The lower end of the fifth connecting rod passes through the limiting hole on the outer surface of the third vertical plane and is fixed to the middle part of the sixth connecting rod to form an inverted T shape. The first end of the sixth connecting rod is movably riveted to the seventh connecting rod, and the other end of the seventh connecting rod is movably riveted to the second connecting portion of the first bottom plate. The other end of the sixth connecting rod is movably riveted to the eighth connecting rod, and the other end of the eighth connecting rod is movably riveted to the second connecting portion of the second bottom plate. The upper end of the first connecting rod extends out of the upper rectangular opening and is fixed with a first snap ring, and the upper end of the fifth connecting rod extends out of the upper rectangular opening and is fixed with a second snap ring; A detachable straight rod with both ends capable of passing through the first and second clasps, with the middle section used for docking with the crane hook; The areas of the first base plate and the second base plate are sufficient to maintain the sealing state of the lower opening of the tooling on flat ground when the hook lifts the entire tooling, and after the first inclined surface and the second inclined surface press against the unloading platform, the hook is lowered to a corresponding height to form an opening for unloading the grinding balls; each unloading platform is fixed with at least one pressure sensor at the joint where it abuts the first inclined surface or the second inclined surface, and each of the pressure sensors establishes a communication connection with the industrial computer that controls the crane.

5. The linkage control method between the grinding ball transport tooling and the crane according to claim 4 is characterized in that: Also includes: Step S3: The processor estimates the weight and quantity of the grinding balls according to the maximum and minimum values ​​of the corresponding pressure sensors.

6. The linkage control method between the grinding ball transport tooling and the crane according to claim 4 or 5, characterized in that: When at least two pressure sensors are deployed on the same unloading platform, the monitoring data of each group of pressure sensors are averaged.

7. A linkage control system between a grinding ball transport tooling and a crane, characterized in that: include: An industrial computer for executing the method according to any one of claims 4 to 6, and further comprising the tooling according to claim 1 or 2.

8. The linkage control system between the grinding ball transport fixture and the crane according to claim 7 is characterized in that: The tooling has at least two corresponding sizes.

9. The linkage control system between the grinding ball transport fixture and the crane according to claim 7 or 8, characterized in that: The same tooling can be switched in time during the pairing process with different cranes connected to the industrial computer.

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