A full-automatic unattended precise supplement steel ball robot system and a working method thereof

Abstract

The application discloses a full-automatic unattended precise steel ball supplementing robot system and a working method thereof. The system comprises an intelligent three-dimensional motion device, an electromagnetic lifting device, a steel ball storage bin, a PLC control cabinet and a steel ball receiving and distributing device. The electromagnetic lifting device is driven by the electric trolley of the intelligent three-dimensional motion device to move, and when reaching the top of the steel ball storage bin, the electric trolley makes a half-turn motion to the inner side of the track of the three-dimensional motion device, drives the steel wire rope of the lifting device to swing, and the electromagnetic suction cup automatically attracts a steel ball on the surface of the steel ball storage bin. The weighing and distance measuring sensor automatically counts, and then the trolley continues to move along the track and accurately puts the ball into the steel ball receiving and distributing device and sends the ball into the ball mill. The application adjusts the frequency of ball supplementing according to the running condition of the ball mill in real time, realizes continuous and accurate steel ball supplementing, guarantees the stability of the ball supplementing operation process of the ball mill and the rationality of the steel ball ratio, and effectively reduces the operation energy consumption of the ball mill and unnecessary steel ball loss.

Description

Technical Field

[0001] This invention relates to the field of grinding technology, and in particular to a fully automated, unattended, precision steel ball replenishment robot system and its working method. Background Technology

[0002] As a crucial piece of equipment in mineral processing plants, ball mills ensure the fineness of grinding and achieve liberation of individual minerals. Steel balls are typically used as the grinding media in ball mills. During operation, the steel balls wear down continuously, and their quantity and ratio change. Therefore, it is necessary to add steel balls to the ball mill in real time to stabilize the filling rate and ratio, ensuring grinding efficiency and production capacity.

[0003] Traditional steel ball feeding is typically done manually. Operators first add steel balls to the ball hopper, then a crane lifts them into the feeding hopper for further loading. This process is extremely cumbersome, increasing labor intensity, raising the risk of accidents, reducing efficiency, and causing inaccurate and untimely ball loading. Furthermore, the instantaneous addition of steel balls into the ball mill chamber can easily cause blockages in the feeding pipes, sudden increases in the ball mill load, and increased steel ball wear. An automated ball feeding system promises to solve these problems.

[0004] Currently, the automatic ball feeding system used in ball mills has the following problems: 1. The ball grabbing mechanism often grabs balls from the bottom of the ball storage bin, which easily causes ball jamming and blockage at the channel opening; 2. The ball grabbing mechanism has insufficient contact accuracy, which easily leads to ball leakage; 3. The ball feeding is uneven and cannot be adjusted according to the actual working conditions of the ball mill, resulting in insufficient continuity and stability of the ball mill's operation. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a fully automated, unattended, and precise steel ball replenishment robot system and its working method. This system adjusts the ball replenishment frequency in real time according to the ball mill's operating conditions, achieving continuous and precise steel ball replenishment. This ensures the stability of the ball mill replenishment process and the rationality of the steel ball ratio, and effectively reduces energy consumption and unnecessary steel ball loss during ball mill operation.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a fully automatic unattended precision steel ball replenishment robot system, including an intelligent three-dimensional motion device, an electromagnetic lifting device (3), a steel ball storage bin (4), a PLC control cabinet (5), a steel ball receiving and distributing device, and an electromagnetic chuck body (13); the electromagnetic chuck body (13) is connected below the suspension steel cable of the electromagnetic lifting device (3).

[0007] In a preferred embodiment, the intelligent three-dimensional motion device includes a running track (1) and an electric trolley (2); the intelligent three-dimensional motion device is located above the steel ball storage bin (4) in the factory building, and the electric trolley (2) moves along the track under the drive of the walking motor (8); the electric trolley (2) is connected to a steel wire rope below, and the lifting motor (11) drives the electromagnetic lifting device (3) to lift and lower, and the weighing and distance measuring sensor (10) automatically monitors the lifting mass of the electromagnetic lifting device (3) and displays the mass reading on the display screen (9).

[0008] In a preferred embodiment, the steel ball receiving and distributing device includes a receiving hopper (6) and a belt conveyor (7); the steel ball receiving and distributing device is installed on the side of the steel ball inlet of the ball mill; the electromagnetic lifting device (3) is used to transport the steel balls under the drive of the intelligent three-dimensional motion device; the receiving hopper (6) receives the steel balls transported by the electromagnetic lifting device (3) and rolls them into the ball mill cavity through the belt conveyor (7); the PLC control cabinet (5) intelligently controls the movement of each device.

[0009] In a preferred embodiment, the running track (1) encircles the ball storage chamber side one and a half times inward, and the area it encircles is larger than the bottom area of ​​the ball storage chamber (4); the electric trolley (2) moves under the constraint of the running track (1), and its journey is from the ball mill side to the ball storage chamber side, and after encircling the ball storage chamber side one and a half times inward, it returns to the initial position; the electric trolley is composed of a walking motor (8), a lifting motor (11), a weighing and distance measuring sensor (10), and an intelligent display screen (9). The walking motor (8) and the lifting motor (11) drive the trolley to move within the range of track travel and lifting height. The weighing and distance measuring sensor (10) and the intelligent display screen (9) monitor that the electromagnetic lifting device (3) below attracts only one steel ball at a time.

[0010] In a preferred embodiment, the electromagnetic chuck body (13) is composed of a central cylindrical shell and a lower shell; an iron core (12) and a coil (14) are installed inside the shell.

[0011] In a preferred embodiment, the lower shell is semi-ellipsoidal with a bottom radius to bottom height ratio a:b = 2~7; the middle cylindrical shell has a radius to height ratio a:h = 1~3; and the bottom radius to steel ball radius ratio a:r = 0.85~1.2.

[0012] In a preferred embodiment, the outer shell of the electromagnetic chuck body (13) is made of austenitic stainless steel, the coil (14) is made of copper, and the core (12) is made of ferrite.

[0013] This invention also provides a working method for a fully automated, unattended, precision steel ball replenishment robot system, which employs the aforementioned fully automated, unattended, precision steel ball replenishment robot system; including the following steps:

[0014] Step 1: The electric trolley (2) moves to the top of the steel ball storage bin (4) under the drive of the walking motor (8). The lifting motor (11) controls the electromagnetic chuck body (13) to descend to a suitable height. At the same time, the electric trolley (2) continues to move one and a half turns inward along the ring surface of the track (1), causing the electromagnetic lifting device (3) to swing downward.

[0015] Step 2: The electromagnetic chuck (13) just happens to attract a steel ball to the lower surface of the semi-ellipsoidal shell;

[0016] Step 3: The electromagnetic chuck (13) is raised to a higher height, and the electric trolley (2) continues to move along the running track (1) to the initial position. The electromagnetic chuck (13) is de-energized and demagnetized, releasing the steel ball from attraction. The steel ball is fed to the belt conveyor (7) via the receiving hopper (6) and slowly sent into the ball mill chamber to complete the ball addition.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The excitation component of the present invention generates a strong magnetic holding force, and the gradient magnetic field can just pass through the steel ball to be attracted, which is beneficial to ensure that the steel ball is stably held.

[0019] 2. The self-attracting ball-adding mechanism of the present invention has high ball-contact accuracy, can achieve the purpose of adding one ball at a time, and is easy to control.

[0020] 3. The ball-adding mechanism of the present invention has low energy consumption and can avoid local overheating of the excitation coil. Attached Figure Description

[0021] Figure 1 This is a schematic diagram showing the layout of the intelligent ball feeder system for a magnetic ball mill within the factory building.

[0022] Figure 2 This is a cross-sectional structural diagram of an electromagnetic lifting device.

[0023] Figure 3 Schematic diagram of the intelligent three-dimensional motion device

[0024] Figure 4 This is a schematic diagram showing the interaction between the encapsulated lifting electromagnet and the steel ball.

[0025] Figure 5 Simulation diagram of magnetic flux density modulus and magnetic potential energy of internal cross section of lifting electromagnet.

[0026] The labels in the diagram are as follows: 1-Running track, 2-Electric trolley, 3-Electromagnetic lifting device, 4-Steel ball storage bin, 5-PLC control cabinet, 6-Steel ball receiving hopper, 7-Belt conveyor, 8-Walking motor, 9-Intelligent display screen, 10-Weighing and distance measuring sensor, 11-Lifting motor, 12-Iron core, 13-Electromagnetic chuck, 14-Coil. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the exemplary implementations according to this application; as used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise; furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] A fully automated, unattended, precision steel ball replenishment robot system, reference Figure 1-5 It is used for automatic steel ball feeding in ball mills and is installed inside the ball mill workshop. It includes an intelligent three-dimensional motion device (1) (2), an electromagnetic lifting device (3), a steel ball storage bin (4), a PLC control cabinet (5), and a steel ball receiving and distributing device (6) and (7).

[0031] The electromagnetic lifting device (3) is connected to the electromagnetic chuck (13) body below the suspension cable. The electromagnetic chuck (13) body is equipped with a coil (12) and an iron core (14) as an excitation component. The electromagnetic chuck (11) shell structure is a cylinder at the top and a semi-ellipsoid at the bottom. The ratio of bottom radius to bottom height a:b=2~7; the ratio of the radius to height of the middle cylinder a:h=1~3; the ratio of bottom radius to steel ball radius a:r=0.85~1.2.

[0032] The three-dimensional motion device includes a running track (1) and an electric trolley (2). The running track (1) circles inward one and a half times from the side closest to the ball mill, and the area it surrounds is larger than the bottom area of ​​the ball storage hopper (4). The electric trolley (2) moves under the constraint of the running track (1), and its stroke moves from the ball mill side to the ball mill side (e.g., ...). Figure 3As indicated by the arrow), the electric trolley returns to its initial position after circling inwards one and a half times. The electric trolley consists of a walking motor (8), a lifting motor (11), a weighing and distance measuring sensor (10), and an intelligent display screen (9). The motors (8) and (11) drive the trolley to move within the range of track travel and lifting height. The weighing and distance measuring sensor (10) and the intelligent display screen (9) monitor that the lifting electromagnet (3) below attracts only one steel ball at a time.

[0033] Work process: Step 1, the electric trolley (2) moves to the top of the steel ball storage bin (4) under the drive of the walking motor (8), and the lifting motor (11) controls the electromagnetic chuck body (13) to descend to a suitable height. At the same time, the electric trolley (2) continues to move inward one and a half times along the ring surface of the track (1), driving the electromagnetic lifting device (3) to swing downward.

[0034] Step 2: The electromagnetic chuck (13) just happens to attract a steel ball onto the lower surface of the semi-ellipsoidal shell.

[0035] Step 3: The electromagnetic chuck (13) is raised to a higher height, and the electric trolley (2) continues to move along the running track (1) to the initial position. The electromagnetic chuck (13) is de-energized and demagnetized, releasing the steel ball from the attraction. The steel ball is fed to the belt conveyor (7) via the receiving hopper (6) and slowly sent into the ball mill chamber, completing the ball loading.

Claims

1. A fully automated, unattended, precision steel ball replenishment robot system, characterized in that, It includes an intelligent three-dimensional motion device, an electromagnetic lifting device (3), a steel ball storage bin (4), a PLC control cabinet (5), a steel ball receiving and distributing device, and an electromagnetic chuck body (13); the electromagnetic lifting device (3) is connected to the electromagnetic chuck body (13) below the suspension steel cable. The intelligent three-dimensional motion device includes a running track (1) and an electric trolley (2); the electric trolley consists of a walking motor (8), a lifting motor (11), a weighing and distance measuring sensor (10), and an intelligent display screen (9); the intelligent three-dimensional motion device is located above the steel ball storage bin (4) in the factory building, and the electric trolley (2) moves along the track under the drive of the walking motor (8); the electric trolley (2) is connected to a steel wire rope below, and the lifting motor (11) drives the electromagnetic lifting device (3) to lift and lower, and the weighing and distance measuring sensor (10) automatically monitors the lifting mass of the electromagnetic lifting device (3) and displays the mass reading on the display screen (9); The running track (1) encircles the ball storage chamber one and a half times inwards, and the area it encircles is larger than the bottom area of ​​the ball storage chamber (4); the electric trolley (2) moves under the constraint of the running track (1), and its journey is from the ball mill side to the ball storage chamber side, and after encircling the ball storage chamber one and a half times inwards, it returns to the initial position; the weighing and distance measuring sensors (10) and the intelligent display screen (9) monitor that the electromagnetic lifting device (3) below attracts only one steel ball at a time; The electromagnetic chuck body (13) is composed of a central cylindrical shell and a lower shell; an iron core (12) and a coil (14) are installed inside the shell; the outer shell of the electromagnetic chuck body (13) is made of austenitic stainless steel, the coil (14) is made of copper, and the iron core (12) is made of ferrite. The lower shell is semi-ellipsoidal, with a bottom radius to bottom height ratio a:b = 2~7; the middle cylindrical shell has a radius to height ratio a:h = 1~3; and a bottom radius to steel ball radius ratio a:r = 0.85~1.

2.

2. The fully automated, unattended, precision steel ball replenishment robot system according to claim 1, characterized in that, The steel ball receiving and distributing device includes a receiving hopper (6) and a belt conveyor (7); the steel ball receiving and distributing device is installed on the side of the steel ball inlet of the ball mill; the electromagnetic lifting device (3) is used to transport the steel balls under the drive of the intelligent three-dimensional motion device; the receiving hopper (6) receives the steel balls transported by the electromagnetic lifting device (3) and rolls them into the ball mill cavity through the belt conveyor (7); the PLC control cabinet (5) intelligently controls the movement of each device.

3. A working method for a fully automated, unattended, precision steel ball replenishment robot system, characterized in that... The fully automated, unattended, precision steel ball replenishment robot system described in any one of claims 1-2 includes the following steps: Step 1: The electric trolley (2) moves to the top of the steel ball storage bin (4) under the drive of the walking motor (8). The lifting motor (11) controls the electromagnetic chuck body (13) to descend to a suitable height. At the same time, the electric trolley (2) continues to move one and a half turns inward along the ring surface of the track (1), causing the electromagnetic lifting device (3) to swing downward. Step 2: The electromagnetic chuck body (13) just happens to attract a steel ball to the lower surface of the semi-ellipsoidal shell; Step 3: The electromagnetic chuck body (13) is raised to a higher height, and the electric trolley (2) continues to move along the running track (1) to the initial position. The electromagnetic chuck body (13) is de-energized and demagnetized, releasing the steel ball from attraction. The steel ball reaches the belt conveyor (7) via the receiving hopper (6) and is slowly sent into the ball mill chamber to complete the ball addition.

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