Load parameter detection method and device for lining plate radial pressure type ball mill

Abstract

The invention discloses a method and a device for detecting load parameters of a lining plate radial pressure type ball mill, and belongs to the field of automatic detection in a beneficiation process. According to the invention, a radial pressure signal and an original point position signal borne by a measuring lining plate are obtained through a force sensor and a position sensor which are arranged on a ball mill cylinder, and the signals are transmitted to a detection host through a wireless transmitter-receiver. The method comprises the following steps: calculating the position angle of a measuring lining plate and the radial pressure of the measuring lining plate according to a position signal and a radial pressure signal, establishing a radial pressure dynamic data matrix corresponding to each position angle, filtering the dynamic data matrix to obtain a filtered data matrix, and calculating the radial pressure of the measuring lining plate on the basis of the filtered data matrix. And calculating the loading capacity, the filling rate and the steel-to-material ratio of the ball mill through a related mathematical model. The loading capacity, the filling rate and the steel-to-material ratio of the ball mill can be accurately detected on line, and positive effects are achieved on intelligent control over ore grinding classification, reduction of energy consumption and steel consumption and improvement of the ore grinding efficiency and the product percent of pass.

Description

Technical Field

[0001] The invention discloses a liner radial pressure ball mill load parameter detection method and device, belonging to the field of automatic detection of mineral processing. Background Art

[0002] Wet ball mill is the most commonly used grinding equipment in the mineral processing industry. The internal load of the wet ball mill is composed of steel balls, ore and water. When the ball mill cylinder rotates, the steel balls are lifted up by the friction of the inner wall of the ball mill cylinder. When the rising angle exceeds the separation angle, the steel balls fall down. The ore is crushed by the impact of the falling steel balls and the grinding between the steel balls and the inner wall of the cylinder. There are many factors that affect the grinding efficiency, including the steel medium filling rate, the ratio of steel medium to ore materials (steel-to-material ratio), loading capacity, grinding concentration and other factors. The steel medium filling rate, loading capacity, steel-to-material ratio and so on are collectively referred to as load parameters. Practice shows that the steel medium filling rate, loading capacity and steel-to-material ratio are important factors affecting the grinding effect. Reasonable load parameters are the premise for achieving efficient operation and energy saving and consumption reduction of the ball mill, and are also important factors affecting the particle size of the mill product. When the filling rate, loading capacity and steel-to-material ratio are in a reasonable state, efficient grinding effect can be obtained.

[0003] Traditional single-factor load parameter detection methods for ball mills mainly include: current method, sound method, useful power method, vibration method, etc. The current method determines the load of the ball mill based on the magnitude and change of the current intensity of the mill. However, in fact, from empty grinding to full grinding, the current of the ball mill does not change significantly with the load. Only when it is severely overloaded will the current change significantly. The sound method uses the sound emitted by the ball mill to be related to the internal material load, so the mill load is judged according to the difference in sound. There are many factors that affect the detection of the sound method, such as the noise generated by the surrounding ball mills, material hardness, particle size, material load, medium load, grinding concentration, and changes in circulating load. The current method uses the single peak value correspondence between the current intensity of the ball mill motor and the ball mill load to indirectly detect the mill load, but before the ball mill is overloaded, the current intensity does not change significantly with the ball mill load. The vibration method uses the characteristics of the vibration intensity being related to the ball mill load to indirectly detect the mill load through the vibration intensity of the ball mill. The main factors affecting vibration are medium filling rate, material filling rate, grinding concentration, etc. The traditional single-factor load parameter detection method for ball mill is relatively simple, but due to the limitations of the detection principle, it is easily affected by factors such as grinding concentration, material particle size, material hardness, and steel ball size, and cannot accurately detect the load parameters of the ball mill throughout the entire process.

[0004] In order to solve the shortcomings of the traditional single-factor load parameter detection method for ball mills, a detection method that combines two or more single-factor methods by using the complementarity of the single-factor method has emerged, such as the power-sound method, power-vibration method, sound-vibration method, power-sound-vibration method and other multi-factor combined ball mill load detection methods. The multi-factor method attempts to use the complementarity of the single-factor method to improve the detection accuracy, and at the same time uses information fusion and soft measurement technology to improve the calculation accuracy. However, in fact, due to the excessive complexity of the calculation and poor repeatability, these methods are still difficult to detect ball mill loads.

[0005] The applicant of the present invention has disclosed a patent technology for ball mill load parameter detection, the patent name is: A ball mill load parameter detection method and device, patent number: ZL201310377730.9. While realizing the ball mill load parameter detection, this technology still has the following main shortcomings: 1) By measuring the resistance between the electrode and the cylinder to determine whether the electrode is in contact with the load body, since the electrode adheres to the slurry and is difficult to fall off or falls off with a delay, the resistance of the electrode does not change when it leaves the load body, so it is impossible to accurately determine the fall-off angle and contact angle of the load body, and therefore it is impossible to accurately calculate the ball The filling rate of the mill load body; 2) Use a force sensor to measure the weight of the entire ball mill cylinder to obtain the loading capacity of the ball mill. Although this technical method is direct, it can only be applied to micro and small ball mills. For medium, large or extra-large ball mills, since the total weight of the equipment and the load is tens to hundreds of tons, it is not allowed to install a force sensor on its base, so it is impossible to use this technology to measure the loading capacity of the ball mill; 3) Due to the uncertainty of the invention in detecting the filling rate of the ball mill, it is also impossible to detect the loading capacity of medium, large or extra-large ball mills, so the steel-to-material ratio cannot be calculated. 4) The mathematical model of the filling rate, loading capacity and steel-to-material ratio of the invention needs to be further improved to improve the detection accuracy. Although this patent proposes a new technical idea and method, it has great limitations in detection methods and practical applications. Summary of the invention

[0006] In order to overcome the shortcomings of the existing ball mill load parameter detection method and device, the present invention provides a liner radial pressure type ball mill load parameter detection method and device, by measuring the radial pressure and the corresponding position angle of the liner inside the ball mill, and taking the radial pressure and the position angle as the basic basis, through the judgment of the load body separation angle and the contact angle and the relevant mathematical model, the load parameters such as the loading capacity, filling rate and steel material ratio of the ball mill are calculated. The present invention is not only suitable for the load parameter detection of micro and small ball mills, but also suitable for the load parameter detection of medium, large and extra-large ball mills, with higher detection accuracy, stronger reliability, better adaptability and wider application range.

[0007] The present invention provides a liner radial pressure type ball mill load parameter detection method and device, including a liner radial pressure type ball mill load parameter detection method and a liner radial pressure type ball mill load parameter detection device. Through the liner radial pressure type ball mill load parameter detection device, the radial pressure of the load body inside the ball mill on the measuring liner and the corresponding measuring liner position angle are obtained; through the liner radial pressure type ball mill load parameter detection method, the load parameters such as the loading capacity, filling rate and steel material ratio of the ball mill load body are calculated through a mathematical model based on the measuring liner radial pressure and the measuring liner position angle.

[0008] The present invention provides a method for detecting load parameters of a liner radial pressure ball mill, the method comprising:

[0009] Step M101: signal collection and calculation of measuring liner position angle and radial pressure;

[0010] Step M102: Establishing a dynamic data matrix and a filtering data matrix;

[0011] Step M103: Based on the filter data matrix, the ball mill loading capacity is calculated through the loading capacity mathematical model.

[0012] Step M104: Based on the filtered data matrix, the breakaway angle and contact angle are determined and calculated by measuring the radial pressure variation characteristics of the liner;

[0013] Step M105: Calculate the ball mill filling rate through a filling rate mathematical model based on the breakaway angle and the contact angle;

[0014] Step M106: Based on the ball mill loading capacity and the ball mill filling rate, the steel material ratio of the ball mill load is calculated through a steel material ratio mathematical model.

[0015] Furthermore, in step M101, the specific steps of collecting and calculating the signals for measuring the liner position angle and radial pressure include:

[0016] Step S101: The radial pressure on the measuring liner is transmitted to the force sensor through the radial force guiding function of the liner measuring device, and the force sensor converts the radial pressure on the liner into an mV-level voltage signal, and then the signal amplifier converts the mV-level voltage signal into a volt-level voltage signal;

[0017] Step S102: a position sensor is installed on the outer side of the ball mill cylinder at the same level as the measuring liner, and an origin metal block is installed near the side of the lowest horizontal line of the ball mill cylinder. When the position sensor passes through the origin metal block, an electric pulse is generated to determine that the measuring liner is at the origin position. At the same time, the measuring liner running time is measured with the origin position as the timing starting point, and the time interval between two consecutive electric pulses is used as the rotation period of the ball mill cylinder. The running time timer is automatically reset when the pulse is generated;

[0018] Step S103: collect the electrical pulse signal output by the position sensor in real time, and start timing when the pulse signal appears, and calculate the position angle of the measuring liner based on the rotation period of the ball mill drum and the running time after the measuring liner passes the origin; the calculation formula of the measuring liner position angle is:

[0019]

[0020] Where, θ is the position angle of the measuring liner; T is the rotation period of the ball mill drum; t is the running time after the measuring liner passes the origin, and the measuring liner automatically resets to t every time it passes the origin;

[0021] Step S104: collect the radial pressure signal of the measuring liner and calculate the radial pressure of the measuring liner, and perform digital filtering on the collected data of the radial pressure of the measuring liner at each position angle. The digital filtering method of the collected data of the radial pressure of the measuring liner is: obtain the computer A / D value of the radial pressure signal of the measuring liner within a period of time, sort the A / D value data by size, remove one third of the large data and one third of the small data, and calculate the average value of the intermediate data as the filter value of the computer A / D value of the current radial pressure signal; the mathematical model for calculating the radial pressure of the measuring liner is:

[0022] F=K F (N1-N 01 -N 02 cosθ)

[0023] Where, F is the radial pressure of the measuring liner; K F is the pressure coefficient; N1 is the current sampling value, that is, the filtered value of the computer A / D value of the radial force currently measured on the liner; N 01 is the elastic sampling value, that is, the filtered value of the computer A / D value caused by the elastic force; N 02 is the weight origin sampling value, that is, when the measuring liner is at the origin position, the filtered value of the computer A / D value caused by the measuring liner weight; θ is the measuring liner position angle.

[0024] During the operation of the ball mill, N 01 and N 02It will change with the material change and the wear of the measuring liner, so it is necessary to adjust N 01 and N 02 Perform automatic calibration. 01 and N 02 The automatic calibration method is: obtain the filter value N of the computer A / D value of the measuring liner at a position angle of 180° from the filter data matrix 180 And the filtered value N of the computer A / D value when the measuring liner is at 225° 225 , perform N 01 and N 02 Calculation, the calculation formula is:

[0025]

[0026] Furthermore, in step M102, the specific steps of establishing the dynamic data matrix and the filtering data matrix include:

[0027] Step 3-1: Discretize the position angle θ and establish a dynamic data matrix corresponding to the position angle θ and the radial pressure F of the measuring liner. The discretization method is as follows: calculate the position angle element value Δθ of the measuring liner based on the length of the measuring liner along the circumferential direction of the cylinder, and calculate the total equal fraction N of the position angle based on the position angle element value Δθ of the measuring liner; take the origin as the starting point, sort each equally divided position angle along the rotation direction of the cylinder, and obtain the position angle sequence number k of the measuring liner; record the radial pressure F of the measuring liner corresponding to each position angle sequence number k, establish the relationship between the position angle sequence number k and the radial pressure F of the measuring liner, and obtain the dynamic data matrix F DS ;

[0028] The dynamic data matrix F DS The expression is:

[0029]

[0030] Where 1 to N are position angle numbers, F 11 To F Nn It is the data sequence of radial pressure of the measured liner corresponding to each position angle number.

[0031] Step 3-2: After the ball mill drum rotates for several cycles, the digital filtering process of the liner radial pressure data is performed to construct a filter data matrix for measuring the liner radial pressure. The digital filtering process for measuring the liner radial pressure and the filter data matrix establishment method are as follows: the dynamic data matrix F DSThe measured liner radial pressure data of each column is divided into five equal parts, and each piece of data is sorted by size, and the average of several middle data is taken as the filtering value of the data, and then the average of the filtering values ​​of the five pieces of data is taken as the final filtering value of the measured liner radial pressure corresponding to the position angle serial number, and the filtering data matrix F of the position angle serial number and the final filtering value is constructed. DSA .

[0032] The filter data matrix F DSA The expression is:

[0033]

[0034] Where 1 to N are position angle numbers, F 1A To F NA It is the filtered value of the measured liner radial pressure data corresponding to the position angle serial number.

[0035] The calculation formula for measuring the position angle element value Δθ of the liner plate, the total equal fraction N of the position angle, and the position angle sequence number k is:

[0036]

[0037] Wherein, Δθ is the value of the measuring liner position angle; L is the length of the measuring liner along the circumferential direction of the cylinder; D is the diameter of the ball mill cylinder; N is the total equal fraction of the position angle; T is the rotation period of the ball mill cylinder; k is the position angle serial number, and the calculation result takes the integer part; t is the time after the measuring liner passes the origin, and t is reset when the pulse signal is generated.

[0038] Furthermore, in the step M103, the ball mill loading is calculated by a loading mathematical model based on the filter data matrix, and the loading mathematical model is:

[0039]

[0040] Where, M is the load; k is the position angle number; Δθ is the measured liner position angle element value; N is the total equal fraction of the position angle; F is the measured liner radial pressure; T is the ball mill barrel rotation period; g is the gravitational acceleration; K m is the loading coefficient; M0 is the loading correction.

[0041] Furthermore, in step M104, based on the filtered data matrix, the detachment angle and contact angle are determined and calculated by measuring the radial pressure variation characteristics of the liner, and the method for obtaining the measured liner detachment angle and contact angle is:

[0042] Based on the radial pressure data and position angle serial number of the filter data matrix, a relationship curve between the radial pressure of the measuring liner and the position angle serial number is established, and the position angle serial number corresponding to the breakaway angle and contact angle of the ball mill load is determined according to the change characteristics of the curve, and the breakaway angle θ is calculated according to the corresponding position angle serial number. A With contact angle θ B .

[0043] The breakaway angle θ A and contact angle θ B The judgment and calculation steps are as follows:

[0044] Step 7-1: Based on the radial pressure data and position angle serial number of the filter data matrix, with the measured liner radial pressure as the ordinate and the measured liner position angle serial number as the abscissa, a relationship curve between the measured liner radial pressure and the position angle serial number is established;

[0045] Step 7-2: When the position angle of the measuring liner is within the range of 0 to π, the curve changes gradually from high to low, and finally changes from a sharp drop to a gentle one. The intersection of the gentle line and the sharp drop curve is taken as the position angle serial number K corresponding to the breakaway angle. A ;

[0046] Step 7-3: When the position angle of the measuring liner is within the range of π to 2π, the curve changes gradually from low to high, from gentle to sharp rise, and the intersection of the gentle line and the sharp rise curve is taken as the position angle number K corresponding to the contact angle B ;

[0047] Step 7-4: K A and K B The calculation of the breakaway angle θ is based on A and contact angle θ B ,θ A =k A Δθ,θ B =k B Δθ, Δθ are the measured liner position angle values.

[0048] Furthermore, in the step M105, the ball mill filling rate is calculated by a filling rate mathematical model based on the breakaway angle and the contact angle. The ball mill filling rate mathematical model is:

[0049]

[0050] Where Φ is the filling rate; K f1 0≤θ B -θ A Filling rate coefficient ≤π; K f2 =π﹤θ B -θ A Filling rate coefficient of ﹤2π; θA is the breakaway angle; θ B is the contact angle; Φ 01 0≤θ B -θ A Filling rate correction when ≤π; Φ 02 For π<θ B -θ A Correction for filling rate when <2π.

[0051] Furthermore, in the step M106, the steel ratio of the ball mill load is calculated by a steel ratio mathematical model based on the ball mill loading capacity and the ball mill filling rate. The steel ratio mathematical model is:

[0052]

[0053] Where, P is the steel-to-material ratio; d1 is the steel ball density; d2 is the ore density; d3 is the water density; M is the loading capacity;

[0054] C is the percentage concentration of slurry; V is the volume of the ball mill cylinder; Φ is the filling rate; K p is the steel material ratio coefficient; P0 is the steel material ratio correction amount.

[0055] The present invention also provides a liner radial pressure ball mill load parameter detection device, comprising a detection host 1, a wireless receiver 2, an origin metal block 3, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a force sensing device 7, a liner measuring device 8, and a power supply 9;

[0056] The liner measuring device 8 comprises a measuring liner base 11, a measuring liner 12, an elastic gasket 13, a hollow bolt 14, a force transfer rod 15, a base liner fastening nut 16, a force transfer rod check nut 20, a hollow bolt connecting thread 21, and a force transfer rod connecting thread 22; the liner measuring device 8 can be installed on the ball mill cylinder as a whole. The measuring liner base 11 has a groove in the middle for installing the measuring liner 12, and its outer dimensions are the same as those of other liners;

[0057] The force sensing device 7 includes a force sensor 17, a force sensor fastening bolt 18, and a force sensor bracket 19;

[0058] The measuring liner 12 and the elastic gasket 13 are installed in the groove of the measuring liner base 11, the hollow bolt 14 is connected to the measuring liner base 11 through the hollow bolt connecting thread 21, the hollow bolt 14 passes through the mounting hole of the ball mill cylinder and the lower mounting hole of the force sensor bracket 19, and the measuring liner base 11 and the force sensor bracket 19 are fixed to the ball mill cylinder through the base liner fastening nut 16, one end of the force transmission rod 15 is connected to the measuring liner 12 through the force transmission rod connecting thread 22, and the other end of the force transmission rod 15 is connected to the force transmission rod check nut 20 to prevent the measuring liner 12 from falling during installation, and the tightening degree of the force transmission rod check nut 20 is preferably such that the measuring liner 12 is just not loose;

[0059] The force sensor device 7 is installed outside the ball mill cylinder. One end of the force sensor 17 is connected to the force transmission rod 15, and the other end is fixed to the force sensor bracket 19 through the force sensor fastening bolt 18. The fastening degree of the force sensor fastening bolt 18 is such that when the force sensor 17 is at the highest point of the ball mill cylinder, the output signal of the force sensor is one twentieth of its full-scale output signal.

[0060] The origin metal block 3 is installed at a position aligned with the lower edge of the ball mill cylinder and close to the cylinder, and the position sensor 4 is installed on the side of the ball mill cylinder flush with the horizontal line of the measuring liner 12, and it is ensured that the position sensor 4 can send an electric pulse signal when passing through the origin metal block 3;

[0061] The wireless transmitter 5, signal amplifier 6 and power supply are installed on the surface of the ball mill cylinder and arranged in a straight line with the position sensor 4 and the force sensor 17; the signal of the force sensor 17 is amplified by the signal amplifier 6 and then transmitted to the wireless transmitter 5, and the position sensor 4 is directly connected to the wireless transmitter 5; the position sensor 4, wireless transmitter 5 and signal amplifier 6 are powered by the power supply, and the force sensor signal and the position sensor signal are transmitted to the detection host 1 through the wireless transmitter 5 and the wireless receiver 2.

[0062] In particular, in order to ensure accurate measurement of the radial force of the measuring liner, the design scheme of the force sensing device 7 and the liner measuring device 8 of the present invention specifically includes:

[0063] 1) The hollow bolt 14 is used to fix the measuring liner base 11 and the force sensor bracket 19 on the ball mill cylinder. The length of the hollow bolt 14 is determined according to the thickness of the ball mill cylinder and its mounting parts, and the outer diameter of the hollow bolt 14 is slightly smaller than the size of the liner mounting hole on the ball mill cylinder.

[0064] 2) The middle of the hollow bolt 14 is cylindrical and hollow, and its hollow diameter is slightly larger than the maximum diameter of the force transmission rod 15. Both ends of the hollow bolt 14 are threaded, one end is connected to the measuring liner base 11, and the other end is fixed to the measuring liner base 11 and the force sensor bracket 19 on the ball mill cylinder through the base liner fastening nut 16;

[0065] 3) The length of the force transmission rod 15 is determined according to the installation requirements of the hollow bolt 14, the force transmission rod check nut 20, the force sensor 17, and the measuring liner 12. The size of the force transmission rod 15 is large in the middle and small at both ends. The middle is a smooth rod and the two ends are stepped threads with a slightly smaller diameter. One end is used to install the measuring liner 12, and the other end is used to install the force transmission rod check nut 20 and the force sensor 17. The thread specification is determined by the installation thread of the force sensor 17.

[0066] 4) The force transmission rod 15 passes through the hollow bolt 14 and firmly connects the measuring liner 12 and the force sensor 17. The radial pressure exerted on the measuring liner 12 is transmitted to the force sensor 17 through the joint guiding effect of the force transmission rod 15 and the hollow bolt 14 on the radial pressure of the measuring liner, which can greatly reduce the influence of forces in other directions on the measurement of the force sensor 17, thereby providing favorable conditions for accurately detecting the radial pressure of the measuring liner.

[0067] 5) An elastic gasket 13 is arranged between the measuring liner base 11 and the measuring liner 12 to avoid slurry leakage and prevent the elastic gasket 13 from affecting the radial force measurement due to irreversible deformation. At the same time, lubricating oil is injected between the hollow bolt 14 and the force transmission rod 15 to reduce friction.

[0068] 6) The measuring liner base 11, the measuring liner 12 and the elastic gasket 13 are consumable parts, and the other parts can be reused.

[0069] The installation scheme of the liner radial pressure ball mill load parameter detection device specifically includes:

[0070] Step S301: Install the liner measuring device on the ball mill cylinder: The installation method of the liner measuring device 8 is as follows: the measuring liner 12 and the elastic gasket 13 are installed in the groove of the measuring liner base 11, the hollow bolt 14 is connected to the measuring liner base 11 through the hollow bolt connecting thread 21, the hollow bolt 14 passes through the mounting hole of the ball mill cylinder and the lower mounting hole of the force sensor bracket 19, and the measuring liner base 11 and the force sensor bracket 19 are fixed to the ball mill cylinder through the base liner fastening nut 16. One end of the force transmission rod 15 is connected to the measuring liner 12 through the force transmission rod connecting thread 22, and the other end of the force transmission rod 15 is connected to the force transmission rod check nut 20 to prevent the measuring liner 12 from falling during installation. The tightening degree of the force transmission rod check nut 20 is preferably such that the measuring liner 12 is just not loose;

[0071] Step S302: Matching and installing the liner measuring device and the force sensor device: the force sensor device 7 is installed outside the ball mill cylinder, one end of the force sensor 17 is connected to the force transmission rod 15, and the other end is fixed to the force sensor bracket 19 through the force sensor fastening bolt 18, and the fastening degree of the force sensor fastening bolt 18 is such that when the force sensor 17 is at the highest point of the ball mill cylinder, the output signal of the force sensor is about one twentieth of its full-scale output signal;

[0072] Step S303: Install the position sensor and the inductive metal block: install the position sensor and the origin metal block outside and near the ball mill cylinder, the origin metal block 3 is installed at a position aligned with the lower edge of the ball mill cylinder and close to the cylinder, the position sensor 4 is installed on the side of the ball mill cylinder flush with the horizontal line of the measuring liner 12, and ensure that the position sensor 4 can reliably send out an electric pulse signal when passing through the origin metal block 3;

[0073] Step S304: Install and connect the detection system and its electronic components: A detection system of a liner radial pressure type ball mill load parameter detection device includes a detection host 1, a wireless receiver 2, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a power supply 9, and a force sensor 17. The installation scheme of the detection system is: the detection host 1 and the wireless receiver 2 are connected and installed near the ball mill; the wireless transmitter 5, the signal amplifier 6 and the power supply are installed on the surface of the ball mill cylinder and arranged in a straight line with the position sensor 4 and the force sensor 17; the signal of the force sensor 17 is amplified by the signal amplifier 6 and transmitted to the wireless transmitter 5, and the position sensor 4 is directly connected to the wireless transmitter 5; the position sensor 4, the wireless transmitter 5 and the signal amplifier 6 are powered by the power supply. The force sensor signal and the position sensor signal are transmitted to the detection host 1 through the wireless transmitter 5 and the wireless receiver 2. The detection host 1 can be installed at any position near the ball mill as needed.

[0074] The beneficial effects of the present invention are:

[0075] (1) The present invention can accurately detect load parameters such as the loading capacity, filling rate, and steel-to-material ratio of the ball mill in real time, and provide accurate and reliable detection data for realizing intelligent optimization control of the ball mill.

[0076] (2) The present invention is not only applicable to the load parameter detection of micro and small ball mills, but also applicable to the load parameter detection of medium, large and extra-large ball mills. It has higher accuracy, is more convenient to install, and is more conducive to on-site implementation and popularization and application.

[0077] (3) The present invention directly measures the radial pressure of the liner and calculates the load parameters of the ball mill through relevant mathematical models, thereby avoiding the problems in the prior art where large detection errors or inability to detect are caused by slurry adhesion, excessive weight of the ball mill, changes in ore properties, changes in slurry concentration, etc., and has greater adaptability.

[0078] (4) The detection signals of the present invention are all transmitted wirelessly, which solves the problem that the rotating ball mill cylinder is inconvenient for wiring. The detection host can be installed at the required position, which makes installation simpler and debugging more convenient.

[0079] (5) The present invention has a positive effect and good practical value in improving the operating efficiency of the ball mill, the grinding output, the product qualification rate and the subsequent mineral processing indicators, and reducing the power consumption and steel consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 The present invention is a flow chart of the detection method.

[0081] Figure 2 It is the signal acquisition and calculation flow chart of the present invention.

[0082] Figure 3 It is a general flow chart of the working steps of the present invention.

[0083] Figure 4 It is a flow chart of the installation of the detection device of the present invention.

[0084] Figure 5 It is a schematic diagram of the structure of the detection device of the present invention.

[0085] Figure 6 It is a schematic diagram of the position angle of the present invention.

[0086] Figure 7 The diagram is a structure and installation diagram of the lining plate measuring device and the force sensing device of the present invention.

[0087] The numbers in the figure are: 1-detection host, 2-wireless receiver, 3-origin metal block, 4-position sensor, 5-wireless transmitter, 6-signal amplifier, 7-force sensing device, 8-lining measuring device, 9-power supply, 11-measuring lining base, 12-measuring lining, 13-elastic gasket, 14-hollow bolt, 15-force transfer rod, 16-base lining fastening nut, 17-force sensor, 18-force sensor fastening bolt, 19-force sensor bracket, 20-force transfer rod check nut, 21-hollow bolt connecting thread, 22-force transfer rod connecting thread. DETAILED DESCRIPTION

[0088] The following is combined with Figure 1 To Attachment Figure 5 And specific implementation methods are provided to further illustrate the present invention.

[0089] Example 1: This embodiment is used for load parameter detection of ball mill. The cylinder specification of ball mill is Φ4000×6400, and the liner specification is length*width*thickness=500mm*314mm*50mm. The ball mill is composed of feeding part, discharging part, rotating part, transmission part (reducer, small transmission gear, motor, electronic control) and other main parts. The cylinder speed is 16.8r / min, the rated ball loading capacity is 149t, the rated loading capacity is 240t, the motor power is 1250kw, the power supply voltage is 10kvAC, the processed ore is lead-zinc ore, and the ore density is 3.2g / cm 3 , the input ore particle size is less than 13mm, and the output ore particle size range is 0.074~0.3mm.

[0090] In order to realize the accurate detection of the load parameters of the ball mill of the present embodiment, the present invention provides a liner radial pressure type ball mill load parameter detection method and device, including a liner radial pressure type ball mill load parameter detection device and a liner radial pressure type ball mill load parameter detection method. Through the liner radial pressure type ball mill load parameter detection device, the radial pressure of the load body inside the ball mill on the measuring liner and its corresponding measuring liner position angle are directly measured; through the liner radial pressure type ball mill load parameter detection method, the load parameters such as the loading capacity, filling rate and steel material ratio of the ball mill load body are calculated through relevant mathematical models based on the measurement of the liner radial pressure and the measurement of the liner position angle.

[0091] The present invention provides a method for detecting load parameters of a liner radial pressure ball mill, the working steps of which include:

[0092] Step S201: Through the radial force guiding function of the liner measuring device, the radial pressure on the measuring liner is transmitted to the force sensor, and the force sensor converts the radial pressure of the liner into an mV-level voltage signal, and then the signal amplifier converts the mV-level voltage signal into a volt-level voltage signal. The output signal range of the force sensor in this embodiment is 0-13mV, which is converted into 0-10V by the signal amplifier.

[0093] Step S202: Install a position sensor on the outer side of the ball mill cylinder at the same horizontal line as the measuring liner, and install an origin metal block near the side of the lowest horizontal line of the ball mill cylinder. When the position sensor passes through the origin metal block, an electric pulse is generated to determine that the measuring liner is at the origin position. At the same time, the measuring liner running time is measured with the origin position as the timing starting point, and the time interval between two consecutive electric pulses is used as the rotation period of the ball mill cylinder. The running time timer is automatically reset when the pulse is generated.

[0094] Step S203: collect the electrical pulse signal output by the position sensor in real time, start timing when the pulse signal appears, and calculate the position angle of the measuring liner based on the rotation period of the ball mill drum and the running time after the measuring liner passes the origin. The calculation formula for the position angle of the measuring liner is:

[0095]

[0096] Wherein, θ is the position angle of the measuring liner; T is the rotation period of the ball mill cylinder, which is 3.57s in this embodiment; t is the running time after the measuring liner passes the origin, which is 0≤t≤3.57s in this embodiment; and the measuring liner automatically resets to t each time it passes the origin, and t=0 when reset.

[0097] In the embodiment, T=3.57s, 0≤t≤3.57s, and t=0 during reset.

[0098] Step S204: collect the radial pressure signal of the measuring liner and calculate the radial pressure of the measuring liner, and perform digital filtering on the collected data of the radial pressure of the measuring liner at each position angle. The digital filtering method for the collected data of the radial pressure of the measuring liner is as follows: obtain the computer A / D value of the radial pressure signal of the measuring liner within a period of time, sort the A / D value data by size, remove one-third of the large data and one-third of the small data, and calculate the average value of the intermediate data as the filtered value of the computer A / D value of the current radial pressure signal.

[0099] In this embodiment, the computer A / D value of the radial pressure signal of the liner measured over a period of time is obtained, and there are 90 data. The 90 A / D value data are sorted by size, 30 large data and 30 small data are removed, and the average value of the middle 30 data is calculated as the filtered value of the computer A / D value of the current radial pressure signal.

[0100] The mathematical model for calculating and measuring the radial pressure of the liner is:

[0101] F=K F (N1-N 01 -N 02 cosθ)

[0102] Where, F is the radial pressure of the measuring liner; K F is the pressure coefficient; N1 is the current sampling value, that is, the filtered value of the computer A / D value of the radial force currently measured on the liner; N 01 is the elastic sampling value, that is, the filtered value of the computer A / D value caused by the elastic force; N 02 is the weight origin sampling value, that is, when the measuring liner is at the origin position, the filtered value of the computer A / D value caused by the measuring liner weight; θ is the measuring liner position angle.

[0103] During the operation of the ball mill, N 01 and N 02 It will change with the material change and the wear of the measuring liner, so it is necessary to adjust N 01 and N 02 Perform automatic calibration. 01 and N 02 The automatic calibration method is: obtain the filter value N of the computer A / D value of the measuring liner at a position angle of 180° from the filter data matrix 180 And the filtered value N of the computer A / D value when the measuring liner is at 225° 225 , perform N 01 and N 02 Calculation, the calculation formula is:

[0104]

[0105] In this embodiment, K F =0.0476, the range of N1 is 16722≤N1≤65535, N 01 =8355,N 02 =10722.

[0106] Step S205: Discretize the position angle θ and establish a dynamic data matrix corresponding to the position angle θ and the radial pressure F of the measuring liner. The discretization method of the position angle θ is as follows: the length of the measuring liner along the circumferential direction of the cylinder is used as the basis to calculate the position angle element value Δθ of the measuring liner; the circumferential angle of the cylinder section is divided into N equal parts based on the position angle element value Δθ of the measuring liner; starting from the origin position, the position angle of each equal part is sorted along the rotation direction of the cylinder as the position angle sequence number k of the measuring liner. The relevant calculation formula is:

[0107]

[0108] Wherein, Δθ is the value of the measuring liner position angle; L is the length of the measuring liner along the circumferential direction of the cylinder; D is the diameter of the ball mill cylinder; N is the total equal fraction of the position angle; k is the position angle serial number, and the calculation result takes the integer part; T is the rotation period of the ball mill cylinder; t is the time after the measuring liner passes the origin.

[0109] In this embodiment, Δθ=0.157, L=314 mm, D=4000 mm, N=40, 0≤t≤3.57 s, T=3.57 s.

[0110] Record the measured liner radial pressure F corresponding to each position angle serial number k, establish the relationship between the position angle serial number k and the measured liner radial pressure F, and obtain the dynamic data matrix F DS , F DS The expression is:

[0111]

[0112] Where 1 to N are position angle numbers, F 11 To F Nn It is the data sequence of radial pressure of the measured liner corresponding to each position angle number.

[0113] Step S206: After the ball mill drum rotates for several cycles, the digital filtering process of the liner radial pressure data is performed to construct a filter data matrix for measuring the liner radial pressure. The digital filtering process for measuring the liner radial pressure and the filter data matrix construction method are as follows: the dynamic data matrix F DS The measured liner radial pressure data of each column is divided into five equal parts, each of which is 50 data. Each data is sorted by size, and the average of the middle 10 data is taken as the filter value of the data. Then the average of the filter values ​​of the five data is taken as the final filter value of the measured liner radial pressure corresponding to the position angle serial number. The filter data matrix F of the position angle serial number and the final filter value is constructed. DSA , its expression is:

[0114]

[0115] Wherein, 1 to N are position angle numbers, and in this embodiment, N=40; F 1A To F 40A It is the filtered value of the measured liner radial pressure data corresponding to the position angle serial number.

[0116] Step S207: Filter the data matrix F DSA Based on this, the ball mill loading capacity is calculated by a loading capacity mathematical model. The loading capacity mathematical model is:

[0117]

[0118] Where M is the load (t); k is the position angle number; N is the total position angle fraction; F is the radial pressure of the measuring liner (N); T is the rotation period of the ball mill cylinder (s); g is the gravitational acceleration (m / s 2 );K m is the loading coefficient; M0 is the loading correction (t).

[0119] In this embodiment, one set of data is: M = 229.6t, N = 40, D = 4m, T = 3.57s, g = 9.8m / s 2 ,

[0120] K m =0.9923, M0=1.723t.

[0121] Step S208: Filter the data matrix F DSA Based on the relationship curve between the radial pressure of the liner and the position angle number, the position angle number corresponding to the breakaway angle and the contact angle is determined according to the data change characteristics of the radial pressure of the liner, and the breakaway angle θ is calculated according to the position angle number corresponding to the breakaway angle and the contact angle. A and contact angle θ B .

[0122] The breakaway angle θ A and contact angle θ B The judgment and calculation steps are as follows:

[0123] Step 7-1: Based on the radial pressure data and position angle serial number of the filter data matrix, with the measured liner radial pressure as the ordinate and the measured liner position angle serial number as the abscissa, a relationship curve between the measured liner radial pressure and the position angle serial number is established;

[0124] Step 7-2: When the position angle of the measuring liner is within the range of 0 to π, the curve changes gradually from high to low, and finally changes from a sharp drop to a gentle one. The intersection of the gentle line and the sharp drop curve is taken as the position angle serial number K corresponding to the breakaway angle. A ;

[0125] Step 7-3: When the position angle of the measuring liner is within the range of π to 2π, the curve changes gradually from low to high, from gentle to sharp rise, and the intersection of the gentle line and the sharp rise curve is taken as the position angle number K corresponding to the contact angle B ;

[0126] Step 7-4: K A and K B The calculation of the breakaway angle θ is based on A and contact angle θ B ,θ A =k A Δθ,θ B =k B Δθ, Δθ are the measured liner position angle values.

[0127] In this embodiment, one set of data is: the position angle numbers corresponding to the breakaway angle and the contact angle are K and A =11 and K B =32, Δθ=0.157, the calculated breakaway angle θ is: A =1.727, contact angle θ B =5.024.

[0128] Step S209: With the release angle θ A and contact angle θ BBased on this, the ball mill filling rate is calculated by a filling rate mathematical model. The ball mill filling rate mathematical model is:

[0129]

[0130] Where, Φ is the filling rate (%); K f1 0≤θ B -θ A Filling rate coefficient ≤π; K f2 =π﹤θ B -θ A Filling rate coefficient of ﹤2π; θ A is the breakaway angle (radians); θ B is the contact angle (radian); Φ 01 0≤θ B -θ A Filling rate correction when ≤π; Φ 02 For π<θ B -θ A Correction for filling rate when <2π.

[0131] In this embodiment, one set of data is: when 0≤θ B -θ A When ≤π, K f1 =0.958,Φ 01 =0.0316, Φ=59.54%; when π<θ B -θ A <2π, K f2 =0.955,Φ 02 =0.0225,Φ=48.5%.

[0132] Step S210: Based on the ball mill loading capacity and the ball mill filling rate, the steel material ratio of the ball mill load is calculated through a steel material ratio mathematical model. The steel material ratio mathematical model is:

[0133]

[0134] Where P is the steel material ratio; d1 is the steel ball density (t / m 3 );d2 is the density of ore (t / m 3 );d3 is water density (t / m 3 ); M is the loading amount (t); C is the slurry concentration (%); V is the volume of the ball mill cylinder (m 3 );

[0135] Φ is the filling rate (%); K p is the steel material ratio coefficient; P0 is the steel material ratio correction amount.

[0136] In this embodiment, one set of data is: P = 2.333, d1 = 7.6 t / m 3 , d2=3.2t / m 3 , d3=1t / m 3 , M=215t, C=80%, V=80.38m 3 ,Φ=64.9%,K p =35.949, P0=0.034.

[0137] The present embodiment provides a liner radial pressure ball mill load parameter detection device, including a detection host 1, a wireless receiver 2, an origin metal block 3, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a force sensing device 7, a liner measuring device 8, a power supply 9, a measuring liner base 11, a measuring liner 12, an elastic gasket 13, a hollow bolt 14, a force transmission rod 15, a base liner fastening nut 16, a force sensor 17, a force sensor fastening bolt 18, a force sensor bracket 19, a force transmission rod check nut 20, a hollow bolt connecting thread 21, and a force transmission rod connecting thread 22.

[0138] The present embodiment provides a liner radial pressure ball mill load parameter detection device with the following component models and specifications: detection host 1: CPU I510210U, memory 16G, hard disk 256G, screen 17 inches, capacitive touch screen; wireless receiver 2 and wireless transmitter 5 (transmitter and receiver pairing): model LORA-MODBUS-4AI, 4-way AI, 16-bit resolution; origin metal block 3: length * width * thickness = 50 * 50 * 3, 304 stainless steel material; position sensor 4: LM18-3020NB, power supply 10VDC; signal amplifier 6: JY-S60, power supply 24VDC, output 0-10VDC; power supply 9: power supply 24VDC and 10VDC; measuring liner base 11: length * width * thickness = 500 * 314 * 50; measuring liner 12: length * width * thickness = 4 00*200*40; elastic gasket 13: length * width * thickness = 405*205*10, silicone material; hollow bolt 14: M32*90, hollow diameter is 20mm; force transmission rod 15: length 130mm, diameter 19mm, thread lower end is M18 and upper end is M15; base liner fastening nut 16: thread M32; force sensor 17: range 0-200kg, cylindrical; force sensor fastening bolt 18: specification M15*30; force sensor bracket 19: length * width * height = 150*150*200; force transmission rod check nut 20: thread M15; hollow bolt connecting thread 21: thread M32; force transmission rod connecting thread 22: thread M18.

[0139] The liner measuring device 8 comprises a measuring liner base 11, a measuring liner 12, an elastic gasket 13, a hollow bolt 14, a force transmission rod 15, a base liner fastening nut 16, a force transmission rod check nut 20, a hollow bolt connecting thread 21, and a force transmission rod connecting thread 22. The liner measuring device 8 can be installed on the ball mill cylinder as a whole. The measuring liner base 11 has a groove in the middle for installing the measuring liner 12, and its outer dimensions are the same as those of other liners.

[0140] The force sensing device 7 includes: a force sensor 17 , a force sensor fastening bolt 18 , and a force sensor bracket 19 .

[0141] In particular, in order to ensure accurate measurement of the radial force of the measuring liner, the design scheme of the force sensing device 7 and the liner measuring device 8 of the present invention specifically includes:

[0142] 1) The hollow bolt 14 is used to fix the measuring liner base 11 and the force sensor bracket 19 on the ball mill cylinder. The length of the hollow bolt 14 is determined according to the thickness of the ball mill cylinder and its mounting parts, and the outer diameter of the hollow bolt 14 is slightly smaller than the size of the liner mounting hole on the ball mill cylinder.

[0143] 2) The middle of the hollow bolt 14 is cylindrical and hollow, and its hollow diameter is slightly larger than the maximum diameter of the force transmission rod 15. Both ends of the hollow bolt 14 are threaded, one end is connected to the measuring liner base 11, and the other end is fixed to the measuring liner base 11 and the force sensor bracket 19 on the ball mill cylinder through the base liner fastening nut 16;

[0144] 3) The length of the force transmission rod 15 is determined according to the installation requirements of the hollow bolt 14, the force transmission rod check nut 20, the force sensor 17, and the measuring liner 12. The size of the force transmission rod 15 is large in the middle and small at both ends. The middle is a smooth rod and the two ends are stepped threads with a slightly smaller diameter. One end is used to install the measuring liner 12, and the other end is used to install the force transmission rod check nut 20 and the force sensor 17. The thread specification is determined by the installation thread of the force sensor 17.

[0145] 4) The force transmission rod 15 passes through the hollow bolt 14 and firmly connects the measuring liner 12 and the force sensor 17. The radial pressure exerted on the measuring liner 12 is transmitted to the force sensor 17 through the joint guiding effect of the force transmission rod 15 and the hollow bolt 14 on the radial pressure of the measuring liner, which can greatly reduce the influence of forces in other directions on the measurement of the force sensor 17, thereby providing favorable conditions for accurately detecting the radial pressure of the measuring liner.

[0146] 5) An elastic gasket 13 is arranged between the measuring liner base 11 and the measuring liner 12 to avoid slurry leakage and prevent the elastic gasket 13 from affecting the radial force measurement due to irreversible deformation. At the same time, lubricating oil is injected between the hollow bolt 14 and the force transmission rod 15 to reduce friction.

[0147] 6) The measuring liner base 11, the measuring liner 12 and the elastic gasket 13 are consumable parts, and the other parts can be reused.

[0148] An installation scheme for a liner radial pressure ball mill load parameter detection device, the steps of which specifically include:

[0149] Step S301: The measuring liner 12 and the elastic gasket 13 are installed in the groove of the measuring liner base 11, the hollow bolt 14 is connected to the measuring liner base 11 through the hollow bolt connection thread 21, the hollow bolt 14 passes through the mounting hole of the ball mill cylinder and the lower mounting hole of the force sensor bracket 19, and the measuring liner base 11 and the force sensor bracket 19 are fixed to the ball mill cylinder through the base liner fastening nut 16. One end of the force transmission rod 15 is connected to the measuring liner 12 through the force transmission rod connection thread 22, and the other end of the force transmission rod 15 is connected to the force transmission rod check nut 20 to prevent the measuring liner 12 from falling during installation. The tightening degree of the force transmission rod check nut 20 is preferably such that the measuring liner 12 is just not loose.

[0150] Step S302: The force sensing device 7 is installed on the outside of the ball mill cylinder. One end of the force sensor 17 is connected to the force transmission rod 15, and the other end is fixed to the force sensor bracket 19 by the force sensor fastening bolt 18. The tightness of the force sensor fastening bolt 18 is such that when the force sensor 17 is at the highest point of the ball mill cylinder, the force sensor output signal is approximately one twentieth of its full-scale output signal.

[0151] In this embodiment, the tightening degree of the force sensor fastening bolt 18 is such that the force sensor output signal is 0.6 mV when the force sensor 17 is at the highest point of the ball mill cylinder.

[0152] Step S303: Install position sensors and origin metal blocks outside and near the ball mill cylinder. The origin metal block 3 is installed at a position aligned with the lower edge of the ball mill cylinder and close to the cylinder. The position sensor 4 is installed on the side of the ball mill cylinder that is flush with the horizontal line of the measuring liner 12, and ensure that the position sensor 4 can reliably send an electrical pulse signal when passing through the origin metal block 3.

[0153] In this embodiment, the minimum distance between the origin metal block 3 and the position sensor 4 is 20 mm.

[0154] Step S304: A detection system of a liner radial pressure type ball mill load parameter detection device includes a detection host 1, a wireless receiver 2, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a power supply 9, and a force sensor 17. The installation scheme of the detection system is: the detection host 1 and the wireless receiver 2 are connected and installed near the ball mill; the wireless transmitter 5, the signal amplifier 6 and the power supply are installed on the surface of the ball mill cylinder and arranged in a straight line with the position sensor 4 and the force sensor 17; the signal of the force sensor 17 is amplified by the signal amplifier 6 and transmitted to the wireless transmitter 5, and the position sensor 4 is directly connected to the wireless transmitter 5; the position sensor 4, the wireless transmitter 5 and the signal amplifier 6 are powered by the power supply 9. The force sensor signal and the position sensor signal are transmitted to the detection host 1 through the wireless transmitter 5 and the wireless receiver 2. In this embodiment, the detection host 1 is installed on the ore feeding platform of the ball mill.

[0155] The specific implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above implementation modes, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A method for detecting load parameters of a liner radial pressure ball mill, characterized in that: The detection method comprises: Step M101: signal collection and calculation of measuring liner position angle and radial pressure; Step M102: Establishing a dynamic data matrix and a filtering data matrix; Step M103: Based on the filter data matrix, the ball mill loading capacity is calculated through the loading capacity mathematical model. Step M104: Based on the filtered data matrix, the breakaway angle and contact angle are determined and calculated by measuring the radial pressure variation characteristics of the liner; Step M105: Calculate the ball mill filling rate through a filling rate mathematical model based on the breakaway angle and the contact angle; Step M106: Based on the ball mill loading capacity and the ball mill filling rate, the steel material ratio of the ball mill load is calculated through a steel material ratio mathematical model.

2. A liner radial pressure ball mill load parameter detection method according to claim 1, characterized in that: In step M101, the specific steps of collecting and calculating the signals for measuring the liner position angle and radial pressure include: Step S101: The radial pressure on the measuring liner is transmitted to the force sensor through the radial force guiding function of the liner measuring device, and the force sensor converts the radial pressure on the liner into an mV-level voltage signal, and then the signal amplifier converts the mV-level voltage signal into a volt-level voltage signal; Step S102: a position sensor is installed on the outer side of the ball mill cylinder at the same level as the measuring liner, and an origin metal block is installed near the side of the lowest horizontal line of the ball mill cylinder. When the position sensor passes through the origin metal block, an electric pulse is generated to determine that the measuring liner is at the origin position. At the same time, the measuring liner running time is measured with the origin position as the timing starting point, and the time interval between two consecutive electric pulses is used as the rotation period of the ball mill cylinder. The running time timer is automatically reset when the pulse is generated; Step S103: collect the electrical pulse signal output by the position sensor in real time, and start timing when the pulse signal appears, and calculate the position angle of the measuring liner based on the rotation period of the ball mill drum and the running time after the measuring liner passes the origin; the calculation formula of the measuring liner position angle is: Where, θ is the position angle of the measuring liner; T is the rotation period of the ball mill drum; t is the running time after the measuring liner passes the origin, and the measuring liner automatically resets to t every time it passes the origin; Step S104: collect the radial pressure signal of the measuring liner and calculate the radial pressure of the measuring liner, and perform digital filtering on the collected data of the radial pressure of the measuring liner at each position angle. The digital filtering method of the collected data of the radial pressure of the measuring liner is: obtain the computer A / D value of the radial pressure signal of the measuring liner within a period of time, sort the A / D value data by size, remove one third of the large data and one third of the small data, and calculate the average value of the intermediate data as the filter value of the computer A / D value of the current radial pressure signal; the mathematical model for calculating the radial pressure of the measuring liner is: F=K F (N1-N 01 -N 02 cosθ) Where, F is the radial pressure of the measuring liner; K F is the pressure coefficient; N1 is the current sampling value, that is, the filtered value of the computer A / D value of the radial force currently measured on the liner; N 01 is the elastic sampling value, that is, the filtered value of the computer A / D value caused by the elastic force; N 02 is the weight origin sampling value, that is, when the measuring liner is at the origin position, the filtered value of the computer A / D value caused by the measuring liner weight; θ is the measuring liner position angle; During the operation of the ball mill, N 01 and N 02 Perform automatic calibration.

3. A method for detecting load parameters of a liner radial pressure ball mill according to claim 1 or claim 2, characterized in that: The N 01 and N 02 The automatic calibration method is: obtain the filter value N of the computer A / D value of the measuring liner at a position angle of 180° from the filter data matrix 180 And the filtered value N of the computer A / D value when the measuring liner is at 225° 225 , N 01 and N 02 The calculation formula is:

4. The method for detecting load parameters of a liner radial pressure ball mill according to claim 1, characterized in that: In step M102, the specific steps of establishing the dynamic data matrix and the filtering data matrix include: Step 3-1: Discretize the position angle θ and establish a dynamic data matrix corresponding to the position angle θ and the radial pressure F of the measuring liner. The discretization method is as follows: calculate the position angle element value Δθ of the measuring liner based on the length of the measuring liner along the circumferential direction of the cylinder, and calculate the total equal fraction N of the position angle based on the position angle element value Δθ of the measuring liner; take the origin as the starting point, sort each equally divided position angle along the rotation direction of the cylinder, and obtain the position angle sequence number k of the measuring liner; record the radial pressure F of the measuring liner corresponding to each position angle sequence number k, establish the relationship between the position angle sequence number k and the radial pressure F of the measuring liner, and obtain the dynamic data matrix F DS ; Step 3-2: After the ball mill drum rotates for several cycles, the digital filtering process of the liner radial pressure data is performed to construct a filter data matrix for measuring the liner radial pressure. The digital filtering process for measuring the liner radial pressure and the filter data matrix establishment method are as follows: the dynamic data matrix F DS The measured liner radial pressure data of each column is divided into five equal parts, and each piece of data is sorted by size, and the average of several middle data is taken as the filtering value of the data, and then the average of the filtering values ​​of the five pieces of data is taken as the final filtering value of the measured liner radial pressure corresponding to the position angle serial number, and the filtering data matrix F of the position angle serial number and the final filtering value is constructed. DSA .

5. A method for detecting load parameters of a liner radial pressure ball mill according to claim 4, characterized in that: The calculation formula for measuring the position angle element value Δθ of the liner plate, the total equal fraction N of the position angle, and the position angle sequence number k is: Wherein, Δθ is the value of the measuring liner position angle; L is the length of the measuring liner along the circumferential direction of the cylinder; D is the diameter of the ball mill cylinder; N is the total equal fraction of the position angle; T is the rotation period of the ball mill cylinder; k is the position angle serial number, and the calculation result takes the integer part; t is the time after the measuring liner passes the origin, and t is reset when the pulse signal is generated.

6. The method for detecting load parameters of a liner radial pressure ball mill according to claim 1, characterized in that: In the step M103, the ball mill loading is calculated by a loading mathematical model based on the filtered data matrix. The loading mathematical model is: Where, M is the load; k is the position angle number; Δθ is the measured liner position angle element value; N is the total equal fraction of the position angle; F is the measured liner radial pressure; T is the ball mill barrel rotation period; g is the gravitational acceleration; K m is the loading coefficient; M0 is the loading correction.

7. The method for detecting load parameters of a liner radial pressure ball mill according to claim 1, characterized in that: In step M104, based on the filtered data matrix, the detachment angle and contact angle are determined and calculated by measuring the radial pressure variation characteristics of the liner, and the method for obtaining the measured liner detachment angle and contact angle is: Based on the radial pressure data and position angle serial number of the filter data matrix, a relationship curve between the radial pressure of the measuring liner and the position angle serial number is established, and the position angle serial number corresponding to the breakaway angle and contact angle of the ball mill load is determined according to the change characteristics of the curve, and the breakaway angle θ is calculated according to the corresponding position angle serial number. A With contact angle θ B ; The breakaway angle θ A and contact angle θ B The specific steps for judging and calculating are as follows: Step 7-1: Based on the radial pressure data and position angle serial number of the filter data matrix, with the measured liner radial pressure as the ordinate and the measured liner position angle serial number as the abscissa, a relationship curve between the measured liner radial pressure and the position angle serial number is established; Step 7-2: When the position angle of the measuring liner is within the range of 0 to π, the curve changes gradually from high to low, and finally changes from a sharp drop to a gentle one. The intersection of the gentle line and the sharp drop curve is taken as the position angle serial number K corresponding to the breakaway angle. A ; Step 7-3: When the position angle of the measuring liner is within the range of π to 2π, the curve changes gradually from low to high, from gentle to sharp rise, and the intersection of the gentle line and the sharp rise curve is taken as the position angle number K corresponding to the contact angle B ; Step 7-4: K A and K B The calculation of the breakaway angle θ is based on A and contact angle θ B ,θ A =k A Δθ,θ B =k B Δθ, Δθ are the measured liner position angle values.

8. The method for detecting load parameters of a liner radial pressure ball mill according to claim 1, characterized in that: In the step M105, the ball mill filling rate is calculated by a filling rate mathematical model based on the breakaway angle and the contact angle. The ball mill filling rate mathematical model is: Where Φ is the filling rate; K f1 0≤θ B -θ A Filling rate coefficient ≤π; K f2 =π﹤θ B -θ A Filling rate coefficient of ﹤2π; θ A is the breakaway angle; θ B is the contact angle; Φ 01 0≤θ B -θ A Filling rate correction when ≤π; Φ 02 For π<θ B -θ A Correction for filling rate when <2π.

9. The method for detecting load parameters of a liner radial pressure ball mill according to claim 1, characterized in that: In the step M106, the steel ratio of the ball mill load is calculated by a steel ratio mathematical model based on the ball mill loading capacity and the ball mill filling rate. The steel ratio mathematical model is: Where, P is the steel-to-material ratio; d1 is the steel ball density; d2 is the ore density; d3 is the water density; M is the loading capacity; C is the percentage concentration of slurry; V is the volume of the ball mill cylinder; Φ is the filling rate; K p is the steel material ratio coefficient; P0 is the steel material ratio correction amount.

10. A liner radial pressure ball mill load parameter detection device, characterized in that: It comprises a detection host (1), a wireless receiver (2), an origin metal block (3), a position sensor (4), a wireless transmitter (5), a signal amplifier (6), a force sensing device (7), a lining plate measuring device (8), and a power supply (9); The lining plate measuring device (8) comprises a measuring lining plate base (11), a measuring lining plate (12), an elastic gasket (13), a hollow bolt (14), a force transmission rod (15), a base lining plate fastening nut (16), a force transmission rod check nut (20), a hollow bolt connecting thread (21), and a force transmission rod connecting thread (22); The force sensing device (7) comprises a force sensor (17), a force sensor fastening bolt (18), and a force sensor bracket (19); The measuring liner (12) and the elastic gasket (13) are installed in the groove of the measuring liner base (11); the hollow bolt (14) is connected to the measuring liner base (11) through the hollow bolt connecting thread (21); the hollow bolt (14) passes through the mounting hole of the ball mill cylinder and the lower mounting hole of the force sensor bracket (19); the measuring liner base (11) and the force sensor bracket (19) are fixed to the ball mill cylinder through the base liner fastening nut (16); one end of the force transmission rod (15) is connected to the measuring liner (12) through the force transmission rod connecting thread (22); the other end of the force transmission rod (15) is connected to the force transmission rod check nut (20) to prevent the measuring liner (12) from falling off during installation; the tightening degree of the force transmission rod check nut (20) is preferably such that the measuring liner (12) is just not loose; The force sensor device (7) is installed outside the ball mill cylinder, one end of the force sensor (17) is connected to the force transmission rod (15), and the other end is fixed to the force sensor bracket (19) through the force sensor fastening bolt (18), and the degree of fastening of the force sensor fastening bolt (18) is such that when the force sensor (17) is at the highest point of the ball mill cylinder, the output signal of the force sensor is one twentieth of its full-scale output signal; The origin metal block (3) is installed at a position aligned with the lower edge of the ball mill cylinder and close to the cylinder, and the position sensor (4) is installed on the side of the ball mill cylinder flush with the horizontal line of the measuring liner (12), and it is ensured that the position sensor (4) can send an electric pulse signal when passing through the origin metal block (3); The wireless transmitter (5), signal amplifier (6) and power supply (9) are installed on the surface of the ball mill cylinder and arranged in a straight line with the position sensor (4) and the force sensor (17); the signal of the force sensor (17) is amplified by the signal amplifier (6) and then transmitted to the wireless transmitter (5), and the position sensor (4) is directly connected to the wireless transmitter (5); the position sensor (4), wireless transmitter (5) and signal amplifier (6) are powered by the power supply (9), and the force sensor signal and the position sensor signal are transmitted to the detection host (1) through the wireless transmitter (5) and the wireless receiver (2).

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