A method and device for detecting load parameters of a liner radial pressure type ball mill

Abstract

The present invention discloses a method and device for detecting load parameters of a lining radial pressure type ball mill, belonging to the field of automatic detection in the ore dressing process. The present invention obtains the radial pressure signal and the origin position signal of the measured lining by means of force sensors and position sensors installed on the cylinder body of the ball mill, and transmits the signals to the detection host through a wireless transmitter-receiver. The present invention calculates the position angle of the measured lining and the radial pressure it receives according to the position signal and the radial pressure signal, establishes a dynamic data matrix of the radial pressure corresponding to each position angle, performs filtering processing on the dynamic data matrix to obtain a filtered data matrix, and calculates the loading amount, filling rate and steel material ratio of the ball mill based on the filtered data matrix through relevant mathematical models. The present invention can accurately detect the loading amount, filling rate and steel material ratio of the ball mill online, and has a positive effect on realizing intelligent control of grinding and classification, reducing energy consumption and steel consumption, and improving grinding efficiency and product qualification rate.

Description

Technical Field

[0001] The present invention discloses a method and device for detecting load parameters of a liner radial pressure type ball mill, belonging to the field of automatic detection in the beneficiation process. Background Art

[0002] The wet ball mill is the most commonly used grinding equipment in the beneficiation industry. The internal load of the wet ball mill consists of steel balls, ore and water. When the cylinder of the ball mill rotates, the steel balls are lifted due to the frictional force of the inner wall of the ball mill cylinder. When the rising angle exceeds the separation angle, the steel balls fall downward. The ore is crushed by the impact of the falling steel balls and the grinding action between the steel balls and the inner wall of the cylinder. There are many factors affecting the grinding efficiency, including the filling rate of steel medium, the ratio of steel medium to ore material (steel-to-material ratio), the loading amount, the grinding concentration, etc. The filling rate of steel medium, the loading amount, the steel-to-material ratio, etc. are collectively referred to as load parameters. Practice shows that the filling rate of steel medium, the loading amount, and the steel-to-material ratio are important factors affecting the grinding effect. Reasonable load parameters are the premise for the efficient operation and energy conservation and consumption reduction of the ball mill, and also an important factor affecting the particle size of the mill product. Only when the filling rate, the loading amount, and the steel-to-material ratio are all in a reasonable state can an efficient grinding effect be obtained.

[0003] The traditional single-factor load parameter detection methods for ball mills mainly include: the current method, the sound method, the useful power method, the vibration method, etc. The current method judges the load of the ball mill according to the magnitude and change of the mill current intensity. However, in fact, from empty grinding to full grinding, the ball mill current does not change significantly with the load. Only when it is severely overloaded does the current change significantly. The sound method utilizes the fact that the sound emitted by the ball mill is related to the internal material load, and thus judges the mill load according to the difference in sound. There are many factors affecting the sound method detection, such as the noise generated by surrounding ball mills, the hardness and particle size of the material, the material load, the medium load, the grinding concentration, and the change of the circulating load. The current method indirectly detects the mill load by using the single-peak correspondence relationship between the current intensity of the ball mill motor and the ball mill load. However, before the ball mill is overloaded, the change of the current intensity with the loading amount of the ball mill is not obvious. The vibration method indirectly detects the mill load through the vibration intensity of the ball mill according to the characteristic that the vibration intensity is related to the ball mill load. The main factors affecting the vibration are the medium filling rate, the material filling rate, the grinding concentration, etc. The traditional single-factor load parameter detection methods for ball mills are relatively simple. However, due to the limitations of the detection principle, they are 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 process.

[0004] In order to solve the deficiencies of the traditional single-factor load parameter detection method for ball mills, detection methods that utilize the complementarity of certain single-factor methods and combine two or more single-factor methods have emerged, such as load detection methods for ball mills that combine multiple factors like the power-sound method, power-vibration method, sound-vibration method, power-sound-vibration method, etc. The multi-factor method attempts to improve the detection accuracy by leveraging the complementarity of the single-factor method and simultaneously uses information fusion and soft-sensor technology to enhance the calculation accuracy. However, in reality, due to overly complex calculations and poor repeatability, these methods still pose a challenge for detecting the load of ball mills to this day.

[0005] The applicant of the present invention has previously disclosed a patented technology for detecting the load parameters of a ball mill, with the patent title: A Method and Device for Detecting the Load Parameters of a Ball Mill, and the patent number: ZL201310377730.9. While this technology realizes the detection of the load parameters of a ball mill, it still has the following main deficiencies: 1) By measuring the resistance between the measuring electrode and the cylinder body to determine whether the electrode is in contact with the load body, since the electrode adheres to the pulp and is difficult to shed or sheds with a delay, the resistance remains unchanged when the electrode leaves the load body, making it impossible to accurately determine the shedding angle and contact angle of the load body, and thus impossible to accurately calculate the filling rate of the load body in the ball mill; 2) Using a force sensor to measure the weight of the entire ball mill cylinder body to obtain the loading capacity of the ball mill. Although this technical method is direct, it is only applicable to micro and small ball mills. For medium, large, or extra-large ball mills, due to the total weight of the equipment and load reaching dozens to hundreds of tons, it is simply not possible to install a force sensor on its base, and thus this technology cannot be used to measure the loading capacity of the ball mill; 3) Due to the uncertainty in detecting the filling rate of the ball mill in this invention and the inability to detect the loading capacity of medium, large, or extra-large ball mills, the steel material ratio cannot be calculated. 4) The mathematical models for the filling rate, loading capacity, and steel material ratio of this invention need to be further improved to enhance the detection accuracy. Although this patent proposes a new technical idea and method, there are significant limitations in the detection method and practical application. Summary of the Invention

[0006] In order to overcome the deficiencies of the existing methods and devices for detecting the load parameters of ball mills, the present invention provides a method and device for detecting the load parameters of a ball mill by radial pressure of the lining plate. By measuring the radial pressure and its corresponding position angle received by the measuring lining plate inside the ball mill, and based on the radial pressure and position angle, through the judgment of the detachment angle and contact angle of the load body and related mathematical models, load parameters such as the loading capacity, filling rate, and steel material ratio of the ball mill are calculated. The present invention is applicable not only to the detection of load parameters of micro and small ball mills but also to the detection of load parameters of medium, large, and extra-large ball mills, with higher detection accuracy, stronger reliability, better adaptability, and a wider application range.

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

[0008] The present invention provides a method for detecting load parameters of a lining radial pressure type ball mill, and the detection method includes:

[0009] Step M101: Signal acquisition and calculation of the position angle of the measuring lining and its radial pressure;

[0010] Step M102: Establish a dynamic data matrix and a filtered data matrix;

[0011] Step M103: Based on the filtered data matrix, calculate the loading amount of the ball mill through the loading amount mathematical model.

[0012] Step M104: Based on the filtered data matrix, judge and calculate the separation angle and contact angle through the change characteristics of the radial pressure of the measuring lining;

[0013] Step M105: Based on the separation angle and contact angle, calculate the filling rate of the ball mill through the filling rate mathematical model;

[0014] Step M106: Based on the loading amount of the ball mill and the filling rate of the ball mill, calculate the steel material ratio of the load body of the ball mill through the steel material ratio mathematical model.

[0015] Further, in the step M101, the specific steps for signal acquisition and calculation of the position angle of the measuring lining and its radial pressure include:

[0016] Step S101: Through the radial force guiding action of the lining measuring device, transfer the radial pressure received by the measuring lining to the force sensor. The force sensor converts the radial pressure of the lining into a voltage signal at the mv level, and then the signal amplifier converts the voltage signal at the mv level into a voltage signal at the volt level;

[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 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 operation time is measured with the origin position as the timing starting point. The time interval between two consecutive electric pulses is used as the rotation period of the ball mill cylinder. The operation timer is automatically reset when the pulse is generated.

[0018] Step S103: The electrical pulse signal output by the position sensor is collected in real time, and timing is started when the pulse signal appears. The position angle of the measuring liner is calculated based on the rotation period of the ball mill cylinder 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 cylinder; t is the running time after the measuring liner passes the origin. The measuring liner automatically resets to t every time it passes the origin.

[0021] Step S104: collecting the liner radial pressure signal and calculating the liner radial pressure, and performing digital filtering on the collected data of the liner radial pressure measured at each position angle. The digital filtering method for the collected data of the liner radial pressure is as follows: obtaining the computer A / D value of the liner radial pressure signal within a period of time, sorting the A / D value data by size, removing one-third of the large data and one-third of the small data, and calculating the average value of the intermediate data as the filtered value of the computer A / D value of the current radial pressure signal; the mathematical model for calculating the liner radial pressure 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 continuously with material changes and measurement of liner wear, and it is necessary to calibrate N 01 and N 02 automatically. The automatic calibration method for the said N 01 and N 02 is as follows: Obtain the filtered value N 180 of the computer A / D value of the measurement liner at a position angle of 180° and the filtered value N 225 of the computer A / D value of the measurement liner at a position angle of 225° from the filtered data matrix, and perform calculations on N 01 and N 02 . The calculation formula is:

[0025]

[0026] Furthermore, in the step M102, the specific steps for establishing the dynamic data matrix and the filtered 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 measurement liner. The discretization method is as follows: Calculate the position angle element value Δθ of the measurement liner based on the length of the measurement liner along the circumferential direction of the cylinder body, and calculate the total equal division number N of the position angle based on the position angle element value Δθ of the measurement liner; Starting from the origin position, sort each equal division position angle along the rotation direction of the cylinder body to obtain the position angle serial number k of the measurement liner; Record the radial pressure F of the measurement liner corresponding to each position angle serial number k, establish the relationship between the position angle serial number k and the radial pressure F of the measurement liner, and obtain the dynamic data matrix F DS ;

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

[0029]

[0030] In the formula, 1 to N are position angle serial numbers, and F 11 to F Nn are the radial pressure data sequences of the measurement liner corresponding to each position angle serial number.

[0031] Step 3-2: Every few rotations of the ball mill cylinder body, perform digital filtering processing on the radial pressure data of the measurement liner to construct a filtered data matrix of the radial pressure of the measurement liner; The digital filtering of the radial pressure of the measurement liner and the method for establishing the filtered data matrix are as follows: Use the dynamic data matrix F DSThe measured radial pressure data of each column of the liner is divided into five equal parts. Each part of the data is sorted by size, and the average value of several intermediate data is calculated as the filtered value of this part of the data. Then, the average value of the filtered values of the five parts of the data is calculated as the final filtered value of the measured radial pressure of the liner corresponding to the position angle serial number, and a filtered data matrix F of the position angle serial number and the final filtered value is constructed. DSA 。

[0032] The filtered data matrix F DSA has the following expression:

[0033]

[0034] In the formula, 1 to N are the position angle serial numbers, and F 1A to F NA are the filtered values of the measured radial pressure data of the liner corresponding to the position angle serial number.

[0035] The relevant calculation formulas for the measured liner position angle element value Δθ, the total number of equal parts N of the position angle, and the position angle serial number k are as follows:

[0036]

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

[0038] Furthermore, in step M103, based on the filtered data matrix, the loading amount of the ball mill is calculated through the loading amount mathematical model. The loading amount mathematical model is as follows:

[0039]

[0040] In the formula, M is the loading amount; k is the position angle serial number; Δθ is the measured liner position angle element value; N is the total number of equal parts of the position angle; F is the measured radial pressure of the liner; T is the rotation period of the ball mill cylinder; g is the acceleration due to gravity; K m is the loading amount coefficient; M0 is the loading amount correction amount.

[0041] Furthermore, in step M104, based on the filtered data matrix, the separation angle and the contact angle are judged and calculated through the change characteristics of the measured radial pressure of the liner. The method for obtaining the separation angle and the contact angle of the measured liner is as follows:

[0042] Based on the radial pressure data and the position angle serial number of the filtered data matrix, establish a relationship curve between the radial pressure of the measuring liner and the position angle serial number, and judge the position angle serial numbers corresponding to the separation angle and the contact angle of the load body of the ball mill according to the variation characteristics of the curve. Calculate the separation angle θ according to the corresponding position angle serial numbers. A and the contact angle θ B .

[0043] The separation angle θ A and the contact angle θ B are judged and calculated as follows:

[0044] Step 7-1: Based on the radial pressure data and the position angle serial number of the filtered data matrix, take the radial pressure of the measuring liner as the ordinate and the position angle serial number of the measuring liner as the abscissa to establish a relationship curve between the radial pressure of the measuring liner and the position angle serial number;

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

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

[0047] Step 7-4: Based on K A and K B calculate the separation angle θ A and the contact angle θ B , θ A = k A Δθ, θ B = k B Δθ, Δθ is the elemental value of the position angle of the measuring liner.

[0048] Furthermore, in the step M105, based on the separation angle and the contact angle, calculate the filling rate of the ball mill through the filling rate mathematical model. The filling rate mathematical model of the ball mill is:

[0049]

[0050] In the formula, Φ is the filling rate; K f1 is the filling rate coefficient for 0 ≤ θ B - θ A ≤ π; K f2 is the filling rate coefficient for π < θ B - θ A < 2π; θA is the departure angle; θ B is the contact angle; Φ 01 is the filling rate correction amount when 0 ≤ θ B - θ A ≤ π; Φ 02 is when π < θ B - θ A < 2π; it is the filling rate correction amount

[0051] Furthermore, in the step M106, based on the loading amount of the ball mill and the filling rate of the ball mill, the steel-to-material ratio of the load body of the ball mill is calculated through the steel-to-material ratio mathematical model. The steel-to-material ratio mathematical model is as follows:

[0052]

[0053] In the formula, P is the steel-to-material ratio; d1 is the density of the steel balls; d2 is the density of the ore; d3 is the density of water; M is the loading amount;

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

[0055] The present invention also provides a detecting device for the load parameters of a ball mill with radial pressure on the lining plate, including a detecting 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;<able="false"> <able="false">

[0056] The lining plate measuring device 8 includes 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 connection thread 21, and a force transmission rod connection thread 22; the lining plate measuring device 8 can be installed on the ball mill cylinder as a whole. There is a groove in the middle of the measuring lining plate base 11 for installing the measuring lining plate 12, and its external dimensions are the same as those of other lining plates;<able="false"> <able="false">

[0057] The force sensing device 7 includes a force sensor 17, a force sensor fastening bolt 18, and a force sensor support 19;<able="false"> <able="false">

[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 body and the lower mounting hole of the force sensor bracket 19. The measuring liner base 11 and the force sensor bracket 19 are fixed on the ball mill cylinder body 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 should be such that the measuring liner 12 is just not loose;

[0059] The force sensing device 7 is installed outside the ball mill cylinder body. One end of the force sensor 17 is connected to the force transmission rod 15, and the other end is fixed on the force sensor bracket 19 through the force sensor fastening bolt 18. The tightening degree of the force sensor fastening bolt 18 should be such that when the force sensor 17 is at the highest point of the ball mill cylinder body, 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 line of the ball mill cylinder body and close to the cylinder body. The position sensor 4 is installed on the side of the ball mill cylinder body flush with the horizontal line of the measuring liner 12, and it is ensured that an electrical pulse signal can be emitted when the position sensor 4 passes through the origin metal block 3;

[0061] The wireless transmitter 5, the signal amplifier 6 and the power supply are installed on the surface of the ball mill cylinder body and are 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. 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.

[0062] In particular, in order to ensure the 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 body. Its length is determined according to the thickness of the ball mill cylinder body and its mounting components, and its outer diameter is slightly smaller than the size of the liner mounting hole on the ball mill cylinder body;

[0064] 2) The middle of the hollow bolt 14 is a cylindrical 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 have threads. One end is connected to the measuring liner base 11, and the other end fixes the measuring liner base 11 and the force sensor bracket 19 on the ball mill cylinder body through the base liner fastening nut 16;

[0065] 3) The length of the load transfer bar 15 is determined according to the installation requirements of the hollow bolt 14, the load transfer bar check nut 20, the force sensor 17, and the measuring liner 12. The size of the load transfer bar 15 is larger in the middle and smaller at both ends. The middle part is a smooth rod, and both 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 load transfer bar 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 load transfer bar 15 passes through the hollow bolt 14 and firmly connects the measuring liner 12 and the force sensor 17. Through the combined guiding action of the load transfer bar 15 and the hollow bolt 14 on the radial pressure of the measuring liner, the radial pressure received by the measuring liner 12 is transmitted to the force sensor 17, which can greatly reduce the influence of the acting forces in other directions on the measurement of the force sensor 17 and provide 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 influence on the radial force measurement due to the irreversible deformation of the elastic gasket 13. At the same time, lubricating oil is injected between the hollow bolt 14 and the load transfer bar 15 to reduce the friction force.

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

[0069] The installation scheme of the described ball mill load parameter detection device with radial pressure of the liner 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 connection thread 21. The hollow bolt 14 passes through the installation hole of the ball mill cylinder and the lower installation hole of the force sensor bracket 19, and the measuring liner base 11 and the force sensor bracket 19 are fixed on the ball mill cylinder through the base liner fastening nut 16. One end of the load transfer bar 15 is connected to the measuring liner 12 through the load transfer bar connection thread 22, and the other end of the load transfer bar 15 is connected to the load transfer bar check nut 20 to prevent the measuring liner 12 from falling during installation. The tightening degree of the load transfer bar check nut 20 should be such that the measuring liner 12 is just not loose;

[0071] Step S302: Carry out the matching installation of the liner measuring device and the force sensor device: The force sensing device 7 is installed outside the cylinder body of the ball mill. One end of the force sensor 17 is connected to the force transmission rod 15, and the other end is fixed on 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 body, 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 induction metal block: Install the position sensor and the origin metal block outside and near the cylinder body of the ball mill. The origin metal block 3 is installed at a position aligned with the lower edge line of the ball mill cylinder body and close to the cylinder body. The position sensor 4 is installed on the side of the ball mill cylinder body flush with the horizontal line of the measuring liner 12, and it is ensured that an electrical pulse signal can be reliably emitted when the position sensor 4 passes through the origin metal block 3;

[0073] Step S304: Install and connect the detection system and its electronic components: The detection system of a detection device for load parameters of a ball mill with radial pressure on the liner 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 as follows: 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 body and are 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. 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 according to needs.

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

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

[0076] (2) The present invention is not only applicable to the detection of load parameters of micro and small ball mills, but also applicable to the detection of load parameters of medium, large, and extra-large ball mills, with higher accuracy, more convenient installation, and 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, which can avoid the large detection errors or the inability to achieve detection caused by reasons such as pulp adhesion, excessive weight of the ball mill equipment, changes in ore properties, and changes in pulp concentration in the prior art, and has stronger adaptability.

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

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

[0080] Figure 1 It is a flowchart of the detection method of the present invention.

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

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

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

[0084] Figure 5 It is a schematic structural diagram 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 It is a structure and installation diagram of the liner measurement device and the force sensing device of the present invention.

[0087] In the figure, each label is: 1 - detection host, 2 - wireless receiver, 3 - origin metal block, 4 - position sensor, 5 - wireless transmitter, 6 - signal amplifier, 7 - force sensing device, 8 - liner measurement device, 9 - power supply, 11 - measurement liner base, 12 - measurement liner, 13 - elastic gasket, 14 - hollow bolt, 15 - force transmission rod, 16 - base liner fastening nut, 17 - force sensor, 18 - force sensor fastening bolt, 19 - force sensor bracket, 20 - force transmission rod check nut, 21 - hollow bolt connection thread, 22 - force transmission rod connection thread. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0088] The following will further illustrate the present invention in conjunction with the appended Figure 1 to the appended Figure 5 drawings and specific embodiments.

[0089] Example 1: This embodiment is used for detecting the load parameters of a ball mill. The specifications of the ball mill cylinder are Φ4000×6400, and the specifications of the lining plate are length * width * thickness = 500mm * 314mm * 50mm. The ball mill is mainly composed of a feeding part, a discharging part, a rotating part, a transmission part (reducer, small driving gear, motor, electric control), etc. The cylinder speed is 16.8 r / min, the rated ball loading is about 149t, the rated loading is 240t, the motor power is 1250kw, the power supply voltage is 10kvAC, the ore to be processed is lead-zinc ore, and the ore density is 3.2 g / 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 accurately detect the load parameters of the ball mill in this embodiment, the present invention provides a method and device for detecting the load parameters of a ball mill with radial pressure on the lining plate, including a device for detecting the load parameters of a ball mill with radial pressure on the lining plate and a method for detecting the load parameters of a ball mill with radial pressure on the lining plate. Through the device for detecting the load parameters of a ball mill with radial pressure on the lining plate, the radial pressure of the load body inside the ball mill on the measuring lining plate and its corresponding measuring lining plate position angle are directly measured; through the method for detecting the load parameters of a ball mill with radial pressure on the lining plate, taking the radial pressure of the measuring lining plate and the measuring lining plate position angle as the main basis, load parameters such as the loading amount, filling rate, and steel material ratio of the load body of the ball mill are calculated through relevant mathematical models.

[0091] The present invention provides a method for detecting the load parameters of a ball mill with radial pressure on the lining plate, and its working steps include:

[0092] Step S201: Through the radial force guiding action of the lining plate measuring device, the radial pressure received by the measuring lining plate is transmitted to the force sensor. The force sensor converts the radial pressure of the lining plate into a voltage signal at the mv level, and then the signal amplifier converts the voltage signal at the mv level into a voltage signal at the volt level. The output signal range of the force sensor in this embodiment is 0 - 13mv, and it 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 lining plate, and install an origin metal block near the side at the lowest horizontal line of the ball mill cylinder. When the position sensor passes through the origin metal block, an electrical pulse is generated to determine that the measuring lining plate is in the origin position. At the same time, starting from the origin position, the running time of the measuring lining plate is timed. The time interval between two successive electrical pulses is used as the rotation period of the ball mill cylinder, and the running time timer is automatically reset when the pulse is generated.

[0094] Step S203: Collect the electrical pulse signals output by the position sensor in real time, start timing from the appearance of the pulse signal, and calculate the position angle of the measurement lining based on the rotation period of the ball mill cylinder and the running time after the measurement lining passes through the origin. The calculation formula for the position angle of the measurement lining is as follows:

[0095]

[0096] In the formula, θ is the position angle of the measurement lining; T is the rotation period of the ball mill cylinder, which is 3.57 s in this embodiment; t is the running time after the measurement lining passes through the origin, and 0 ≤ t ≤ 3.57 s in this embodiment; t is automatically reset each time the measurement lining passes through the origin, and t = 0 during reset.

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

[0098] Step S204: Collect the radial pressure signal of the measurement lining and calculate the radial pressure of the measurement lining. At the same time, perform digital filtering processing on the collected data of the radial pressure of the measurement lining at each position angle. The digital filtering method for the collected data of the radial pressure of the measurement lining is as follows: Obtain the computer A / D value of the radial pressure signal of the measurement lining 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, obtain the computer A / D value of the radial pressure signal of the measurement lining within a period of time. The number of data is 90. Sort the 90 A / D value data by size, remove 30 large data and 30 small data, and calculate the average value of the middle 30 data as the filtered value of the computer A / D value of the current radial pressure signal.

[0100] The mathematical model for calculating the radial pressure of the measurement lining is:

[0101] F = K F (N1 - N 01 - N 02 cosθ)

[0102] In the formula, F is the radial pressure of the measurement lining; 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 received by the current measurement lining; 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 measurement lining is at the origin position, the filtered value of the computer A / D value caused by the weight of the measurement lining; θ is the position angle of the measurement lining.

[0103] During the operation of the ball mill, N 01 and N 02 will change continuously with the change of materials and the measurement of the wear of the liner, and it is necessary to automatically calibrate N 01 and N 02 . The automatic calibration method for the said N 01 and N 02 is as follows: Obtain the filtered value N 180 of the computer A / D value of the measurement liner at the position angle of 180° and the filtered value N 225 of the computer A / D value of the measurement liner at the position angle of 225° from the filtered data matrix, and perform the calculation of N 01 and N 02 . 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 measurement liner. The discretization method of the position angle θ is as follows: Calculate the elemental value Δθ of the position angle of the measurement liner based on the length of the measurement liner along the circumferential direction of the cylinder body; Divide the circumferential angle of the cylinder body cross-section into N equal parts based on the elemental value Δθ of the position angle of the measurement liner; Starting from the origin position, sort the position angles of each equal part along the rotation direction of the cylinder body as the position angle serial number k of the measurement liner. The relevant calculation formulas are:

[0107]

[0108] In the formula, Δθ is the elemental value of the position angle of the measurement liner; L is the length of the measurement liner along the circumferential direction of the cylinder body; D is the diameter of the ball mill cylinder body; N is the total number of equal parts 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 body; t is the time after the measurement liner passes through the origin.

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

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

[0111]

[0112] Wherein, 1 to N are the sequence numbers of the position angles, and F 11 to F Nn are the measured radial pressure data sequences of the lining plates corresponding to the respective position angle sequence numbers.

[0113] Step S206: Every time the ball mill cylinder rotates several weeks, digital filtering processing of the measured radial pressure data of the lining plate is performed to construct a filtered data matrix of the measured radial pressure of the lining plate. The method for digital filtering of the measured radial pressure of the lining plate and constructing the filtered data matrix is as follows: Divide the measured radial pressure data of each column of the dynamic data matrix F DS into five equal parts, with 50 data in each part. Sort the data in each part by size, calculate the average value of the middle 10 data as the filtered value of this part of the data, and then calculate the average value of the filtered values of the five parts of the data. Take this as the final filtered value of the measured radial pressure of the lining plate corresponding to this position angle sequence number, and construct a filtered data matrix F DSA of the position angle sequence number and the final filtered value, and its expression is:

[0114]

[0115] Wherein, 1 to N are the sequence numbers of the position angles, and in this embodiment, N = 40; F 1A to F 40A are the filtered values of the measured radial pressure data of the lining plate corresponding to the position angle sequence number.

[0116] Step S207: Based on the filtered data matrix F DSA , calculate the loading amount of the ball mill through the loading amount mathematical model. The loading amount mathematical model is:

[0117]

[0118] Wherein, M is the loading amount (t); k is the position angle sequence number; N is the total number of equal parts of the position angle; F is the measured radial pressure of the lining plate (N); T is the rotation period of the ball mill cylinder (s); g is the acceleration due to gravity (m / s 2 ); K m is the loading amount coefficient; M0 is the loading amount 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: Based on the filtered data matrix F DSA Establish a relationship curve between the radial pressure of the measuring liner and the position angle serial number, determine the position angle serial numbers corresponding to the separation angle and the contact angle according to the data change characteristics of the radial pressure of the measuring liner, and calculate the separation angle θ A and the contact angle θ B .

[0122] The determination and calculation steps of the separation angle θ A and the contact angle θ B are as follows:

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

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

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

[0126] Step 7-4: Calculate the separation angle θ A and the contact angle θ B based on K A and K B , θ A =k A Δθ, θ B =k B Δθ, where Δθ is the elemental value of the position angle of the measuring liner.

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

[0128] Step S209: Based on the separation angle θ A and the contact angle θ BBased on this, the filling rate of the ball mill is calculated through the filling rate mathematical model. The filling rate mathematical model of the ball mill is as follows:

[0129]

[0130] In the formula, Φ is the filling rate (%), and K f1 is the filling rate coefficient for 0 ≤ θ B -θ A ≤ π; K f2 is the filling rate coefficient for π < θ B -θ A < 2π; θ A is the breakaway angle (in radians); θ B is the contact angle (in radians); Φ 01 is the filling rate correction amount for 0 ≤ θ B -θ A ≤ π; Φ 02 is the filling rate correction amount for π < θ B -θ A < 2π.

[0131] In this embodiment, one set of data is: when 0 ≤ θ B -θ A ≤ 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 loading capacity of the ball mill and the filling rate of the ball mill, the steel-to-material ratio of the load body of the ball mill is calculated through the steel-to-material ratio mathematical model. The steel-to-material ratio mathematical model is as follows:

[0133]

[0134] In the formula, P is the steel-to-material ratio; d1 is the density of steel balls (t / m 3 ); d2 is the density of ore (t / m 3 ); d3 is the density of water (t / m 3 ); M is the loading capacity (t); C is the percentage concentration of the pulp (%); V is the volume of the ball mill cylinder (m 3 );

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

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

[0137] This embodiment provides a load parameter detection device for a lining radial pressure ball mill, 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 lining measurement device 8, a power supply 9, a measurement lining base 11, a measurement lining 12, an elastic gasket 13, a hollow bolt 14, a force transmission rod 15, a base lining 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 connection thread 21, and a force transmission rod connection thread 22.

[0138] The component model specifications of the load parameter detection device for the lining radial pressure ball mill provided in this embodiment are as follows: Detection host 1: CPU I5 10210U, memory 16G, hard disk 256G, 17-inch screen, capacitive touch screen; Wireless receiver 2 and wireless transmitter 5 (transceiver pair): Model LORA-MODBUS-4AI, 4-channel AI, 16-bit resolution; Origin metal block 3: length * width * thickness = 50 * 50 * 3, made of 304 stainless steel; Position sensor 4: LM18-3020NB, powered by 10VDC; Signal amplifier 6: JY-S60, powered by 24VDC, output 0-10VDC; Power supply 9: powered by 24VDC and 10VDC; Measurement lining base 11: length * width * thickness = 500 * 314 * 50; Measurement lining 12: length * width * thickness = 400 * 200 * 40; Elastic gasket 13: length * width * thickness = 405 * 205 * 10, made of silicone; Hollow bolt 14: M32 * 90, hollow diameter 20mm; Force transmission rod 15: length 130mm, diameter 19mm, M18 thread at the lower end and M15 thread at the upper end; Base lining 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 connection thread 21: thread M32; Force transmission rod connection thread 22: thread M18.

[0139] The liner measuring device 8 includes 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 connection thread 21, and a force transmission rod connection thread 22. The liner measuring device 8 can be integrally installed on the ball mill cylinder. There is a groove in the middle of the measuring liner base 11 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, to ensure the accurate measurement of the radial force on the measuring liner, the design 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. Its length is determined according to the thickness of the ball mill cylinder and its installation components, and its outer diameter is slightly smaller than the size of the liner installation hole on the ball mill cylinder;

[0143] 2) The middle of the hollow bolt 14 is a cylindrical 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 have threads. One end is connected to the measuring liner base 11, and the other end fixes 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 larger in the middle and smaller at both ends. The middle is a smooth rod, and both 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. Through the combined guiding action of the force transmission rod 15 and the hollow bolt 14 on the radial pressure of the measuring liner, the radial pressure received by the measuring liner 12 is transmitted to the force sensor 17, which can greatly reduce the influence of the acting forces in other directions on the measurement of the force sensor 17 and provide favorable conditions for accurately detecting the radial pressure of the measuring liner.

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

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

[0148] An installation scheme for a load parameter detection device of a liner radial pressure type ball mill, 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 installation hole of the ball mill cylinder body and the lower installation hole of the force sensor bracket 19, and the measuring liner base 11 and the force sensor bracket 19 are fixed on the ball mill cylinder body 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 should be such that the measuring liner 12 is just not loose.

[0150] Step S302: The force sensing device 7 is installed outside the ball mill cylinder body. One end of the force sensor 17 is connected to the force transmission rod 15, and the other end is fixed on the force sensor bracket 19 through the force sensor fastening bolt 18. The tightening degree of the force sensor fastening bolt 18 should be such that when the force sensor 17 is at the highest point of the ball mill cylinder body, the output signal of the force sensor is about 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 when the force sensor 17 is at the highest point of the ball mill cylinder body, the output signal of the force sensor is 0.6 mV.

[0152] Step S303: Install the position sensor and the origin metal block outside and near the ball mill cylinder body. The origin metal block 3 is installed at a position aligned with the lower edge line of the ball mill cylinder body and close to the cylinder body. The position sensor 4 is installed on the side of the ball mill cylinder body flush with the horizontal line of the measuring liner 12, and it is ensured that the position sensor 4 can reliably emit 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: The 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 as follows: 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 are 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, 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 embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the gist of the present invention.

Claims

1. A method for detecting load parameters of a liner radial pressure type ball mill, characterized in that: The detection method includes: Step M101: Signal acquisition and calculation of measuring the position angle of the lining plate and its radial pressure; Step M102: Establish a dynamic data matrix and a filtered data matrix; Step M103: Based on the filtered data matrix, calculate the loading amount of the ball mill through the loading amount mathematical model; Step M104: Based on the filtered data matrix, judge and calculate the separation angle and the contact angle by measuring the change characteristics of the radial pressure of the lining plate; Step M105: Based on the separation angle and the contact angle, calculate the filling rate of the ball mill through the filling rate mathematical model; Step M106: Based on the loading amount of the ball mill and the filling rate of the ball mill, calculate the steel material ratio of the load body of the ball mill through the steel material ratio mathematical model; In the said step M102, the specific steps of establishing the dynamic data matrix and the filtered 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 body; calculate the total equal division number N of the position angle based on the position angle element value Δθ of the measuring liner; starting from the origin position, sort each equal division position angle along the rotation direction of the cylinder body to obtain the position angle serial number k of the measuring liner; record the radial pressure F of the measuring liner corresponding to each position angle serial number k, establish the relationship between the position angle serial number k and the radial pressure F of the measuring liner, and obtain the dynamic data matrix F DS ; Step 3-2: Every few rotations of the ball mill cylinder, digital filtering processing of the measured radial pressure data of the liner is performed, and a filtered data matrix for measuring the radial pressure of the liner is constructed; the method for digital filtering of the measured radial pressure of the liner and establishing the filtered data matrix is as follows: Divide the measured radial pressure data of each column of the dynamic data matrix F DS into five equal parts. Sort each part of the data by size, and calculate the average value of several intermediate data as the filtered value of this part of the data. Then calculate the average value of the filtered values of the five parts of the data, and use this as the final filtered value of the measured radial pressure corresponding to the position angle serial number. Construct a filtered data matrix F DSA .

2. A method for detecting the load parameters of a lining radial pressure type ball mill according to claim 1, characterized in that: In the said step M101, the specific steps of signal acquisition and calculation of measuring the position angle of the lining plate and its radial pressure include: Step S101: Through the radial force guiding function of the lining plate measuring device, transfer the radial pressure received by the measuring lining plate to the force sensor. The force sensor converts the radial pressure of the lining plate into a voltage signal of mv level, and then the signal amplifier converts the voltage signal of mv level into a voltage signal of volt level; Step S102: Install a position sensor on the outer side of the ball mill cylinder at the same horizontal line as the measuring lining plate, 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 electrical pulse is generated to judge that the measuring lining plate is in the origin position. At the same time, start timing the running time of the measuring lining plate with the origin position as the starting point of timing. Use the time interval between two consecutive electrical pulses as the rotation period of the ball mill cylinder, and automatically reset the running time timer when the pulse is generated; Step S103: Real-time collect the electrical pulse signal output by the position sensor, and start timing from the appearance of the pulse signal. Calculate the position angle of the measuring lining plate based on the rotation period of the ball mill cylinder and the running time of the measuring lining plate after passing through the origin; The calculation formula for the position angle of the measuring lining plate is: In the formula, θ is the position angle of the measuring lining plate; T is the rotation period of the ball mill cylinder; t is the running time of the measuring lining plate after passing through the origin, and t is automatically reset every time the measuring lining plate passes through the origin; Step S104: Conduct signal acquisition of the radial pressure of the measuring lining plate and calculation of the radial pressure of the measuring lining plate. At the same time, perform digital filtering processing on the collected data of the radial pressure of the measuring lining plate at each position angle. The digital filtering method for the collected data of the radial pressure of the measuring lining plate is: Obtain the computer A / D value of the radial pressure signal of the measuring lining plate 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 take the average of the intermediate data as the filtered value of the computer A / D value of the current radial pressure signal; The mathematical model for calculating the radial pressure of the measuring lining plate is: F = K F (N1 - N 01 - N 02 cosθ) Wherein, 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 received by the current measuring 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 weight of the measuring liner; θ is the position angle of the measuring liner; During the operation of the ball mill, it is necessary to automatically calibrate N 01 and N 02 ​ 3. A method for detecting the load parameters of a liner radial pressure type ball mill according to claim 2, characterized in that: The said N 01 and N 02 The automatic calibration method is as follows: Obtain the filtered value N of the computer A / D value of the measurement lining plate at a position angle of 180° from the filtered data matrix 180 and the filtered value N of the computer A / D value of the measurement lining plate at a position angle of 225° 225 , N 01 and N 02 The calculation formula of is:

4. A method for detecting the load parameters of a lining radial pressure type ball mill according to claim 1, characterized in that: The relevant calculation formulas for the original value Δθ of the position angle of the measuring lining plate, the total equal division number N of the position angle, and the position angle serial number k are: Wherein, Δθ is the measured angular element value of the liner position; L is the length of the measured liner along the circumferential direction of the cylinder; D is the diameter of the ball mill cylinder; N is the total number of equal angular divisions; T is the rotation period of the ball mill cylinder; k is the angular position serial number, and the integer part of the calculation result is taken; t is the time after the measured liner passes through the origin, and t is reset when the pulse signal is generated.

5. A method for detecting load parameters of a lining plate radial pressure type ball mill according to claim 1, characterized in that: In the step M103, based on the filtered data matrix, the loading amount of the ball mill is calculated through the loading amount mathematical model, and the loading amount mathematical model is: Wherein, M is the loading amount; k is the angular position serial number; Δθ is the measured angular element value of the liner position; N is the total number of equal angular divisions; F is the radial pressure of the measured liner; T is the rotation period of the ball mill cylinder; g is the acceleration due to gravity; K m is the loading coefficient; M0 is the loading correction.

6. The load parameter detection method of a liner radial pressure type ball mill according to claim 1, wherein: In the step M104, based on the filtered data matrix, the separation angle and the contact angle are judged and calculated through the change characteristics of the radial pressure of the measured liner, and the method for obtaining the separation angle and the contact angle of the measured liner is: Based on the radial pressure data and the position angle serial numbers of the filtered data matrix, establish a relationship curve between the measured radial pressure of the lining plate and the position angle serial numbers, and judge the position angle serial numbers corresponding to the separation angle and the contact angle of the load body of the ball mill according to the variation characteristics of the curve. Calculate the separation angle θ according to the corresponding position angle serial numbers A and the contact angle θ B ; The detachment angle θ A and the contact angle θ B The specific steps for judgment and calculation are as follows: Step 7-1: Based on the radial pressure data and the angular position serial number of the filtered data matrix, with the radial pressure of the measured liner as the vertical coordinate and the angular position serial number of the measured liner as the horizontal coordinate, establish a relationship curve between the radial pressure of the measured liner and the angular position serial number; Step 7-2: When the position angle of the measuring liner is within the range of 0 to π, the curve gradually changes from high to low, and finally changes from a sharp drop to a gentle slope. The intersection point of the gentle slope line and the sharp drop curve is used as the position angle serial number K corresponding to the separation angle A ; Step 7-3: When the position angle of the measuring liner is within the range of π to 2π, the curve gradually changes from low to high, changing from gentle to a sharp rise. The intersection point of the gentle line and the sharply rising curve is used as the position angle serial number K corresponding to the contact angle B ; Step 7-4: Using K A and K B as the basis, calculate the departure angle θ A and the contact angle θ B , θ A = k A Δθ, θ B = k B Δθ, where Δθ is the measured angular element value of the liner position.

7. A method for detecting the load parameters of a lining plate radial pressure type ball mill according to claim 1, characterized in that: In the step M105, based on the separation angle and the contact angle, the filling rate of the ball mill is calculated through the filling rate mathematical model, and the filling rate mathematical model of the ball mill is: Where Φ is the filling rate; K f1 is the filling rate coefficient for 0 ≤ θ B - θ A ≤ π; K f2 is the filling rate coefficient for π < θ B - θ A < 2π; θ A is the separation angle; θ B is the contact angle; Φ 01 is the filling rate correction amount for 0 ≤ θ B - θ A ≤ π; Φ 02 is the filling rate correction amount for π < θ B - θ A < 2π.

8. A method for detecting load parameters of a lining plate radial pressure type ball mill according to claim 1, characterized in that: In the step M106, based on the loading amount and the filling rate of the ball mill, the steel material ratio of the load body of the ball mill is calculated through the steel material ratio mathematical model, and the steel material ratio mathematical model is: Wherein, P is the steel material ratio; d1 is the density of steel balls; d2 is the density of ore; d3 is the density of water; M is the loading capacity; C is the percentage concentration of pulp; 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.

9. A load parameter detection device for a liner radial pressure type ball mill designed by the method according to any one of claims 1-8, characterized in that: It includes 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); The liner measuring device (8) includes a measured liner base (11), a measured liner (12), an elastic gasket (13), a hollow bolt (14), a transfer rod (15), a base liner fastening nut (16), a transfer rod check nut (20), a hollow bolt connection thread (21), and a transfer rod connection thread (22); The force sensing device (7) includes a force sensor (17), a force sensor fastening bolt (18), and a force sensor bracket (19); The measured liner (12) and the elastic gasket (13) are installed in the groove of the measured liner base (11). The hollow bolt (14) is connected to the measured liner base (11) through the hollow bolt connection thread (21). The hollow bolt (14) passes through the installation hole of the ball mill cylinder and the lower installation hole of the force sensor bracket (19). The measured liner base (11) and the force sensor bracket (19) are fixed on the ball mill cylinder through the base liner fastening nut (16). One end of the transfer rod (15) is connected to the measured liner (12) through the transfer rod connection thread (22). The other end of the transfer rod (15) is connected to the transfer rod check nut (20) to prevent the measured liner (12) from falling during installation. The tightening degree of the transfer rod check nut (20) should be such that the measured liner (12) is just not loose; The described force sensing 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; The described origin metal block (3) is installed at a position aligned with the lower edge line 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 it is ensured that an electrical pulse signal can be emitted when the position sensor (4) passes through the origin metal block (3); The described wireless transmitter (5), signal amplifier (6) and power supply (9) are installed on the surface of the ball mill cylinder and are 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).

Images