Automatic ball feeding system, control system and ball feeding method

Abstract

The invention relates to the technical field of ore grinding, and provides an automatic ball feeding system, a control system and a ball feeding method.The automatic ball feeding system comprises a steel ball pool ball taking mechanical arm, weighing equipment, a self-grinding conveying system and a ball-grinding conveying system; the steel ball pool ball taking mechanical arm is used for transferring steel balls in a steel ball pool into the weighing device, and the weighing device is used for obtaining the weight of the steel balls and controlling the steel balls to enter the autogenous grinding conveying system and / or the ball-milling conveying system. And the autogenous grinding conveying system and the ball-milling conveying system are used for conveying the weighed steel balls into the autogenous grinding machine and the ball mill respectively. According to the automatic ball feeding system in the scheme, automation of the whole process of taking the balls from the steel ball pool, conveying the balls to finally feeding the balls is achieved, manual intervention is reduced, and production continuity and stability are improved. And most of the procedures are completed by automatic equipment, so that the requirement on manpower is reduced, and the labor cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of ore grinding, and in particular to an automatic ball adding system, a control system and a ball adding method. Background Art

[0002] Ball mill equipment is the most widely used grinding and mixing machinery today, and is widely used in mineral processing, building materials, electricity, cement and chemical industries. Especially in the mineral processing industry, the grinding process plays an important role in the entire production process, with a large investment ratio and high energy consumption ratio, which has a great impact on product quality. The work of the ball mill is to fill the steel balls to achieve the grinding function, and the quality of the grinding effect is achieved by the steel balls in the mill. After the ball mill starts grinding, the steel balls in the mill will wear out and the total number of balls will decrease. In order to maintain the best ball quantity and ratio, it is necessary to continuously add steel balls to maintain it.

[0003] Usually, autogenous mills and ball mills are required in the grinding and flotation section of a mineral processing plant. Different specifications of steel balls need to be added to the autogenous mills and ball mills respectively to meet production needs.

[0004] At present, the operator operates the electromagnet of the crane to suck the balls, and then loads them into the bucket of the material transport vehicle, which enters the workshop through the track. The workshop operator uses the workshop crane to lift the material vehicle to the high-level steel ball inlet, and pours the steel balls into the ball adding port for adding balls. This not only requires a lot of work for the workers, but also has high safety risks. Adding balls in this way is prone to over-grinding, and in the later stage it will cause under-grinding, unstable grinding effect, unstable ball mill power and other problems. Summary of the invention

[0005] The problem solved by the invention is how to improve the ball adding efficiency and automation degree of an autogenous mill and a ball mill.

[0006] In a first aspect, an embodiment of the present invention provides an automatic ball adding system, including a steel ball pool ball taking manipulator, a weighing device, a self-grinding conveying system, and a ball milling conveying system;

[0007] The steel ball pool ball taking robot is used to transfer the steel balls in the steel ball pool to the weighing device, and the weighing device is used to obtain the weight of the steel balls and control the steel balls to enter the autogenous grinding conveying system and / or the ball mill conveying system. The autogenous grinding conveying system and the ball mill conveying system are used to convey the weighed steel balls to the autogenous grinding mill and the ball mill respectively.

[0008] In an optional embodiment, the steel ball pool ball retrieval robot includes a gantry intelligent crane, an ascending drive device, a weighing sensor, a movable joint and a ball retrieval electromagnet; the ascending drive device is installed on the walking mechanism of the gantry intelligent crane, the weighing sensor is installed at the connection between the ascending drive device and the movable joint, and the ball retrieval electromagnet is installed at the other end of the movable joint for adsorbing steel balls.

[0009] In an optional embodiment, the autogenous mill conveying system includes a first autogenous mill elevator, a second autogenous mill elevator and an autogenous mill steel ball belt conveyor; the ball inlet of the first autogenous mill elevator is connected to the discharge port of the weighing equipment, the ball outlet of the first autogenous mill elevator is connected to the ball inlet of the second autogenous mill elevator, the ball outlet of the second autogenous mill elevator is connected to the conveying position of the autogenous mill steel ball belt conveyor, and the autogenous mill steel ball belt conveyor is used to convey steel balls to the autogenous mill.

[0010] In an optional embodiment, the ball mill conveying system includes a first ball mill elevator, a first ball mill steel ball belt conveyor, a second ball mill elevator and a second ball mill steel ball belt conveyor; the scoring port of the first ball mill elevator is connected to the discharge port of the weighing equipment, the ball outlet of the first ball mill elevator is connected to the conveying position of the first ball mill steel ball belt conveyor, the output port of the first ball mill steel ball belt conveyor is connected to the scoring port of the second ball mill elevator, the ball outlet of the second ball mill elevator is connected to the conveying position of the second ball mill steel ball belt conveyor, and the second ball mill steel ball belt conveyor is connected to the ball mill for conveying steel balls to the ball mill.

[0011] In an optional embodiment, the weighing equipment includes a weighing base, two ball storage containers, a unloading channel and an electric valve plate. The two ball storage containers are arranged on the weighing base for receiving the steel balls transferred by the steel ball pool ball retrieval robot. The unloading channel is arranged on one side of the ball storage container. The electric valve plate is arranged in the unloading channel for controlling the steel balls in the ball storage container to enter the self-grinding conveying system or the ball milling conveying system.

[0012] In an optional embodiment, it also includes an automatic lubrication device, which includes a lubricating oil tank, a lubricating oil pump, a distributor and a pipeline system. The lubricating oil pump is used to transport the lubricating oil in the lubricating oil tank to each lubrication point through the pipeline system. The distributor is configured in the pipeline system to distribute the lubricating oil to different lubrication points according to a preset ratio or amount.

[0013] Compared with the prior art, the automatic ball adding system of the present invention has the following beneficial effects:

[0014] By pre-configuring the steel balls to be added in the steel ball pool; transferring the steel balls in the steel ball pool to the weighing device through the steel ball pool ball taking manipulator, and quantitatively controlling the steel balls to be transferred to the autogenous grinding conveying system and the ball mill conveying system through the weighing device; conveying the steel balls to the autogenous grinding mill through the autogenous grinding conveying system, and conveying the steel balls to the ball mill through the ball mill conveying system, the automatic ball adding system in this scheme realizes the automation of the whole process from taking balls from the steel ball pool, transmission to the final ball adding, reducing manual intervention and improving the continuity and stability of production. Since most of the processes are completed by automated equipment, the demand for manpower is reduced and the labor cost is reduced.

[0015] In the second aspect, an embodiment of the present invention provides a control system for an automatic ball adding system, which is based on the automatic ball adding system described in the first aspect and further includes a monitoring device, a main control cabinet, a PLC controller and a network remote monitoring device. The monitoring device is configured at each monitoring position of the automatic ball adding system for collecting data. The control cabinet is used to input the collected data into a central control room through a PLC controller. The PLC controller is connected to the network remote monitoring device so that the central control room can control the operation of the automatic ball adding system or adjust parameters through the PLC controller and the main control cabinet.

[0016] In an optional embodiment, the monitoring device includes a safety light barrier, which is configured in the automatic ball adding system and is used to monitor and obtain abnormal signals in the working area of ​​the automatic ball adding system.

[0017] In an optional embodiment, the monitoring device also includes a weighing sensor and a weight sensor for detecting photoelectric, proximity switches or automatic ball adding systems.

[0018] In a third aspect, an embodiment of the present invention provides an automatic ball adding method, based on the automatic ball adding system described in the first aspect, comprising the following steps:

[0019] Pre-place the steel balls to be filled in the steel ball pool;

[0020] The steel balls in the steel ball pool are transferred to the weighing device by a steel ball pool taking robot, and the steel balls are quantitatively controlled to be transferred to the autogenous grinding conveying system and / or the ball mill conveying system by the weighing device;

[0021] The steel balls are transported to the autogenous mill through the autogenous mill transport system, and the steel balls are transported to the ball mill through the ball mill transport system.

[0022] Compared with the prior art, the beneficial effects of the control system and the automatic ball adding method of the automatic ball adding system of the present invention are the same as those of the automatic ball adding system described in the first aspect, so they will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is a structural schematic diagram of the automatic ball adding system in an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A partial enlarged view of the middle part;

[0025] Figure 3 This is a schematic diagram of the structure of a steel ball pool ball taking robot in an embodiment of the present invention;

[0026] Figure 4 It is a structural schematic diagram of a weighing device in an embodiment of the present invention;

[0027] Figure 5 It is a schematic diagram of a control system of an automatic ball adding system in an embodiment of the present invention;

[0028] Figure 6 Flow chart of the automatic ball adding method in an embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 100, steel ball pool; 200, steel ball pool ball taking manipulator; 210, gantry intelligent driving; 220, rising drive device; 230, weighing sensor; 240, movable joint; 250, ball taking electromagnet; 300, self-grinding conveying system; 310, first self-grinding hoist; 320, second self-grinding hoist; 330, self-grinding mill steel ball belt conveyor; 400, hoist bracket; 500, self-grinding mill; 600, weighing equipment; 610, weighing base; 620, ball storage container; 630, unloading channel; 640, electric valve plate; 700, ball mill; 800, ball mill conveying system; 810, first ball mill hoist; 820, first ball mill steel ball belt conveyor; 830, second ball mill hoist; 840, second ball mill steel ball belt conveyor. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] The Z axis in the drawings represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis represents the top, and the reverse direction of the Z axis represents the bottom; the X axis in the drawings represents the horizontal direction, and is designated as the left and right position, and the positive direction of the X axis represents the right side, and the reverse direction of the X axis represents the left side; the Y axis in the drawings represents the front and back position, and the positive direction of the Y axis represents the back side, and the reverse direction of the Y axis represents the front side. It should also be noted that the aforementioned Z axis, Y axis, and X axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.

[0034] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the description of this specification, the description with reference to the terms "embodiment", "one embodiment" and "one implementation" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or implementation are included in at least one embodiment or implementation of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or implementation. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or implementations in a suitable manner.

[0036] The grinding and flotation section of the ore dressing plant has one autogenous mill, which needs to add 20 tons of 125mm diameter steel balls (occasionally add 140mm diameter steel balls). One ball mill needs to add 5 tons of 50mm diameter steel balls and 10 tons of 60mm diameter steel balls. Usually, different areas are set in the steel ball pool to store steel balls of different diameters according to the different sizes of steel balls required. Specifically, steel balls of corresponding diameters are added to the corresponding areas according to the use requirements of the autogenous mill and the ball mill.

[0037] like Figure 1 As shown, an embodiment of the present invention provides an automatic ball adding system, which can automatically add steel balls of different diameters to an autogenous mill or a ball mill according to usage requirements, and specifically includes a steel ball pool ball taking manipulator 200, a weighing device 600, an autogenous mill conveying system 300, and a ball mill conveying system 800;

[0038] The steel ball pool retrieval robot 200 is used to transfer the steel balls in the steel ball pool to the weighing device 600. The weighing device 600 is used to obtain the weight of the steel balls and control the steel balls to enter the autogenous grinding conveying system 300 and / or the ball mill conveying system 800. The autogenous grinding conveying system 300 and the ball mill conveying system 800 are used to convey the weighed steel balls to the autogenous grinding mill 500 and the ball mill 700 respectively.

[0039] By pre-configuring the steel balls to be added in the steel ball pool; transferring the steel balls in the steel ball pool to the weighing device 600 through the steel ball pool ball taking manipulator 200, and quantitatively controlling the steel balls to be transferred to the autogenous grinding conveying system 300 and the ball mill conveying system 800 through the weighing device 600; conveying the steel balls to the autogenous grinding mill 500 through the autogenous grinding conveying system 300, and conveying the steel balls to the ball mill 700 through the ball mill conveying system 800, the automatic ball adding system in this scheme realizes the automation of the whole process from taking balls from the steel ball pool, transmission to the final ball adding, reducing manual intervention and improving the continuity and stability of production. Since most of the processes are completed by automated equipment, the demand for manpower is reduced and the labor cost is reduced.

[0040] In this embodiment, combined with Figure 2 and Figure 3 As shown, the steel ball pool ball retrieval robot 200 includes a gantry intelligent driving crane 210, an ascending drive device 220, a weighing sensor 230, a movable joint 240 and a ball retrieval electromagnet 250; the ascending drive device 220 is installed on the walking mechanism of the gantry intelligent driving crane 210, the weighing sensor 230 is installed at the connection between the ascending drive device 220 and the movable joint 240, and the ball retrieval electromagnet 250 is installed at the other end of the movable joint 240 for adsorbing steel balls.

[0041] Specifically, the gantry intelligent driving vehicle 210, as the main structure of the manipulator, adopts a track-type moving design and can move freely on the X-axis, Y-axis and Z-axis. It should be noted that the gantry intelligent driving vehicle 210 is equipped with an intelligent control system and can automatically navigate to the specified position according to preset parameters; in this embodiment, the rising drive device 220 adopts an rising drive motor to drive the lifting and lowering of the ball picking electromagnet 250. Each steel ball pool ball picking manipulator 200 is equipped with a plurality of ball picking electromagnets 250 so that multiple steel balls can be adsorbed at one time. In this embodiment, the number of ball picking electromagnets 250 is six, and a weighing sensor 230 is installed above the ball picking electromagnet 250, which can monitor the weight of each steel ball sucked in real time to ensure accurate measurement. In addition, in order to adapt to the disordered stacking of steel balls in the steel ball pool 100, a movable joint 240 connection method is adopted between the ball picking electromagnet 250 and the weighing sensor 230, so that the ball picking electromagnet 250 can flexibly adjust the angle within a certain range to better fit the surface of the steel ball for adsorption.

[0042] The steel balls in the steel ball pool 100 are adsorbed by the ball taking electromagnet 250, and the ball taking electromagnet 250 is driven to move by the gantry intelligent driving crane 210, so that the steel balls can be moved above the weighing device 600, thereby realizing the transfer of the steel balls.

[0043] Combination Figure 4As shown, the weighing device 600 includes a weighing base 610, two ball storage containers 620, a discharge channel 630 and an electric valve plate 640. The two ball storage containers 620 are both arranged on the weighing base 610 for receiving the steel balls transferred by the steel ball pool ball taking robot 200. The discharge channel 630 is arranged on one side of the ball storage container 620. The electric valve plate 640 is arranged in the discharge channel 630 for controlling the steel balls in the ball storage container 620 to enter the self-grinding conveying system 300 or the ball mill conveying system 800.

[0044] It should be noted that the weighing base 610 has a built-in weighing sensor for obtaining the mass information of the steel balls in the ball storage container 620. Two ball storage containers 620 are provided, and the two ball storage containers 620 are arranged side by side. According to the steel ball usage requirements of the ball mill 700 and the autogenous mill 500, the ball taking electromagnet 250 adsorbs the steel balls of different specifications in the steel ball pool 100 and transfers them to the corresponding ball storage containers 620 respectively, so that the weighing device 600 can receive or release steel balls of different specifications; further, the weighing device controls the unloading of the steel balls in the ball storage container 620 through the electric valve plate 640, that is, the unloading channel 630 is used as the unloading port, so that the weighing device quantitatively transports the steel balls to the autogenous mill conveying system 300 and / or the ball mill conveying system 800.

[0045] Furthermore, the autogenous grinding conveying system 300 includes a first autogenous grinding elevator 310, a second autogenous grinding elevator 320 and an autogenous grinding machine steel ball belt conveyor 330; the ball inlet of the first autogenous grinding elevator 310 is connected to the discharge port of the weighing device 600, the ball outlet of the first autogenous grinding elevator 310 is connected to the ball inlet of the second autogenous grinding elevator 320, the ball outlet of the second autogenous grinding elevator 320 is connected to the conveying position of the autogenous grinding machine steel ball belt conveyor 330, and the autogenous grinding machine steel ball belt conveyor 330 is used to convey steel balls to the autogenous grinding machine 500.

[0046] The first autogenous grinding hoist 310, the second autogenous grinding hoist 320 and the autogenous grinding machine steel ball belt conveyor 330 are key equipment for conveying steel balls from the steel ball pool 100 to the autogenous grinding machine 500 in the automatic ball adding system. In the present embodiment, the first autogenous grinding hoist 310 and the second autogenous grinding hoist 320 are both bucket-type hoisting, and materials (steel balls) are continuously or intermittently lifted through a series of hoppers fixed on the chain. Specifically, after the steel ball pool ball taking manipulator 200 completes the ball taking, the steel balls are sent into the weighing device 600, and the weighing device 600 inputs the steel balls into the ball inlet of the first autogenous grinding hoist 310.

[0047] As the chain rotates, the steel balls enter the ball inlet one by one, and after a certain amount of steel balls are loaded, they begin to rise; when they reach the top, the steel balls are discharged into the next process, that is, docking with the second autogenous grinding elevator 320, which continues to lift the steel balls until docking with the autogenous grinding machine steel ball belt conveyor 330. The autogenous grinding machine steel ball belt conveyor 330 is a horizontal or inclined belt conveying device that drives the material along a predetermined path by friction. When reaching the end point, the steel balls are removed from the conveyor belt by an appropriate unloading device (such as an inclined end or a scraper) and sent to the autogenous grinding machine 500, realizing automatic transportation of the steel balls to the autogenous grinding machine 500.

[0048] Furthermore, the ball mill conveying system 800 includes a first ball mill elevator 810, a first ball mill steel ball belt conveyor 820, a second ball mill elevator 830 and a second ball mill steel ball belt conveyor 840; the ball inlet of the first ball mill elevator 810 is connected to the discharge port of the weighing device 600, the ball outlet of the first ball mill elevator 810 is connected to the conveying position of the first ball mill steel ball belt conveyor 820, the output port of the first ball mill steel ball belt conveyor 820 is connected to the ball inlet of the second ball mill elevator 830, the ball outlet of the second ball mill elevator 830 is connected to the conveying position of the second ball mill steel ball belt conveyor 840, and the second ball mill steel ball belt conveyor 840 is connected to the ball mill 700 for conveying steel balls to the ball mill 700.

[0049] Specifically, similar to the self-grinding conveying system 300, after the steel ball pool ball taking robot 200 completes the ball taking, the steel ball is sent to the weighing device 600, and the weighing device 600 inputs the steel ball to the ball inlet of the first ball mill elevator 810; further, through the coordinated conveying action of the first ball mill elevator 810, the first ball mill steel ball belt conveyor 820, the second ball mill elevator 830 and the second ball mill steel ball belt conveyor 840, the steel ball can enter the ball mill 700, and the automatic conveying of the steel ball to the ball mill 700 is realized. It should be noted that when reaching the end point, the steel ball is removed from the conveyor belt by an appropriate unloading device (such as an inclined end or a scraper) and sent to the ball mill 700, so as to realize the automatic conveying of the steel ball to the ball mill 700.

[0050] It should be further explained that, since the autogenous mill 500 and the ball mill 700 are relatively large in size, their corresponding conveying systems usually need to occupy a larger space. Therefore, the autogenous mill conveying system 300 and the ball mill conveying system 800 are supported by a hoist bracket 400 to ensure intermittent height lifting and installation of the autogenous mill conveying system 300 and the ball mill conveying system 800.

[0051] In this embodiment, the automatic ball adding system also includes an automatic lubrication device, which includes a lubricating oil tank, a lubricating oil pump, a distributor and a pipeline system. The lubricating oil pump is used to transport the lubricating oil in the lubricating oil tank to each lubrication point through the pipeline system. The distributor is configured in the pipeline system to distribute the lubricating oil to different lubrication points according to a preset proportion or amount.

[0052] It should be noted that the pipeline system is composed of pipes, joints, etc., connecting the lubricating oil pump and various lubrication points to ensure that the lubricating oil can smoothly reach each location that needs lubrication. Specifically, the lubricating oil in the lubricating oil tank is extracted and transported by the lubricating oil pump, and the amount and proportion of the lubricating oil are adjusted by the distributor according to the amount of lubricating oil required by each lubricating point.

[0053] Exemplarily, the rotating part of the autogenous grinding mill 500 is used as a lubrication point. By setting an end point of the pipeline system at the rotating part of the autogenous grinding mill 500 and coordinating the delivery function of the distributor and the lubricating oil pump, lubrication of the rotating part of the autogenous grinding mill 500 is achieved.

[0054] Combination Figure 5 As shown, an embodiment of the present invention further provides a control system for an automatic ball adding system. Based on the above-mentioned automatic ball adding system, it also includes a monitoring device, a main control cabinet, a PLC controller and a network remote monitoring device. The monitoring device is configured at each monitoring position of the automatic ball adding system for collecting data. The control cabinet is used to input the collected data into the central control room through the PLC controller. The PLC controller is connected to the network remote monitoring device so that the central control room can control the operation of the automatic ball adding system or adjust parameters through the PLC controller and the main control cabinet.

[0055] Furthermore, the monitoring equipment includes a safety grating, which is configured in the automatic ball adding system to monitor and obtain abnormal signals in the working area of ​​the automatic ball adding system. The safety grating function is included to prevent personnel from approaching mobile machinery and prevent mechanical damage caused by mistaken entry into the working area. The safety grating is a photoelectric device used to detect the safe working range, make judgment prompts, and effectively protect the safety of workers.

[0056] It should be noted that the monitoring equipment can also be a weighing sensor and weight sensor for detecting photoelectric, proximity switches or automatic ball adding systems; Siemens PLC programmable logic controller is used as the central unit of the entire control system. The integrated touch screen of the equipment provides an intuitive human-machine interface HMI, allowing operators to monitor the ball adding status, progress and other information through the configuration screen. It supports three different operation modes: manual mode, automatic mode and quantitative mode to adapt to different production needs and scenarios. The system has the function of automatically generating alarm records and production reports to help maintenance management and performance evaluation. It can record the daily ball adding amount and form a spreadsheet of the daily ball adding amount and the total ball adding amount for the whole month, which is convenient for reading and printing. It has an Ethernet interface and supports remote communication function. It can be connected to the central control system through the Internet for configuration docking. Users can view the status of the ball adding machine, modify the ball adding parameters, download data recording tables, and receive remote cloud alarm prompt information through mobile phone APP or WeChat applet to achieve intelligent, efficient and fast management. Operators can set parameters on the touch screen, including single ball weight, ball diameter, etc.

[0057] Display the ball adding amount setting and actual ball adding amount to ensure accurate operation. Customize the HMI human-machine configuration interface according to the use requirements to better meet specific operation and monitoring needs.

[0058] Record data tables for easy operation and monitoring, while ensuring data security and ease of use. Provides network PC remote login function, users can view equipment operation data, modify equipment parameters, query production records and download them into electronic spreadsheets, which is convenient for query and summary, and realizes remote intelligent office processing. Send the parameters and production data of the ball adding system to the control room through communication, and monitor and control the whole situation to ensure that all information can be mastered by the central control system in real time.

[0059] like Figure 6 As shown, an embodiment of the present invention further provides an automatic ball adding method, based on the above-mentioned automatic ball adding system, comprising the following steps:

[0060] S100, pre-arrange the steel balls to be filled in the steel ball pool;

[0061] S200, transferring the steel balls in the steel ball pool to the weighing device 600 through the steel ball pool ball taking robot 200, and quantitatively controlling the steel balls to be transferred to the self-grinding conveying system 300 and / or the ball milling conveying system 800 through the weighing device 600;

[0062] S300 , the steel balls are transported to the autogenous mill 500 through the autogenous mill transport system 300 , and the steel balls are transported to the ball mill 700 through the ball mill transport system 800 .

[0063] The whole process from taking balls from the steel ball pool, transferring them to adding them to the ball pool is fully automated, which reduces manual intervention and improves the continuity and stability of production. Since most of the processes are completed by automated equipment, the demand for manpower is reduced and labor costs are reduced.

[0064] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An automatic ball adding system, characterized in that: It comprises a steel ball pool ball taking manipulator (200), a weighing device (600), a self-grinding conveying system (300), and a ball mill conveying system (800); The steel ball pool ball taking robot (200) is used to transfer the steel balls in the steel ball pool (100) to the weighing device (600), and the weighing device (600) is used to obtain the weight of the steel balls and control the steel balls to enter the autogenous grinding conveying system (300) and / or the ball mill conveying system (800). The autogenous grinding conveying system (300) and the ball mill conveying system (800) are used to convey the weighed steel balls to the autogenous grinding mill (500) and the ball mill (700), respectively.

2. The automatic ball adding system according to claim 1, characterized in that: The steel ball pool ball taking robot (200) comprises a gantry intelligent driving vehicle (210), an ascending drive device (220), a weighing sensor (230), an active joint (240) and a ball taking electromagnet (250); the ascending drive device (220) is installed on the walking mechanism of the gantry intelligent driving vehicle (210), the weighing sensor (230) is installed at the connection between the ascending drive device (220) and the active joint (240), and the ball taking electromagnet (250) is installed at the other end of the active joint (240) for adsorbing steel balls.

3. The automatic ball adding system according to claim 1, characterized in that: The autogenous grinding conveying system (300) comprises a first autogenous grinding hoist (310), a second autogenous grinding hoist (320) and an autogenous grinding machine steel ball belt conveyor (330); the ball inlet of the first autogenous grinding hoist (310) is connected to the discharge port of the weighing device (600), the ball outlet of the first autogenous grinding hoist (310) is connected to the ball inlet of the second autogenous grinding hoist (320), the ball outlet of the second autogenous grinding hoist (320) is connected to the conveying position of the autogenous grinding machine steel ball belt conveyor (330), and the autogenous grinding machine steel ball belt conveyor (330) is used to convey steel balls to the autogenous grinding machine (500).

4. The automatic ball adding system according to claim 1, characterized in that: The ball mill conveying system (800) comprises a first ball mill elevator (810), a first ball mill steel ball belt conveyor (820), a second ball mill elevator (830) and a second ball mill steel ball belt conveyor (840); the ball inlet of the first ball mill elevator (810) is connected to the discharge port of the weighing device (600), the ball outlet of the first ball mill elevator (810) is connected to the conveying position of the first ball mill steel ball belt conveyor (820), the output port of the first ball mill steel ball belt conveyor (820) is connected to the ball inlet of the second ball mill elevator (830), the ball outlet of the second ball mill elevator (830) is connected to the conveying position of the second ball mill steel ball belt conveyor (840), and the second ball mill steel ball belt conveyor (840) is connected to the ball mill (700) for conveying steel balls to the ball mill (700).

5. The automatic ball adding system according to claim 1, characterized in that: The weighing device (600) includes a weighing base (610), two ball storage containers (620), a discharge channel (630) and an electric valve plate (640). The two ball storage containers (620) are both arranged on the weighing base (610) for receiving the steel balls transferred by the steel ball pool ball taking robot (200). The discharge channel (630) is arranged on one side of the ball storage container (620). The electric valve plate (640) is arranged in the discharge channel (630) for controlling the steel balls in the ball storage container (620) to enter the self-grinding conveying system (300) or the ball milling conveying system (800).

6. The automatic ball adding system according to claim 1, characterized in that: It also includes an automatic lubrication device, which includes a lubricating oil tank, a lubricating oil pump, a distributor and a pipeline system. The lubricating oil pump is used to transport the lubricating oil in the lubricating oil tank to various lubrication points through the pipeline system. The distributor is configured in the pipeline system to distribute the lubricating oil to different lubrication points according to a preset ratio or amount.

7. A control system for an automatic ball adding system, characterized in that: The automatic ball adding system according to any one of claims 1 to 6 further includes a monitoring device, a main control cabinet, a PLC controller and a network remote monitoring device, wherein the monitoring device is arranged at each monitoring position of the automatic ball adding system for collecting data, and the control cabinet is used to input the collected data into a central control room through a PLC controller, and the PLC controller is connected to the network remote monitoring device so that the central control room can control the operation of the automatic ball adding system or adjust parameters through the PLC controller and the main control cabinet.

8. The control system of the automatic ball adding system according to claim 7, characterized in that: The monitoring device comprises a safety grating, which is arranged in the automatic ball adding system and is used for monitoring and acquiring abnormal signals in the working area of ​​the automatic ball adding system.

9. The control system of the automatic ball adding system according to claim 8, characterized in that: The monitoring equipment also includes a weighing sensor and a weight sensor for detecting photoelectric, proximity switches or automatic ball adding systems.

10. An automatic ball adding method, characterized in that: The automatic ball adding system according to any one of claims 1 to 6 comprises the following steps: Pre-place the steel balls to be filled in the steel ball pool; The steel balls in the steel ball pool are transferred to the weighing device (600) by means of a steel ball pool ball taking robot (200), and the steel balls are quantitatively controlled to be transferred to the autogenous grinding conveying system (300) and / or the ball mill conveying system (800) by means of the weighing device (600); The steel balls are transported to the autogenous mill (500) through the autogenous mill transport system (300), and the steel balls are transported to the ball mill (700) through the ball mill transport system (800).

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