Ball adding system for blending grading combination of steel balls and working method

Abstract

The invention provides a ball adding system for deploying grading combination of steel balls and a working method, relates to the field of ball mill corollary equipment, and aims to solve the problems that although an existing arrangement conveyor can realize one-by-one accurate adding, the supplementing acceleration is low, and the supplementing requirement of a large-scale ball mill for dozens of tons of steel balls every day cannot be met. Through combination of batch feeding of a feeding bin and one-by-one output of an arrangement conveyor, an electromagnetic gripper grabs a plurality of steel balls from a storage bin and directly transfers the steel balls to the feeding bin for one-time feeding, the grabbed weight each time is metered and accumulated by a weighing sensor, and when the adding amount of the steel balls is close to a target value, feeding of the feeding bin is stopped, and the steel balls are output one by one by the arrangement conveyor. The electromagnetic tongs transfer the steel balls to the corresponding arrangement conveyors in advance, the conveyors arrange and arrange the steel balls, the throwing amount of the steel balls is accurately controlled by outputting the steel balls one by one, and the efficient and accurate throwing requirements of the steel balls are met.

Description

Technical Field

[0001] The invention relates to the field of ball mill supporting equipment, and in particular to a ball adding system and a working method for adjusting the graded combination of steel balls. Background Art

[0002] Steel balls are added to the ball mill as the grinding medium for grinding. To ensure operational efficiency, various sizes of steel balls are proportionally configured to suit the particle size of the material being ground to ensure effective grinding. During operation, the steel balls may wear, break, or deform due to contact with the material, affecting the gradation within the ball mill. By adding steel balls of various sizes, the gradation within the ball mill is maintained to meet grinding requirements.

[0003] When refilling worn steel balls in a ball mill, precise addition of steel balls of different specifications is required to ensure the grinding effect. However, traditional claw-type and drum-type ball adding machines are prone to ball jamming and empty grabbing, resulting in insufficient ball adding accuracy. Currently, there is a solution for precise steel ball addition using an arrangement conveyor. An electromagnetic gripper is installed on the gantry support structure. The electromagnetic gripper takes balls from the ball bin and feeds the captured steel balls to the arrangement conveyor, which accurately outputs the steel balls one by one to ensure the precise grading of the steel balls added to the ball mill. However, the replenishment speed of the arrangement conveyor is low. When replenishing steel balls in large ball mills and semi-automatic grinding mills, the daily amount of steel balls required can reach tens or even dozens of tons. The existing one-by-one conveying method cannot achieve a large-scale supply in a short period of time. The ball adding efficiency of this method of adding steel balls is difficult to meet the demand. Even if the ball adding speed is increased by increasing the operating speed of the arrangement conveyor, the efficiency of continuous one-by-one ball adding is difficult to effectively improve, making it difficult to meet the requirements of ball adding efficiency and ball adding accuracy. Summary of the Invention

[0004] The purpose of the present invention is to address the defects of the existing technology and provide a ball adding system and working method for adjusting the graded combination of steel balls. By combining batch delivery from the feeding hopper and one-by-one output from the arranging conveyor, the electromagnetic gripper grabs multiple steel balls from the storage hopper and directly transfers them to the feeding hopper for one-time delivery. The weight of each grab is measured and accumulated by the weighing sensor. When the amount of steel balls added is close to the target value, the delivery from the feeding hopper is stopped and the arranging conveyor is used to output them one by one. The electromagnetic gripper transfers the steel balls to the corresponding arranging conveyor in advance, and the conveyor arranges and organizes the steel balls. The amount of steel balls delivered is accurately controlled by outputting them one by one, taking into account the requirements of efficient and accurate delivery of steel balls.

[0005] The first object of the present invention is to provide a ball adding system for adjusting the gradation combination of steel balls, using the following scheme: include: There are multiple storage bins, storing steel balls of different specifications; The feeding silo is open at the top to receive the steel balls and has a discharge port at the bottom to connect to the ball mill; Arrangement conveyors are distributed one by one with the storage bins. The output end of the arrangement conveyors is connected to the ball mill. The arrangement conveyors receive the steel balls and output them one by one. The robotic arm is equipped with an electromagnetic gripper, which is provided with a weighing sensor for obtaining the weight of the steel balls grasped by the electromagnetic gripper. The operation path of the electromagnetic gripper covers the feed bin, all storage bins and arrangement conveyor to transport the steel balls in the storage bin to the feed bin or arrangement conveyor.

[0006] Furthermore, the feed bin and multiple storage bins are distributed along the rotation direction of the robotic arm, and the robotic arm is located at the center of the distribution area of ​​the storage bins and feed bins.

[0007] Furthermore, there are three storage bins, and the three storage bins and the feeding bin are distributed in a field shape, and the storage bins and the feeding bin are located at the corners of the field shape.

[0008] Furthermore, the arrangement conveyor is located on the side of the storage bin, and the width of the area where the arrangement conveyor receives the steel balls is greater than the width of the area where the electromagnetic gripper releases the steel balls at the discharge conveyor.

[0009] Furthermore, the electromagnetic gripper includes a lifting plate, a limit mounting plate and an electromagnet. The lifting plate is suspended below the limit mounting plate through a limit spring. The limit mounting plate is at the end of the Lina sister robotic arm, and multiple electromagnets are suspended below the lifting plate through connecting chains to grab the steel balls respectively.

[0010] Furthermore, a proximity switch is provided on the limit mounting plate, and the proximity switch is installed at the angular position of the limit mounting plate to measure the distance between the angular position of the limit mounting plate and the hoisting plate.

[0011] Furthermore, the electromagnets are arranged at intervals and staggered positions, and each electromagnet grabs the steel balls in the storage bin respectively.

[0012] Furthermore, the arrangement conveyor is provided with a concave conveying crawler and a conveyor counter, the concave conveying crawler is provided with a groove for accommodating steel balls, and the conveyor counter obtains the number of steel balls output by the arrangement conveyor.

[0013] A second object of the present invention is to provide a working method of a ball adding system for adjusting the steel ball grading combination as described in the first object, comprising: During the initial ball addition, the robotic arm drives the electromagnetic gripper to grab the steel balls from the storage bin and transfer them to the feed bin. The steel balls in the feed bin are fed into the ball mill through the discharge port. According to the needs of the ball mill, steel balls of different specifications in different storage bins are selected and fed into the ball mill through the feeding bin respectively. The amount of steel balls of different specifications added to the ball mill is measured and the steel balls are added quickly. At the end of adding balls, the robotic arm drives the electromagnetic gripper to grab steel balls from the storage bin and transfer them to the sorting conveyor. The sorting conveyor inputs the steel balls into the ball mill one by one until the number of added balls meets the requirements of the ball mill, completing the precise addition of steel balls.

[0014] Further, when the electromagnetic gripper on the robotic arm grabs steel balls, the grabbed steel balls are weighed. When the amount of steel balls of the same specification entering the ball mill through the feeding bin approaches the set mass, the addition of steel balls of this specification is changed to be carried out through the sorting conveyor.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows: Aiming at the problem that although the current sorting conveyor can achieve precise addition one by one, the replenishment speed is low and it cannot meet the requirement of replenishing tens of tons of steel balls per day for large ball mills. By combining batch feeding through the feeding bin and individual output through the sorting conveyor, the electromagnetic gripper grabs multiple steel balls from the storage bin and directly transfers them to the feeding bin for one-time feeding. The weight of each grab is measured and accumulated by the weighing sensor. When the added amount of steel balls approaches the target value, the feeding of the feeding bin is stopped and changed to individual output through the sorting conveyor. The electromagnetic gripper transfers the steel balls to the corresponding sorting conveyor in advance, and the conveyor arranges and sorts the steel balls. The feeding amount of steel balls is precisely controlled by individual output, taking into account the requirements of both efficient and precise feeding of steel balls.

[0016] Aiming at high-frequency and high-volume replenishment scenarios such as large ball mills and semi-autogenous mills, the dual-path mode can flexibly adjust the ratio of rough addition to fine addition, which can not only meet the efficiency requirements of large-scale replenishment in a short time but also ensure the grading accuracy; reducing equipment failure rate: compared with traditional claw-type / rotary drum-type ball adding machines, the electromagnetic gripper has no risk of mechanical ball jamming, reducing the problem of steel ball jamming and significantly improving the reliability of system operation.

[0017] The three storage bins and the feeding bin are distributed in a cross shape. The robotic arm is located at the center of the cross, and its arm span covers all the corner position bins. This layout makes the average distance from the robotic arm to each bin the shortest, reducing the transfer path length. Compared with the traditional linear layout, the transfer efficiency is improved; the storage bin and the feeding bin respectively occupy the four corners of the cross, forming a symmetric layout. The path of taking steel balls from the storage bin, adding balls roughly to the feeding bin, and adding balls precisely to the sorting conveyor is clear, avoiding the movement interference of the robotic arm and facilitating the space planning during later maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The attached drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0019] Figure 1 It is a top view schematic diagram of a ball adding system for adjusting the grading combination of steel balls in one or more embodiments of the present invention.

[0020] Figure 2 Schematic front view of a ball adding system for adjusting the steel ball grading combination in one or more embodiments of the present invention.

[0021] Figure 3 Schematic diagram of the distribution position of electromagnetic grippers and arrangement conveyors in one or more embodiments of the present invention.

[0022] Figure 4 Schematic diagram of an electromagnetic gripper in one or more embodiments of the present invention.

[0023] Figure 5 Schematic diagram of the distribution of electromagnets on an electromagnetic gripper in one or more embodiments of the present invention.

[0024] Among them, 1. A storage bin; 2. B storage bin; 3. C storage bin; 4. Discharge bin; 5. A partition; 6. B partition; 7. Discharge port; 8. A crawler-type arrangement conveyor; 9. B crawler-type arrangement conveyor; 10. Crawler-type arrangement conveyor; 11. Bracket; 12. Fixed base; 13. Robotic arm; 14. Electromagnetic gripper; 15. Conveying pipe; 16. Controller; 17. Limit mounting plate; 18. Proximity switch; 19. Limit spring; 20. Lifting plate; 21. Connecting chain; 22. Electromagnet; 34. Connecting flange; 35. Connecting hinge; 36. Connecting seat. DETAILED DESCRIPTION

[0025] Example 1 In a typical embodiment of the present invention, Figure 1-Figure 5 As shown, a ball adding system for adjusting the steel ball grading combination is given.

[0026] When adding steel balls to a ball mill, traditional claw-type / rotating drum-type ball feeders suffer from inaccurate ball additions due to ball jamming and empty catches. While existing array conveyors can achieve precise, one-by-one addition, their slow addition speeds make them incapable of meeting the daily demands of large ball mills, which can reach tens to hundreds of tons. Even increasing the conveyor speeds significantly hinders the efficiency of continuous, one-by-one ball addition. In existing technologies, precise and efficient ball addition methods are mutually constrained. Precision addition relies on the one-by-one output of an array conveyor, but this approach faces inherent efficiency bottlenecks. Efficient addition requires batch delivery of steel balls, but traditional batch delivery methods cannot control the amount added at the end, resulting in a lack of precision. Based on this, this embodiment provides a ball adding system for adjusting the grading combination of steel balls, and achieves a balance between efficiency and precision through a dual-path adding mode of a feeding hopper and an arranging conveyor. The batch delivery from the feeding hopper is a coarse ball adding path, which can quickly deliver a large number of steel balls to the ball mill, so that the added ball amount quickly approaches the required amount. The arranging conveyor outputs one by one as a fine ball adding path, which can output steel balls one by one for precise control of the ball adding amount, so that the final ball adding process can be carried out accurately, taking into account the efficient and precise delivery requirements of steel balls.

[0027] like Figure 1-Figure 5 As shown, the ball adding system for adjusting the steel ball grading combination includes a storage bin, a feeding bin, an arranging conveyor and a robotic arm 13. There are multiple storage bins, and different storage bins can store steel balls of different specifications; the top of the feeding bin is open to receive the steel balls, and the bottom is provided with a discharge port 7 connected to the ball mill; the arranging conveyor is distributed one-to-one with the storage bin, and the output end of the arranging conveyor is connected to the ball mill. The arranging conveyor receives the steel balls and outputs them one by one; an electromagnetic gripper 14 is installed on the robotic arm 13, and a weighing sensor is provided on the electromagnetic gripper 14 for obtaining the weight of the steel balls grabbed by the electromagnetic gripper 14. The running path of the electromagnetic gripper 14 covers the feeding bin, all storage bins and the arranging conveyor, so as to convey the steel balls in the grab storage bin to the feeding bin or the arranging conveyor.

[0028] The electromagnetic gripper 14 grabs multiple steel balls from the storage silo and transfers them directly to the feed silo for all-in-one delivery. The weight of each grab is measured and accumulated by a load cell. When the amount of a particular type of steel ball approaches the target value (e.g., 95%), the rough addition process stops. The electromagnetic gripper 14 pre-loads the steel balls to the corresponding arrangement conveyor, which then arranges and sorts the balls. When the rough addition reaches the target value, the arrangement conveyor is activated to discharge the steel balls one by one, and a counter and load cell ensure precise final addition.

[0029] The electromagnetic gripper 14, with its load cell, accumulates weight during the roughing stage. The robotic arm 13, with its reach covering the storage bin, feed hopper, and array conveyor, flexibly switches between roughing and finishing, automating the process. The roughing stage allows for the single-grab delivery of multiple steel balls. This significantly reduces the recharging time of large ball mills, significantly reducing the daily loading of dozens of tons of steel balls. The finishing stage, through the array conveyor, delivers the balls one by one, resolving the uncontrollable number of balls picked up at the end of traditional magnetic ball feeders and significantly reducing feed accuracy errors.

[0030] For high-frequency and high-volume feeding scenarios such as large ball mills and semi-autogenous mills, the dual-path mode can flexibly adjust the ratio of coarse feeding and fine feeding, which can not only meet the efficiency requirements of large-scale feeding in a short time, but also ensure the grading accuracy; compared with traditional claw-type ball adding machines, the electromagnetic gripper 14 has no risk of mechanical ball jamming, and combined with the inclined plate storage silo design, it reduces the problem of steel ball jamming, and the system operation reliability is significantly improved.

[0031] like Figure 1 、 Figure 2 As shown, in the ball adding system for adjusting the steel ball grading combination, the feed bin and multiple storage bins are distributed along the rotation direction of the robot arm 13, and the robot arm 13 is located at the center of the distribution area of ​​the storage bins and the feed bin.

[0032] Specifically in this embodiment, there are three storage bins, namely storage bin A 1, storage bin B 2, and storage bin C 3. The three storage bins and the feed bin are arranged in a cross shape, and the storage bins and the feed bin are located at the corner positions of the cross. This layout makes the center distances of each bin equal, and the linear distance from the central position of the robotic arm 13 to any bin is the same, forming a symmetrical spatial structure. Different specifications of steel balls are stored in each storage bin. The top of the feed bin is open to receive the steel balls, and a discharge port 7 connected to the ball mill is provided at the bottom. Among them, the discharge port 7 can be connected to the ball mill through a conveying pipe 15.

[0033] It can be understood that a bin body with a trapezoidal cavity can be used for partitioning to obtain multiple storage bins and a feed bin. A partition A 5 and a partition B 6 that cross each other are installed in the bin body, so that the cavity forms storage bin A 1, storage bin B 2, storage bin C 3, and the feed bin. The feed bin and the multiple storage bins are arranged in a ring along the rotation direction of the robotic arm 13. The robotic arm 13 is installed at the geometric center position of the cross layout through a fixed base 12, and the arm span radius of its multi-axis robotic arm covers all bin bodies and the arranged conveyors precisely, ensuring no motion blind spots.

[0034] Specifically, the inner side wall of each storage bin is provided with a slope structure with an inclination angle of 30°, dividing the storage bin body into an upper ball-adding area and a lower ball-taking area. The steel balls automatically roll down the slope of the ball-adding area to the ball-taking area; the top of the feed bin is an open rectangular structure, and the bottom discharge port 7 is funnel-shaped with a slope angle of 45° around, ensuring that the steel balls quickly slide down to the feed inlet, thus facilitating the input into the ball mill.

[0035] As Figure 1 shown, the arranged conveyors are distributed corresponding to the storage bins one by one, located on the side of the storage bins. The output end of the arranged conveyor is connected to the ball mill, and the arranged conveyor receives the steel balls and outputs them one by one. The width of the area where the arranged conveyor receives the steel balls is greater than the width of the area where the electromagnetic gripper 14 releases the steel balls at the discharge conveyor, ensuring that the steel balls released by the electromagnetic gripper 14 can completely fall into the receiving area of the arranged conveyor.

[0036] In this embodiment, three arranged conveyors respectively correspond to storage bin A 1, storage bin B 2, and storage bin C 3, namely A tracked arranged conveyor 8, B tracked arranged conveyor 9, and C tracked arranged conveyor 10. The tracked arranged conveyors are installed in parallel on the outer side wall of the storage bin and are connected to the storage bin through a bracket 11. The conveying direction of the arranged conveyor is perpendicular to the long side of the storage bin. The length of the overlapping area between the front end of the conveyor and the side of the storage bin is not less than the long side dimension of the electromagnetic gripper 14, ensuring that the steel balls completely fall into the track. In this embodiment, the width of the area where the arranged conveyor receives the steel balls is designed to be 50 mm greater than the width of the area where the electromagnetic gripper 14 releases the steel balls. For example, when the width of the release area of the electromagnetic gripper 14 is 300 mm, the receiving width of the conveyor is set to 350 mm to prevent the steel balls from rolling off the edge.

[0037] The alignment conveyor features a concave conveyor belt with grooves for accommodating steel balls, and a conveyor counter to count the number of balls delivered by the alignment conveyor. Specifically, the concave conveyor belt is made of high-strength rubber, with a groove depth of 1 / 3 the diameter of the steel balls and a width 10mm larger than the diameter of the balls, ensuring that the balls are automatically centered upon entry. A photoelectric counter is installed above the conveyor end to accurately count the balls by detecting changes in their shadows.

[0038] A robotic arm 13 is mounted in the center of the distribution area between the storage and feed silos. It is equipped with an electromagnetic gripper 14, which is equipped with a load cell to measure the weight of the steel balls grasped by the gripper. The robotic arm 13 utilizes a six-axis industrial robot structure, with a fixed base 12 bolted to a concrete foundation. Configurable parameters include a maximum rotation speed of 60° / s, a vertical lift range of 2m, and a positioning accuracy of ±0.5mm, meeting the requirements for precise transfers between multiple silos.

[0039] The electromagnetic gripper 14 runs along a path that covers the feed bin, all storage bins, and the arrangement conveyor, so as to grab the steel balls in the storage bin and transport them to the feed bin or the arrangement conveyor. The electromagnetic gripper 14 is connected to the end of the robotic arm 13 via a connecting flange. Its weighing sensor is integrated at the connection between the hoisting plate 20 and the robotic arm 13. It adopts the strain gauge weighing principle, with a range of 0-500kg and an accuracy level of 0.1. Figure 4 As shown, a connecting seat is provided on the top of the electromagnetic gripper 14 , and the connecting seat and the connecting flange are connected via a connecting hinge 34 , and the weighing sensor can be arranged at the position of the connecting seat.

[0040] The electromagnetic gripper 14 includes a hanging plate 20, a limit mounting plate 17 and an electromagnet 22. The hanging plate 20 is suspended below the limit mounting plate 17 through a limit spring 19. The limit mounting plate 17 is connected to the end of the robotic arm 13. Multiple electromagnets 22 are suspended below the hanging plate 20 through connecting chains 21 to respectively grab the steel balls.

[0041] A proximity switch 18 is provided on the limit mounting plate 17. The proximity switch 18 is installed at the angular position of the limit mounting plate 17 and is used to measure the distance between the angular position of the limit mounting plate 17 and the lifting plate 20. The electromagnets 22 are arranged at intervals and staggered, and each electromagnet 22 grabs the steel balls in the storage bin respectively.

[0042] The hoisting plate 20 is welded from Q345B steel plates with a thickness of 20mm. An electromagnet 22 is suspended from the bottom via a connecting chain 21. The limit mounting plate 17 is fixedly connected to the end of the robotic arm 13. Non-contact proximity switches 18 are installed at the four corners with a detection distance of 0-10mm to monitor the distance to the hoisting plate 20 in real time. There are four limit springs 19, symmetrically distributed between the hoisting plate 20 and the limit mounting plate 17. The spring stiffness coefficient is 50N / mm, providing flexible buffering. Figure 5 As shown, the electromagnets 22 are arranged in two rows of wave-shaped staggered arrangements, with a total of 6 single electromagnets 22. The distance between adjacent electromagnets 22 is 80 mm. The suction force of a single electromagnet 22 is ≥50 kg, covering a ball suction range of 300 mm in diameter.

[0043] Example 2 In another typical embodiment of the present invention, Figure 1-Figure 5 As shown, a working method of a ball adding system for adjusting the graded combination of steel balls is provided, using the ball adding system for adjusting the graded combination of steel balls as in Example 1.

[0044] A working method of a ball adding system for adjusting a gradation combination of steel balls, comprising: During the initial ball addition, the robotic arm 13 drives the electromagnetic gripper 14 to grab the steel balls from the storage bin and transfer them to the feed bin. The steel balls in the feed bin pass through the discharge port 7 and are fed into the ball mill. According to the needs of the ball mill, steel balls of different specifications in different storage bins are selected and fed into the ball mill through the feeding bin respectively. The amount of steel balls of different specifications added to the ball mill is measured and the steel balls are added quickly. At the end of adding balls, the robot arm 13 drives the electromagnetic gripper 14 to grab the steel balls from the storage bin and transfer them to the arrangement conveyor. The arrangement conveyor inputs the steel balls into the ball mill one by one until the number of balls added meets the needs of the ball mill, completing the precise addition of steel balls.

[0045] When the electromagnetic gripper 14 on the robot arm 13 grabs the steel balls, the grabbed steel balls are weighed. When the amount of steel balls of the same specification entering the ball mill through the feed bin is close to the set mass, steel balls of this specification are added through the arrangement conveyor.

[0046] Specific, combined Figure 1-Figure 5 , the working method of the ball adding system for adjusting the steel ball grading combination is explained in detail.

[0047] After the system is started, the control system calculates the quantity and weight of steel balls of various specifications that need to be added per unit time based on the preset production parameters.

[0048] The roughing process of steel balls: Robotic arm 13 drives electromagnetic gripper 14 to the top of the corresponding storage bin. Electromagnetic gripper 14 then descends to the ball retrieval area within the bin. When electromagnet 22 of electromagnetic gripper 14 contacts the steel ball, robotic arm 13 continues to descend, and lifting plate 20 is lifted upward by limit spring 19. Proximity switch 18 at the angular position of limit mounting plate 17 measures the distance to lifting plate 20.

[0049] When the distance reaches a preset value, the control system controls the electromagnet 22 of the electromagnetic gripper 14 to be energized to grab the steel ball.

[0050] The robotic arm 13 drives the electromagnetic gripper 14 to move above the feed hopper. The electromagnet 22 is de-energized, releasing the steel balls into the hopper. The weighing sensor records the weight of the captured steel balls and transmits the data to the control system for accumulation. This step is repeated until the cumulative weight of steel balls of a certain specification reaches approximately 95% of the preset weight.

[0051] The finishing process of steel balls: During the rough ball adding process, the robot arm 13 simultaneously grabs some steel balls and transfers them to the corresponding arrangement conveyor.

[0052] The steel balls fall onto the concave conveyor belt of the arrangement conveyor. Due to the groove design of the concave belt, the steel balls are arranged in a single row.

[0053] When the rough addition amount of steel balls of a certain specification reaches about 95% of the preset weight, the system stops the rough addition process of the steel balls of this specification and starts the corresponding arrangement conveyor.

[0054] Arrange the conveyor to run and transport the steel balls into the ball mill one by one. The conveyor counter records the number of steel balls output to ensure accurate addition.

[0055] During the process of the arrangement conveyor conveying steel balls, if the number of steel balls on the conveyor is insufficient, the control system controls the mechanical arm 13 to replenish steel balls to the arrangement conveyor again to ensure the continuity of the fine ball adding process.

[0056] The entire ball-adding process is automatically controlled by controller 16, which adjusts the ball-adding process in real time based on data from the load cells and conveyor counters. If a malfunction occurs in the feed hopper or the arrangement conveyor, such as a material blockage, controller 16 detects it and issues an alarm signal, allowing staff to address the situation.

[0057] The ball-feeding system, which uses a combination of adjusted ball gradations, is suitable for ball mills of all sizes, and is particularly well-suited for adding steel balls to large ball mills and semi-autogenous grinding mills. During the ore dressing and grinding process in mines, the steel balls within the ball mill can wear, break, or deform, affecting the grinding effect. Regular addition of steel balls is necessary to maintain a proper ball gradation. For large ball mills that require daily additions of tens or even dozens of tons of steel balls, the ball-feeding system, which uses a combination of coarse and fine ball addition, ensures both efficient and precise addition, meeting the grinding process requirements.

[0058] In addition, this ball adding system is also suitable for mineral processing processes that require high steel ball grading accuracy. It can accurately control the amount of steel balls added in various specifications according to different material particle sizes and grinding requirements, thereby improving grinding efficiency and mineral processing indicators.

[0059] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A ball adding system for adjusting the gradation combination of steel balls, characterized in that: Comprising: There are multiple storage bins, storing steel balls of different specifications; The feeding bin has an open top to receive steel balls, and a discharge port connected to the ball mill is provided at the bottom; The arrangement conveyors are distributed corresponding to the storage bins one by one. The output end of the arrangement conveyor is connected to the ball mill. The arrangement conveyor receives steel balls and outputs them one by one; A robotic arm is provided with an electromagnetic gripper on it. A weighing sensor is provided on the electromagnetic gripper to obtain the weight of the steel ball grabbed by the electromagnetic gripper. The operating path of the electromagnetic gripper covers the feeding bin, all storage bins and the arrangement conveyor to transport the steel balls grabbed in the storage bin to the feeding bin or the arrangement conveyor.

2. The ball adding system for adjusting the steel ball grading combination according to claim 1, characterized in that: The feeding bin and multiple storage bins are distributed along the rotational operation direction of the robotic arm. The robotic arm is located at the central position of the distribution area of the storage bins and the feeding bin.

3. The ball adding system for adjusting the steel ball grading combination according to claim 2, characterized in that: There are three storage bins. The three storage bins and the feeding bin are distributed in a cross shape, and the storage bins and the feeding bin are located at the corner positions of the cross.

4. The ball adding system for adjusting the steel ball grading combination according to claim 2 or 3, characterized in that: The arrangement conveyor is located on the side of the storage bin. The width of the area where the arrangement conveyor receives steel balls is greater than the width of the area where the electromagnetic gripper releases steel balls at the discharge conveyor.

5. The ball adding system for adjusting the steel ball grading combination according to claim 1, characterized in that: The electromagnetic gripper includes a lifting plate, a limit mounting plate and an electromagnet. The lifting plate is suspended below the limit mounting plate through a limit spring. The limit mounting plate is connected to the end of the robotic arm. Multiple electromagnets are respectively suspended below the lifting plate through connecting chains to grab steel balls respectively.

6. The ball adding system for adjusting the steel ball grading combination according to claim 5, characterized in that: A proximity switch is provided on the limit mounting plate. The proximity switch is installed at the corner position of the limit mounting plate to measure the distance between the corner position of the limit mounting plate and the lifting plate.

7. The ball adding system for adjusting the steel ball grading combination according to claim 5 or 6, characterized in that: The electromagnets are arranged in a staggered manner at intervals, and each electromagnet grabs the steel balls in the storage bin respectively.

8. The ball adding system for adjusting the steel ball grading combination according to claim 1, characterized in that: The arrangement conveyor is provided with a concave conveying track and a conveyor counter. Grooves for accommodating steel balls are provided on the concave conveying track, and the conveyor counter obtains the number of steel balls output by the arrangement conveyor.

9. A method for operating a ball adding system for adjusting steel ball graded combinations, utilizing the ball adding system for adjusting steel ball graded combinations as claimed in any one of claims 1 to 8, characterized in that: Comprising: During the initial ball addition, the robotic arm drives the electromagnetic gripper to grab steel balls from the storage bin and transfer them to the feeding bin. The steel balls in the feeding bin pass through the discharge port and are input into the ball mill; According to the requirements of the ball mill, select steel balls of different specifications in different storage bins and respectively put them into the ball mill through the feeding bin, and measure the amount of steel balls of different specifications added to the ball mill to quickly add steel balls; At the end of the ball addition, the robotic arm drives the electromagnetic gripper to grab steel balls from the storage bin and transfer them to the arrangement conveyor. The arrangement conveyor inputs the steel balls into the ball mill one by one until the number of added balls meets the requirements of the ball mill, and the precise addition of steel balls is completed.

10. The working method of the ball adding system for adjusting the steel ball grading combination according to claim 9, characterized in that: When the electromagnetic gripper on the robotic arm grabs a steel ball, weigh the grabbed steel ball. When the amount of the same specification steel ball entering the ball mill through the feeding bin approaches the set mass, switch to adding the steel balls of this specification through the arrangement conveyor.

Images