Ball mill lining plate mounting vehicle and using method thereof

Abstract

The invention discloses a ball mill lining plate mounting vehicle and a using method thereof, and belongs to the technical field of mining machinery maintaining.The ball mill lining plate mounting vehicle comprises a movable platform, the movable platform comprises a chassis, two walking motors are arranged below the front end of the chassis through chassis connecting pieces, and the walking motors are connected with driving wheels of a crawler belt; a control device, a lining plate picking device and a lining plate conveying device are arranged on the upper surface of the chassis, a steering engine is arranged above the lining plate picking device, the steering engine is connected with a depth camera through a connecting rod, and lifting type plate unloading devices are arranged on the left side and the right side of the front end of the chassis. A supporting device is arranged below the lifting type plate unloading device; by the adoption of the structure, the lining plate mounting device can adapt to mounting of lining plates of various sizes, the mounting efficiency is high, and the safety of the mounting process is improved by converting manual operation into mechanical operation.

Description

Technical Field

[0001] This invention relates to the field of mining machinery maintenance technology, and in particular to a ball mill liner installation vehicle and its usage method. Background Technology

[0002] Ball mills, as essential equipment in mineral processing, are widely used in industries such as metallurgy and chemicals. During the operation of a ball mill, the liners play a crucial role, not only protecting the inner wall of the mill from excessive wear during rotation but also improving grinding efficiency. Ball mill liners are constantly subjected to the impact of materials and grinding balls, making them prone to damage and requiring regular replacement or maintenance.

[0003] The replacement and installation of existing ball mill liners mostly rely on manual operation or auxiliary devices, which results in low installation efficiency, high labor intensity, and poor safety. In addition, the harmful gases left by grinding ore during installation also pose a great threat to the health of workers. Summary of the Invention

[0004] The purpose of this invention is to provide a ball mill liner installation vehicle and its usage method, which solves the technical disadvantages of slow installation speed, low work efficiency, and high labor intensity in the current ball mill liner installation process. It can adapt to the installation of liners of various sizes, has high installation efficiency, and improves the safety of the installation process by transforming manual operation into mechanized operation.

[0005] To achieve the above objectives, the present invention provides a ball mill liner installation vehicle, including a mobile platform. The upper surface of the mobile platform is provided with a control device, a liner picking device, and a liner conveying device. A servo motor is provided above the liner picking device, and the servo motor is connected to a depth camera via a connecting rod. Lifting unloading devices are provided on the left and right sides of the front end of the mobile platform, and a support device is provided below the lifting unloading devices.

[0006] Preferably, the mobile platform includes a chassis, and two walking motors are arranged under the front end of the chassis via chassis connectors, the walking motors being connected to the drive wheels of the tracks.

[0007] Preferably, the liner picking device includes a hydraulic cylinder, which is disposed on the upper front surface of the vehicle chassis and connected to the bottom of the liner box via a limiting pin. The liner box is centrally disposed above the vehicle chassis. A 50mm wide axial through groove is provided in the middle of the bottom surface of the liner box, and a clamping screw is provided in front of the liner box.

[0008] Preferably, the liner conveying device includes a conveying motor, which is symmetrically arranged at the rear end of the chassis with respect to the synchronous pulley. The conveying motor is connected to the small gear of the reducer, and the small gear and the large gear of the reducer mesh with each other and are adjacent to each other. The large gear of the reducer is coaxial with the synchronous pulley.

[0009] Preferably, the lifting unloading device includes a lifting screw, which is symmetrically arranged on both sides of the front end of the vehicle chassis via four first guide rails. Each first guide rail is fitted with a return spring, one end of which is fixedly connected to the vehicle chassis, and the other end abuts against a protrusion of the first guide rail. A rotatable baffle is provided on the inner side of the top of the lifting screw. The lifting screw is connected to a drive motor and is connected to the liner lifting hand via a first connector.

[0010] Preferably, the support device includes a support motor, which is connected to a bevel gear reducer via a motor bracket on the chassis. The bevel gear reducer is connected to one end of a second guide rail, and the other end of the second guide rail is connected to a support member. The inner hole of the output end of the bevel gear reducer is threaded and connected to the upper end of a lead screw. The inner hole of the support member is threaded and connected to the lower end of the lead screw.

[0011] A method for using a ball mill liner installation vehicle includes the following steps:

[0012] S1. Set the installation vehicle to automatic mode and perform the liner installation work;

[0013] S2. The installation vehicle moves to the liner stacking area and picks up the liner;

[0014] S3. Move the installation vehicle to the front of the installation position and align the installation holes on the installation vehicle with the target holes at the installation position;

[0015] S4. The synchronous belt will transfer the liner plates one by one to the liner plate lifting hand.

[0016] S5. The drive motor starts and drives the lifting screw to rotate. The lifting screw moves down, driving the first connecting piece to move down synchronously. The liner lifting hand moves down to the preset installation position together.

[0017] S6. The lead screw rotates, causing the support to move upward along the second guide rail. The support pushes the end of the liner lifting hand to rise.

[0018] S7. The installation vehicle slowly reverses, tilting the liner to the installation position;

[0019] S8. If a problem occurs in the above steps, the vehicle will alarm and switch to remote control mode.

[0020] Preferably, in step S2, when the fully loaded liner box is pressed down to the top of the lifting screw, the inner side of the baffle contacts the outer side of the liner box and generates a horizontal component force, forcing the lifting screws on both sides to slide outward along the first guide rail. Finally, the baffle remains vertical, the return spring is compressed, and the width adjustment function is realized. At this time, the inner side of the baffle is close to the outer side of the liner box and close to the lifting screw, so that the lifting screw also remains vertical, ensuring the installation accuracy of the liner. When the liner box is raised again, the elastic restoring force of the return spring pushes the protrusion of the first guide rail, thereby pulling the side of the lifting screw to automatically return to its original position, realizing the adaptive adjustment of the spacing.

[0021] Preferably, in step S2, when the liner box is fully loaded, the lead screw drives the support to move down to the ground state, providing external support for the installation vehicle and effectively preventing it from tipping over.

[0022] Therefore, the present invention, employing the above-described ball mill liner installation vehicle and its method of use, has the following advantages:

[0023] (1) In this invention, the mobile platform used as the chassis adopts tracks, which can increase the contact area between the installation vehicle and the ground, better adapt to heavy-duty operations, and reduce the failure rate.

[0024] (2) In this invention, the liner picking device is mainly realized by a combination of hydraulic cylinder and clamping screw. By adjusting the drive screw, the spacing inside the liner box can be precisely adjusted within the range of 300mm-500mm to realize the functional requirement of picking up liners of various sizes.

[0025] (3) In this invention, a servo motor and a depth camera are provided. The video information collected by the depth camera can realize the switching between remote control mode and automatic mode to complete the entire process of picking up, conveying and installing the liner. Each action link is equipped with a dedicated execution device to ensure the continuity and reliability of the installation process.

[0026] (4) In this invention, the space occupied is small, and 3-10 lining plates can be installed at a time when fully loaded. The operation process is quick and efficient. Compared with manual installation, it is safer and more economical.

[0027] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a ball mill liner installation vehicle according to the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a mobile platform for a ball mill liner installation vehicle according to the present invention;

[0030] Figure 3This is a schematic diagram of the structure of a liner picking device for a ball mill liner installation vehicle according to the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of a liner conveying device for a ball mill liner installation vehicle according to the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of a lifting unloading device for a ball mill liner installation vehicle according to the present invention;

[0033] Figure 6 This is a top view of a lifting unloading device for a ball mill liner installation vehicle according to the present invention;

[0034] Figure 7 This is a structural rendering of a support device for a ball mill liner mounting vehicle according to the present invention;

[0035] Figure 8 This invention provides a working schematic diagram of the support component and liner lifting hand of a ball mill liner installation vehicle.

[0036] Reference numerals: 1. Chassis; 2. Travel motor; 3. Track; 4. Chassis connecting piece; 5. Liner box; 6. Hydraulic cylinder; 7. Clamping screw; 8. Limit pin; 9. Transmission motor; 10. Synchronous pulley; 11. Reducer pinion; 12. Reducer gear; 13. Lifting screw; 14. First connecting piece; 15. Drive motor; 16. Liner lifting handle; 17. Baffle; 18. First guide rail; 19. Return spring; 20. Support motor; 21. Bevel gear reducer; 22. Second guide rail; 23. Support piece; 24. Lead screw; 25. Servo motor; 26. Depth camera. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Specific model specifications need to be selected and determined according to the actual specifications of the device, etc. The specific selection calculation method adopts existing technology in the art, and therefore will not be described in detail.

[0038] Example

[0039] like Figures 1-8As shown, the present invention provides a ball mill liner installation vehicle, including a mobile platform, the mobile platform including a chassis 1, two travel motors 2 are provided at the lower front end of the chassis 1 through a chassis connector 4, the travel motors 2 are connected to the drive wheels of the track 3, when the two travel motors 2 rotate in the same direction, the installation vehicle travels in a straight line, when the two travel motors 2 rotate in opposite directions, the installation vehicle turns in place or makes a slight adjustment of the angle, the upper surface of the chassis 1 is provided with a control device, a liner picking device and a liner conveying device, the control device is used to control the operation of the installation vehicle, the left and right sides of the front end of the chassis 1 are provided with lifting unloading devices, and a support device is provided below the lifting unloading devices;

[0040] The liner picking device includes a hydraulic cylinder 6, which is located on the upper front surface of the chassis 1 and connected to the bottom of the liner box 5 via a limiting pin 8. The liner box 5 is centrally located above the chassis 1. A 50mm wide axial through groove is provided in the middle of the bottom surface of the liner box 5 to facilitate the liner conveying device to convey the liner. A clamping screw 7 is located in front of the liner box 5. The two sliders of the clamping screw 7 are bolted to the front of the liner box 5. The hydraulic cylinder 6 and the clamping screw 7 drive the liner box 5 to pick up the liner, so that the liner box 5 has the dual functions of a storage compartment and a liner picking device robot.

[0041] The liner conveying device includes a conveying motor 9, which is symmetrically located at the rear end of the chassis 1 with respect to the synchronous belt pulley 10. The conveying motor 9 is connected to the small gear 11 of the reducer. The small gear 11 and the large gear 12 of the reducer mesh with each other and are adjacent to each other. The large gear 12 of the reducer is coaxial with the synchronous belt pulley 10. After the conveying motor 9 is powered on, the synchronous belt conveys the liner one by one to the liner lifting handle 16. The structure is simple and the failure rate is low.

[0042] The lifting unloading device includes a lifting screw 13, which is symmetrically arranged on both sides of the front end of the chassis 1 via four first guide rails 18. Each first guide rail 18 is fitted with a return spring 19. One end of the return spring 19 is fixedly connected to the chassis 1, and the other end abuts against the protrusion of the first guide rail 18. A rotatable baffle 17 is provided on the inner side of the top of the lifting screw 13. The baffle 17 is connected to the pin at the upper end of the lifting screw 13 to realize the function of the baffle 17 rotating around the pin. The drive motor 15 is connected to the lifting screw 13. The slider of the lifting screw 13 is connected to the liner lifting handle 16 through the first connector 14.

[0043] The support device includes a support motor 20, which is connected to a bevel gear reducer 21 via a motor bracket on the chassis 1. This changes the power transmission direction of the drive motor 15 and increases the torque at the output end of the bevel gear reducer 21, allowing the lead screw 24 to rotate. The inner hole of the output end of the bevel gear reducer 21 is threaded and connected to the upper end of the lead screw 24. The inner hole of the support member 23 is threaded and connected to the lower end of the lead screw 24. One end of the second guide rail 22 is connected to the bevel gear reducer 21, and the other end is connected to the support member 23, so that the support member 23 can only rotate with the lead screw 24 and move linearly along the second guide rail 22.

[0044] A servo motor 25 is installed on the upper part of the liner box 5. The servo motor 25 is connected to the depth camera 26 via a linkage to provide multi-directional video information for the installation vehicle control device. When the servo motor 25 is powered on, the depth camera 26 can provide image information to the installation vehicle, including: identifying the relative position of the installation vehicle and the liner to be picked up, thereby completing the picking function; determining the accurate position of the liner in the ball mill, thereby realizing the liner installation function; detecting the surrounding working environment and performing work.

[0045] A method for using a ball mill liner installation vehicle includes the following steps:

[0046] S1. Set the installation vehicle to automatic mode and perform the liner installation work;

[0047] S2. The installation vehicle moves to the liner stacking area and picks up the liner;

[0048] The clamping screw 7 has threads with different directions of rotation but the same specifications at both ends. Driving the clamping screw 7 to rotate causes the liner box 5 to open to its maximum width. Then, the hydraulic cylinder 6 introduces pressurized oil to lift the front side of the unloaded liner box 5, and the rear side of the liner box 5 moves along the arc-shaped track at the rear of the chassis 1 until the thin-walled surface of the rear of the liner box 5 coincides with the ground. As the clamping screw 7 slowly retracts, the blade-like thin-walled surface of the liner box 5 inserts into the gap between the ground and the liner, and finally the liner box 5 firmly clamps the sides of multiple liners. After clamping is completed, the hydraulic cylinder 6 reverses its action, slowly pulling the fully loaded liner box 5 back along the track of the chassis 1 until the bottom surface of the liner box 5 precisely coincides with the chassis 1. The height of the liner box 5 is 450mm, and the thickness of the liner is generally 50mm-130mm. It can pick up 3-10 liners at a time, which significantly improves the efficiency of traditional manual installation of one liner at a time.

[0049] During the liner pickup process, the hydraulic cylinder 6 retracts, slowly pressing down the liner box 5. If the width of the liner to be picked up is greater than the width of the chassis 1, the liner will interfere with the lifting screw 13. Therefore, the distance between the two lifting screws 13 is required to change with the width of the liner to be picked up.

[0050] When the fully loaded liner box 5 is pressed down to the top of the lifting screw 13, the inner side of the baffle 17 contacts the outer side of the liner box 5 and generates a horizontal component force, forcing the lifting screws 13 on both sides to slide outward along the first guide rail 18. Finally, the baffle 17 remains vertical, and the return spring 19 is compressed, realizing the function of width adjustment. At this time, the inner side of the baffle 17 is close to the outer side of the liner box 5 and close to the lifting screw 13, so that the lifting screw 13 also remains vertical, ensuring the installation accuracy of the liner. When the liner box 5 is raised again, the elastic restoring force of the return spring 19 pushes the protrusion of the first guide rail 18, thereby pulling the side of the lifting screw 13 to automatically return to its original position, realizing the adaptive adjustment of the spacing.

[0051] When the installation vehicle picks up the liner, the full weight of the liner box 5 may cause the installation vehicle to become unbalanced. At this time, the lead screw 24 drives the support 23 to move down to the ground, providing external support for the installation vehicle and effectively preventing it from tipping over.

[0052] S3. Move the installation vehicle to the front of the installation position and align the installation holes on the installation vehicle with the target holes at the installation position;

[0053] S4. The synchronous belt will transfer the liner plates one by one to the liner plate lifting hand 16.

[0054] S5. The drive motor starts and drives the lifting screw 13 to rotate. The lifting screw 13 moves down, driving the first connecting piece 14 to move down synchronously. The liner lifting hand 16 moves down to the preset installation position together.

[0055] The drive motor 15 starts and drives the lifting screw 13 to rotate, causing the first connecting piece 14 connected to the slider of the lifting screw 13 to move down synchronously. Since the first connecting piece 14 is rigidly connected to the liner support 16, the support will descend to the preset lowest position along with the slider and remain in standby state until the next installation process is carried out.

[0056] S6, the lead screw 24 rotates, causing the support member 23 to move upward along the second guide rail 22, and the support member 23 pushes one end of the liner lifting hand 16 to rise;

[0057] When the liner is installed, when the liner lifting handle 16 carries the liner down to the lowest position, there is still a gap of about 15cm between the liner lifting handle 16 and the ground. At this time, the screw 24 rotates, which drives the support 23 to move upward. After the support 23 moves upward and comes into contact with the liner lifting handle 16, it continues to move upward, pushing one end of the liner lifting handle 16 to rise, thereby achieving a smooth tilting of the liner.

[0058] S7. The installation vehicle slowly reverses, tilting the liner to the installation position;

[0059] S8. If a problem occurs in the above steps, the vehicle will alarm and switch to remote control mode.

[0060] Equipped with a servo motor 25 and a depth camera 26, the video information collected by the depth camera 26 allows for switching between remote control and automatic modes to complete the entire process of liner pickup, conveying, and installation. Each action is equipped with a dedicated actuator to ensure the continuity and reliability of the installation process. To achieve stable and automatic installation of ball mill liners, this invention combines depth camera visual perception with tracked chassis motion control, designing and optimizing the control methods for each stage of the installation vehicle. The following will elaborate on the key control strategies in the automatic operation process, including liner identification and pickup, path navigation, and liner installation:

[0061] The present invention provides a servo motor 25 on the upper part of the liner box 5, and uses the power-on state of the servo motor 25 as the enable signal of the depth camera 26. When the servo motor 25 is powered on, the depth camera 26 immediately outputs RGB-D video stream and synchronized image to the control device in real time. The servo motor 25 causes the depth camera 26 to rotate, realizing a comprehensive video stream and synchronized image.

[0062] Liner Pickup Function Control: The control device uses a depth camera 26 to acquire RGB-D images. After Voxel Grid downsampling and pass-through filtering preprocessing, YOLOv5-seg instance segmentation is used to extract the liner mask. The PCA and RANSAC algorithms are then combined to obtain the centroid position of the liner. A sliding surface S = [Δx, Δy] is constructed using planar offsets Δx and Δy. T By simplifying the sliding mode control law, u = -K·sgn(s) - λ·s (where K = diag(0.15, 0.15)m·s -1 λ = diag(0.15, 0.15)s -1 The mobile platform achieves planar micro-motion alignment, ensuring that the error converges to |Δx|<0.03m, |Δy|<0.03m within 3 seconds, meeting the accuracy requirements for gripping or installation positions. At this time, the support motor 20 drives the support component 23 to touch the ground, providing support for the liner pickup, increasing the overturning moment of the installation vehicle, and preventing rollover. The clamping control adopts a sliding current adjustment strategy, with the target pressure P... set =120N, error surface e p =P set -P meas (where P) meas For the pressure measured in real time), the control law is iq = -1.5·sgn(e p )-30·e p The clamping operation is completed within two seconds; if the time limit is exceeded and the target is not met, an alarm is triggered and the remote control mode is switched; after clamping, the liner box 5 returns to the default position under the traction of the hydraulic cylinder 6, waiting for the next step.

[0063] Path navigation control from the liner stacking area to the ball mill cylinder: The installation vehicle constructs a two-dimensional grid map based on RGB-D images acquired by the depth camera 26, and uses visual SLAM to locate its own attitude in real time. It adopts an improved A* for global path planning, combined with look-ahead path tracking and differential track fine-tuning control to dynamically adjust the speed of the left and right tracks, achieving autonomous navigation without the assistance of additional sensors. At the same time, the control device converts the depth map into an obstacle grid in real time for dynamic window method (DWA) obstacle avoidance control, ensuring that the installation vehicle can stably and safely cruise automatically from the liner stacking area to one meter in front of the ball mill cylinder inlet, so that the direction of travel of the installation vehicle is consistent with the mill cylinder, and the attitude is adjusted for subsequent installation.

[0064] Liner installation function control: After the installation vehicle carrying the liner box 5 enters the ball mill cylinder, the depth camera 26 activates the supplementary lighting mode to acquire RGB-D images of the inner wall of the cylinder; the control device identifies the threaded hole positions and calculates the current attitude of the platform through point cloud clustering and CAD model registration, obtaining the error vector [Δx, Δy, Δz] between the liner installation hole and the cylinder threaded hole, where Δx and Δy represent the lateral and longitudinal positional deviations in the plane, respectively, and Δθ represents the attitude angle deviation; based on this visual error, the control device adopts a servo control and incremental PID control strategy, continuously outputting smooth speed commands with a control cycle of 50ms, driving the track 3 to adjust slowly; unlike the traditional stationary turning method, this scheme compensates for the differential speed of the left and right tracks (vL=vk·Δθ, vR= v+k·Δθ,k≈0.15m / s·rad) achieves natural angle alignment, while simultaneously converging the positional error to |Δx|,|Δy|<0.03m,|Δθ|<3°, completing the alignment; when the control device determines that the mounting hole and the target hole are completely aligned, the platform automatically stops and starts the lifting screw 13, slowly moving the liner plate vertically downward to the specified installation height; then the support 23 moves upward, causing the liner plate lifting handle 16 to generate an appropriate tilt angle, and under the action of gravity, the liner plate is smoothly tilted to the preset position on the cylinder wall, realizing the installation; the platform then slowly moves forward along the cylinder axis, repeating the liner plate identification, alignment and tilting operation, completing the entire row installation task one by one; if alignment failure or error exceeds the limit, the control device will automatically skip the current block and record the abnormal status;

[0065] All three functions mentioned above use the video and images output by the depth camera 26 as the sole input. Through algorithmic and hardware closed-loop collaboration, the entire process of liner picking, conveying, and installation is fully automated.

[0066] Therefore, the ball mill liner installation vehicle and its usage method using the above-mentioned structure can adapt to the installation of liners of various sizes, have high installation efficiency, and improve the safety of the installation process by transforming manual operation into mechanized operation.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A ball mill liner installation vehicle, characterized in that: The device includes a mobile platform, on the upper surface of which a control device, a liner picking device, and a liner conveying device are provided. A servo motor is provided above the liner picking device, and the servo motor is connected to a depth camera via a connecting rod. Lifting unloading devices are provided on the left and right sides of the front end of the mobile platform, and a support device is provided below the lifting unloading devices.

2. The ball mill liner installation vehicle according to claim 1, characterized in that: The mobile platform includes a chassis, and two walking motors are installed under the front end of the chassis via chassis connectors. The walking motors are connected to the drive wheels of the tracks.

3. The ball mill liner installation vehicle according to claim 2, characterized in that: The liner pickup device includes a hydraulic cylinder, which is located on the front upper surface of the vehicle chassis and connected to the bottom of the liner box via a limiting pin. The liner box is centrally located above the vehicle chassis. A 50mm wide axial through groove is provided in the middle of the bottom surface of the liner box, and a clamping screw is provided in front of the liner box.

4. A ball mill liner installation vehicle according to claim 2, characterized in that: The liner conveying device includes a conveying motor, which is symmetrically arranged at the rear end of the chassis with respect to the synchronous belt pulley. The conveying motor is connected to the small gear of the reducer, and the small gear and the large gear of the reducer mesh with each other and are adjacent to each other. The large gear of the reducer is coaxial with the synchronous belt pulley.

5. A ball mill liner installation vehicle according to claim 2, characterized in that: The lifting unloading device includes a lifting screw, which is symmetrically arranged on both sides of the front end of the vehicle chassis via four first guide rails. Each first guide rail is fitted with a return spring. One end of the return spring is fixedly connected to the vehicle chassis, and the other end abuts against a protrusion of the first guide rail. A rotatable baffle is provided on the inner top of the lifting screw. The lifting screw is connected to a drive motor and is connected to the liner lifting handle via a first connector.

6. A ball mill liner installation vehicle according to claim 2, characterized in that: The support device includes a support motor, which is connected to a bevel gear reducer via a motor bracket on the chassis. The bevel gear reducer is connected to one end of a second guide rail, and the other end of the second guide rail is connected to a support member. The output end of the bevel gear reducer has a threaded inner hole that is connected to the upper end of a lead screw. The support member has a threaded inner hole that is connected to the lower end of the lead screw.

7. A method of using a ball mill liner installation vehicle, comprising a ball mill liner installation vehicle as described in any one of claims 1-6, characterized in that: Includes the following steps: S1. Set the installation vehicle to automatic mode and perform the liner installation work; S2. The installation vehicle moves to the liner stacking area and picks up the liner; S3. Move the installation vehicle to the front of the installation position and align the installation holes on the installation vehicle with the target holes at the installation position; S4. The synchronous belt will transfer the liner plates one by one to the liner plate lifting hand. S5. The drive motor starts and drives the lifting screw to rotate. The lifting screw moves down, driving the first connecting piece to move down synchronously. The liner lifting hand moves down to the preset installation position together. S6. The lead screw rotates, causing the support to move upward along the second guide rail. The support pushes the end of the liner lifting hand to rise. S7. The installation vehicle slowly reverses, tilting the liner to the installation position; S8. If a problem occurs in the above steps, the vehicle will alarm and switch to remote control mode.

8. The method of using a ball mill liner installation vehicle according to claim 7, characterized in that: In step S2, when the fully loaded liner box is pressed down to the top of the lifting screw, the inner side of the baffle contacts the outer side of the liner box and generates a horizontal component force, forcing the lifting screws on both sides to slide outward along the first guide rail. Finally, the baffle remains vertical, and the return spring is compressed, realizing the width adjustment function. At this time, the inner side of the baffle is in close contact with the outer side of the liner box and the lifting screw, so that the lifting screw also remains vertical, ensuring the installation accuracy of the liner. When the liner box is raised again, the elastic restoring force of the return spring pushes the protrusion of the first guide rail, thereby pulling the side of the lifting screw to automatically return to its original position, realizing the adaptive adjustment of the spacing.

9. The method of using a ball mill liner installation vehicle according to claim 7, characterized in that: In step S2, when the liner box is fully loaded, the lead screw drives the support to move down to the ground, providing external support for the installation vehicle and effectively preventing it from tipping over.

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