Intelligent adding system and adding method for grinding medium of ball mill

Abstract

The system comprises a storage bin arranged in the middle of a plurality of ball mills, an automatic bag breaking device is arranged at the top of the storage bin, a suction robot running track and a suction robot are arranged on the two sides of the bottom of the storage bin, and a lifting system is arranged on the rear side of the storage bin. A feeding system is transversely arranged at the top of the lifting system; the lifting system comprises a vertically-arranged running track, a travel switch is arranged at the top end of the running track, and a lifting robot is arranged on the running track in a sliding mode. The feeding system comprises a feeding robot running track and a feeding robot, and wireless charging devices are arranged at the two ends of the feeding robot running track. The automatic bag breaking device is controlled through a remote controller, and the suction robot, the lifting system and the feeding system are controlled through a PLC control system. The system improves the adding safety of the ore grinding medium, is high in automation degree, convenient to use, safe and reliable, and has good popularization and application values.

Description

TECHNICAL FIELD

[0001] The application relates to a ball mill operation and maintenance technical field, in particular to a ball mill grinding medium intelligent adding system and method. BACKGROUND

[0002] As a core equipment in the field of mineral processing, whether the adding amount of the grinding medium of the ball mill is accurate directly determines whether the grinding fineness of the ore meets the standard. The grinding medium of the mill is generally steel balls, steel segments, ceramic balls and the like with different sizes, through rotation of the mill, the ore in the mill and the grinding medium collide and grind each other to make the ore reach the qualified particle size. The grinding medium is generally transported in ton bags made of nylon material, when the grinding medium is added to the mill, a crane is used to hoist the ton bag to a professional hopper adding position of the grinding medium, an operator uses a knife to cut the bottom of the ton bag, so that the grinding medium is unloaded into the hopper, and then the special hopper is hoisted to the grinding medium adding position of the mill, the opening and closing gate plate at the bottom of the hopper is opened, and the grinding medium is added into the ball mill. This method not only has low adding efficiency and inaccurate adding amount, but also has the risk of scattering of the grinding medium during hoisting and adding, and has great safety hidden danger. Therefore, it is very important and necessary to develop a safe and efficient grinding medium adding device for the mill and a working method thereof. SUMMARY

[0003] The application aims to solve the above-mentioned defects in the prior art, and provide a ball mill grinding medium intelligent adding system and method which are safe and reliable, simple and practical to operate.

[0004] To achieve the purpose, the application adopts the following technical scheme: A ball mill grinding medium intelligent adding system comprises a storage bin arranged in the middle of a plurality of ball mills, an automatic bag breaking device is arranged at the top of the storage bin, suction robot running tracks are arranged at the bottom of the storage bin on both sides, a suction robot is slidably arranged on the suction robot running tracks, a lifting system is arranged at the rear side of the storage bin, and a feeding system is transversely arranged at the top of the lifting system. The lifting system comprises a vertically arranged lifting robot running track, a travel switch is arranged at the top end of the lifting robot running track, and a lifting robot is slidably arranged on the lifting robot running track. The feeding system comprises a feeding robot running track, a feeding robot is slidably arranged on the feeding robot running track, and wireless charging devices are arranged at the ends of the feeding robot running track. The automatic bag breaking device is controlled by a remote controller, and the suction robot, the lifting system and the feeding system are controlled by a PLC control system.

[0005] As a further improvement to the technical solution of the present invention, the automatic bag breaking device includes a sliding track on both sides of the top of the storage bin, a drive wheel that can be slidably mounted on the sliding track, a mounting frame on the top of the drive wheel, and a rhomboid cone for breaking bags on the top surface of the mounting frame.

[0006] Furthermore, the storage silo adopts a partitioned design to simultaneously store multiple grinding media.

[0007] Furthermore, the feeding robot's running track is supported by several columns.

[0008] Furthermore, the PLC control system communicates with the on-site ball mill DCS system to add grinding media as needed and in the required quantity.

[0009] The method for adding grinding media using the above-mentioned intelligent grinding media adding system for ball mills includes the following steps: Step a: Lift the ton bag of grinding media and slowly lower it from above the automatic bag breaking device. The diamond cone in the automatic bag breaking device can puncture the ton bag, allowing the grinding media to flow into the storage silo automatically by its own weight. The storage silo adopts a partitioned design and can store multiple grinding media at the same time. Step b: The suction robot identifies different media through its built-in vision recognition system and moves along the suction robot's running track to the partition of the corresponding grinding media. The suction robot's suction cup picks up the grinding media and moves to the lifting robot, where it puts the grinding media into the lifting robot's hopper. The lifting robot transports the grinding media to the top along the vertical lifting robot's running track. When the limit switch is triggered, the robot stops moving and locks the track to prevent slippage. Step c: The feeding robot runs along the transverse feeding robot track to the bottom of the lifting robot, aligning the hopper with the lifting robot hopper. The lifting robot opens the gate at the bottom of the hopper, allowing the grinding media to flow into the feeding robot hopper by its own weight. Step d: The feeding robot runs along the transverse feeding robot track. Through the positioning system, it stops running when it coincides with the ball mill feed hopper and opens the bottom gate of the hopper to allow the grinding media to flow into the ball mill feed hopper. The feeding robot uses battery energy storage and is charged by a wireless charging device when the battery is low.

[0010] Compared with existing technologies, the intelligent grinding media addition system and method provided by this invention improves the safety of grinding media addition, has a high degree of automation, is easy to use, safe and reliable, and has good promotion and application value. Attached Figure Description

[0011] Figure 1 This is an overall design drawing of a ball mill grinding media intelligent addition system and method; Figure 2Schematic diagram of storage bins, automatic bag breaking device, suction robot and running track, etc. Figure 3 This is a schematic diagram of a grinding media lifting system; Figure 4 Schematic diagram of a grinding media feeding system; Figure 5 This is a schematic diagram of the control system; Reference numerals in the attached drawings: 2.1-Storage bin, 2.2-Suction robot, 2.3-Rhomboid cone, 2.4-Drive wheel, 2.5-Mounting frame, 2.6-Sliding track, 2.7-Suction robot running track; 3.1-Lifting robot, 3.2-Lifting robot running track, 3.3-Limit switch; 4.1-Feeding robot, 4.2-Feeding robot running track, 4.3-Column, 4.4-Wireless charging device, 4.5-Ball mill feed hopper. Detailed Implementation

[0012] The structure of the intelligent grinding media addition system for ball mills and the grinding media addition method of the present invention will be described in detail below with reference to the accompanying drawings.

[0013] All robots in the system of this invention, including the robot body, base, actuator, and various sensors, are provided by Bao Hui Automation Technology (Shanghai) Co., Ltd.

[0014] Reference Figures 1-5 The present invention provides an intelligent grinding media addition system for ball mills, comprising an automatic bag breaking device, a storage bin 2.1, a suction robot 2.2 and a suction robot running track 2.7, a lifting system (lifting robot 3.1 and lifting robot running track 3.2), a feeding system (feeding robot 4.1 and feeding robot running track 4.2), and a PLC control system. The overhead crane lifts the ton bags of grinding media and slowly lowers them above the automatic bag-breaking device. The diamond-shaped cone 2.3 on the automatic bag-breaking device punctures the ton bags, allowing the grinding media to automatically flow into the storage silo. The storage silo 2.1 adopts a partitioned design and can store multiple grinding media simultaneously. The suction robot 2.2 picks up the grinding media through its end suction cup and moves it along the suction robot track 2.7 to the lifting robot 3.1, where it places the media into the hopper of the lifting robot 3.1. The lifting robot 3.1 then lifts the grinding media to the top and transfers it to the feeding robot 4.1, which finally feeds it into the ball mill hopper 4.5 to add the grinding media.

[0015] Specifically, such as Figure 1 As shown, the storage bin 2.1 adopts a partitioned design, with different grinding media stored in different partitions. Sliding rails 2.6 are installed on both sides of the upper edge of the storage bin 2.1, and automatic bag breaking devices are installed on both sides of the sliding rails 2.6.

[0016] Specifically, the automatic bag-breaking device is as follows: Figure 2 As shown, the device consists of a rhomboid cone 2.3, a mounting frame 2.5, a drive wheel 2.4, and running tracks 2.6 on both sides. The automatic bag breaking device can be controlled by a remote control to run along the running track 2.6 to different partitions, and different grinding media can be stored in the corresponding partitions.

[0017] Specifically, the suction robot 2.2 is as follows: Figure 2 As shown, the system includes a robotic arm, a suction robot track 2.7, suction cups, a vision positioning system, and a weighing sensor. The suction robot 2.2 accurately locates the grinding media to be added using the vision recognition system, uses its end suction cups to pick up the grinding media from the storage bin 2.1, and then runs along the two sides of the suction robot track 2.7 to the end of the storage bin 2.1, transporting the grinding media to the lifting robot 3.1. The suction robot 2.2 has a vision recognition system installed at the end of its robotic arm, which can accurately identify and locate different types of grinding media. A weighing sensor is integrated into the suction cups to control the weight of the grinding media picked up each time to within 10 kg, with an error of ≤5%.

[0018] Specifically, the aforementioned lifting system is as follows: Figure 3 As shown, the system includes a lifting robot 3.1, a lifting robot running track 3.2, and a weighing sensor. The suction robot 2.2 transports the grinding media to the hopper of the lifting robot 3.1. The weighing sensor of the lifting robot 3.1 monitors the weight of the grinding media in real time. When the weight of the grinding media in the hopper reaches 30 kg, the suction robot 2.2 stops transporting media into the hopper of the lifting robot 3.1. Subsequently, the lifting robot 3.1 runs along the vertical track to the top of the track. When the limit switch 3.3 is triggered, it stops running and locks the track.

[0019] Specifically, the feeding system is as follows: Figure 4As shown, the system consists of a feeding robot 4.1, a feeding robot running track 4.2, a weighing sensor, a column 4.3, a wireless charging device 4.4, and a positioning system. The feeding robot 4.1 runs along the transverse track to below the hopper of the lifting robot 3.1, aligning its feed inlet with the discharge outlet of the hopper. The lifting robot 3.1 then opens the bottom gate of its hopper, allowing the grinding media to flow into the feeding robot 4.1 hopper by gravity. When the hopper reaches 30 kg, the lifting robot 3.1 stops transporting the grinding media. The feeding robot 4.1 runs on the transverse track, relying on the positioning system (which is existing technology, consisting of multiple proximity switches, model TCC-30120C, manufactured by Zhejiang Hugong Automation Technology Co., Ltd.) to position itself relative to the ball mill hopper. When the feeding robot 4.1 reaches above the ball mill feed hopper 4.5, it opens the hopper gate to deliver grinding media to the ball mill feed hopper 4.5. The feeding robot 4.1 uses battery energy storage and has wireless charging devices 4.4 on both sides of the track. When the battery power is low, it can automatically run to both ends of the track to charge.

[0020] Specifically, the PLC control system is as follows: Figure 5 As shown, it includes: the core part, which communicates with the 3D vision device, suction robot, lifting system, feeding system, etc., to receive information and control the actions of each part, and communicates with the on-site ball mill DCS system to add grinding media as needed and in the required quantity; the hardware part includes the control cabinet, main control unit, HMI, WIFI deployment, etc.

[0021] The method for adding steel balls using the above-mentioned intelligent ball mill grinding media adding system includes the following steps: Step a: Use an overhead crane to lift the ton bag of grinding media and slowly lower it from above the automatic bag breaking device. The diamond cone 2.3 in the automatic bag breaking device can puncture the ton bag, allowing the grinding media to flow into the storage silo 2.1 automatically by its own weight. The storage silo 2.1 adopts a partitioned design and can store multiple grinding media at the same time. Step b: The suction robot 2.2 identifies different media through its built-in vision recognition system and moves along the suction robot running track 2.7 to the partition of the corresponding grinding media. The suction cup of the suction robot 2.2 picks up the grinding media and moves to the lifting robot, where it puts the grinding media into the hopper of the lifting robot 3.1. The lifting robot 3.1 transports the grinding media to the top along the vertical lifting robot running track 3.2. When the limit switch 3.3 is triggered, the movement stops and the track is locked to prevent slippage. Step c: The feeding robot 4.1 runs along the transverse feeding robot running track 4.2 to below the lifting robot 3.1, aligning the hopper with the hopper of the lifting robot 3.1. The lifting robot 3.1 opens the gate at the bottom of the hopper, allowing the grinding media to flow into the hopper of the feeding robot 4.1 by its own weight. Step d: The feeding robot 4.1 runs along the transverse feeding robot track 4.2. Using a positioning system, it stops when it aligns with the ball mill feed hopper 4.5 and opens the bottom gate of the hopper to allow the grinding media to flow into the ball mill feed hopper 4.5. The feeding robot 4.2 uses battery energy storage. When the battery is low, it can be charged using the wireless charging devices 4.4 located on both sides of the feeding robot track 4.2.

Claims

1. A ball mill grinding media intelligent adding system, characterized in that, The application relates to a ball mill system, which comprises a storage bin (2.1) arranged in the middle of a plurality of ball mills, an automatic bag breaking device arranged at the top of the storage bin (2.1), a suction robot running track (2.7) arranged at the bottom of the two sides of the storage bin (2.1), a suction robot (2.2) slidably arranged on the suction robot running track (2.7), a lifting system arranged at the rear side of the storage bin (2.1), and a feeding system horizontally arranged at the top of the lifting system. The lifting system comprises a vertically arranged lifting robot running track (3.2), a travel switch (3.3) arranged at the top end of the lifting robot running track (3.2), and a lifting robot (3.1) slidably arranged on the lifting robot running track (3.2). The feeding system comprises a feeding robot running track (4.2) and a feeding robot (4.1) slidably arranged on the feeding robot running track (4.2), and wireless charging devices (4.4) arranged at the two ends of the feeding robot running track (4.2). The automatic bag breaking device is controlled by a remote controller, and the suction robot (2.2), the lifting system and the feeding system are controlled by a PLC control system.

2. The intelligent grinding media addition system for a ball mill according to claim 1, wherein, The automatic bag breaking device comprises sliding tracks (2.6) arranged at the two edges of the top of the storage bin (2.1), driving wheels (2.4) slidably arranged on the sliding tracks (2.6), mounting frames (2.5) arranged at the top of the driving wheels (2.4), and diamond-shaped cones (2.3) arranged on the top surfaces of the mounting frames (2.5) and used for breaking bags.

3. An intelligent ball mill media addition system as claimed in claim 2, wherein, The storage bin (2.1) is designed in a separated mode and used for simultaneously storing a plurality of grinding media.

4. A ball mill grinding media intelligent addition system as claimed in claim 3, characterized in that, The feeding robot running track (4.2) is supported by a plurality of standing columns (4.3).

5. An intelligent ball mill media addition system as claimed in claim 4, wherein, The PLC control system communicates with a field ball mill DCS system and adds the grinding media according to requirements and quantities.

6. A method of adding grinding media using the intelligent grinding media addition system of any one of claims 1 to 5, characterised in that, The application comprises the following steps: In step a, a ton bag of grinding media is lifted and slowly falls from above the automatic bag breaking device, the diamond-shaped cone (2.3) in the automatic bag breaking device can pierce the ton bag, the grinding media automatically flow into the storage bin (2.1) by gravity, the storage bin (2.1) is designed in a separated mode and can simultaneously store a plurality of grinding media; In step b, the suction robot (2.2) identifies different media by using a self-provided visual identification system, runs to the corresponding grinding media partition along the suction robot running track (2.7), sucks up the grinding media by using the suction disc of the suction robot (2.2), and then runs to the lifting robot (3.1) and puts the grinding media into the hopper of the lifting robot (3.1); In step c, the feeding robot (4.1) runs to below the lifting robot (3.1) along the horizontal feeding robot running track (4.2), the hopper is overlapped with the hopper of the lifting robot (3.1), the lifting robot (3.1) opens the gate plate at the bottom of the hopper to make the grinding media flow into the hopper of the feeding robot (4.1) by gravity. ​ Step d, the feeding robot (4.1) runs along the transverse feeding robot running track (4.2), stops running by the positioning system when coinciding with the ball mill feed hopper (4.5), and opens the hopper bottom gate to make the grinding medium flow into the ball mill feed hopper (4.5); the feeding robot (4.2) uses battery energy storage, and is charged by a wireless charging device (4.4) when the power is low.

Images