A method of polishing control and a polishing system

Abstract

This invention discloses a grinding control method, comprising the following steps: S1, the control module causes a grinding bowl transfer device to transfer the grinding bowl to the grinding machine; S2, the control module causes a grinding bowl clamping device to clamp the grinding bowl; S3, the control module starts the grinding machine and simultaneously monitors the grinding machine's operating current data in real time, and calculates the average value I1 of the operating current data of the grinding machine within each set time T within N consecutive or intermittent set time periods T; S4, the control module compares I1 with the existing safe current threshold in the control module to determine whether the position of the grinding bowl is correct. If correct, the grinding work continues; if incorrect, proceed to S5; the control module's grinding bowl transfer device adjusts the position of the grinding bowl, and then S2 to S4 are repeated. A grinding system is also disclosed. This grinding control method and grinding system have advantages such as improved automation, real-time monitoring and early warning capabilities for the grinding position status, timely adjustment of position deviations, and enhanced operational safety.

Description

Technical Field

[0001] This invention relates to the field of grinding technology, and more specifically to a grinding control method and a grinding system. Background Technology

[0002] In fields such as ore composition analysis and geological sample testing, lumpy ores need to be ground into fine powder. This grinding process is a core preliminary step for subsequent testing and analysis, and it places high demands on grinding efficiency, particle size uniformity, and operational continuity. Currently, traditional grinding operations in the industry mostly rely on manual operation, which suffers from problems such as low efficiency, poor consistency, and safety hazards from dust inhalation.

[0003] With the development of automation technology, some existing technologies attempt to introduce robotic arms and PLC control systems to improve the automation level of grinding operations. For example, Chinese patent document CN119869731A discloses an artificial intelligence-based ball mill parameter adjustment control system and method, which uses a PLC controller to collect signals from detection devices such as concentration, liquid level, and pressure, and automatically adjusts parameters with the product quality of the ball milling process as the optimization goal. Another example is Chinese patent document CN114054167B, which discloses an automatic grinding media addition method and system. This system employs a central control system, a robotic arm, a vision system, and a gap detection device, using 3D visual images to identify the position coordinates of the grinding media and control the robotic arm to grab and add them.

[0004] However, the aforementioned existing technical solutions still have the following technical defects: 1. The grinding operation has not achieved fully automated closed-loop control. In existing solutions, the application of robotic arms is mostly limited to the addition of grinding media or a single handling process. There is a lack of unified scheduling and coordinated control between various processes such as the placement, clamping, grinding, and unloading of grinding bowls. The connection between processes relies on manual intervention or semi-automatic operation, making it difficult to achieve continuous batch grinding operations. 2. Lack of real-time monitoring and early warning capabilities for grinding position status. Although existing technologies have solutions for controlling feeding or adjusting feed speed through current monitoring, they fail to combine current monitoring with the diagnosis of grinding position status. When the position deviation of the grinding bowl causes untimely clamping, the existing system cannot identify this abnormal condition in time, making it difficult to issue early warnings and take timely intervention measures to stop the machine. Once the position of the grinding bowl is deviated during the grinding process, if it is not adjusted in time, it may lead to grinding failure or even damage to the grinding bowl and equipment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a grinding control method and grinding system that improves the degree of automation, has the ability to monitor and warn of the grinding position status in real time, adjusts the position deviation in a timely manner, and enhances the operational safety.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A grinding control method employs a grinding system comprising a grinding bowl transfer device, a grinding machine, a grinding bowl clamping device, and a control module. The grinding bowl clamping device is located within the grinding machine. The grinding bowl transfer device, the grinding machine, and the grinding bowl clamping device are all signal-connected to the control module. The grinding control method includes the following steps: S1. The control module sends an action signal to the grinding bowl transfer device, causing the grinding bowl transfer device to transfer the grinding bowl to the designated position on the grinder. S2. The control module sends an action signal to the grinding bowl clamping device, causing the grinding bowl clamping device to clamp the grinding bowl. S3. The control module sends a start signal to the grinder, causing the grinder to start running at a fixed frequency. At the same time, the control module monitors the operating current data of the grinder in real time and calculates the average value I1 of the operating current data of the grinder in each set time T within N consecutive or intermittent set time periods T. S4. The control module compares I1 with the existing safe current threshold (I0, I2) in the control module. If the number of times n that I1 exceeds (I0, I2) within N set time periods T is less than or equal to the set number m, the control module determines that the position of the grinding bowl is correct and allows the grinder to continue grinding. If the number of times n that I1 exceeds (I0, I2) within N set time periods T is greater than the set number m, the control module determines that the position of the grinding bowl is deviated and stops the grinder, proceeding to S5. S5. The control module sends a release signal to the grinding bowl clamping device to release the grinding bowl, and then sends an action signal to the grinding bowl transfer device to adjust the position of the grinding bowl, and then proceeds to S2 to S4. S6. After the grinding machine has ground for the predetermined time, the control module sends a stop signal to the grinding machine to stop the grinding machine from running. Then, it sends a release signal to the grinding bowl clamping device to release the grinding bowl. Finally, the grinding bowl transfer device takes out the grinding bowl.

[0007] As a further improvement to the above technical solution: 0≤m / N≤0.1.

[0008] The safe current thresholds (I0, I2) are obtained by the control module through statistical calculation of I1 from historical records.

[0009] Every so often, the safe current threshold (I0, I2) is recalculated based on the historical I1.

[0010] It also includes S7, a grinding bowl transfer device that flips the grinding bowl to pour out the ground ore powder. A grinding system for implementing the above-mentioned grinding control method includes a grinding bowl transfer device, a grinding machine, a grinding bowl clamping device, and a control module. The grinding bowl clamping device is located inside the grinding machine. The grinding bowl transfer device, the grinding machine, and the grinding bowl clamping device are all signal-connected to the control module. The grinding bowl clamping device includes a mounting frame, a pressure cap, and a pressing drive mechanism. The grinding machine has a support platform for carrying the grinding bowl. The mounting frame is fixed inside the grinding machine. The pressure cap is lifted and mounted on the mounting frame and located directly above the support platform. The pressing drive mechanism is located on the mounting frame and connected to the pressure cap. The pressing drive mechanism is signal-connected to the control module.

[0011] The pressure cap is slidably mounted on the mounting bracket, and a buffer spring is provided between the pressure cap and the mounting bracket.

[0012] The grinding bowl includes a cylindrical body and an outwardly protruding ring on the periphery of the cylindrical body. The end of the grinding bowl is provided with an annular groove. The support platform is provided with a vertical support hole for the cylindrical body to be inserted. The bottom of the pressure cap is provided with a sealing ring.

[0013] The grinding bowl transfer device includes a robotic arm and a clamping mechanism on the robotic arm. The clamping mechanism includes a connecting seat on the robotic arm and two gripper assemblies arranged opposite to each other on the connecting seat. The connecting seat is provided with a clamping drive assembly, which is used to drive the two gripper assemblies to move closer and further apart to clamp and hold the grinding bowl.

[0014] The gripper assembly includes a connecting rod and an arc-shaped gripper. The connecting rod is movably mounted on a connecting seat and connected to a gripping drive assembly. The arc-shaped gripper is mounted on the connecting rod. The inner side of the connecting rod is provided with at least two clamping blocks spaced apart around the arc center of the arc-shaped gripper. The clamping blocks are provided with slots for engaging with the outer convex ring of the grinding bowl. At least one side of the arc-shaped gripper is provided with multiple inwardly protruding stop bars. Each stop bar is spaced apart along a direction perpendicular to the movement direction of the connecting rod. The stop bars of the two gripper assemblies are staggered.

[0015] Compared with the prior art, the advantages of the present invention are as follows: The grinding control method of this invention, through full-process automated control, high-precision mechanical structure design, and an intelligent position deviation diagnosis and adjustment mechanism based on real-time current monitoring and dynamic threshold comparison, achieves the following: First, it unifies and coordinates the scheduling and control of various processes such as placement, clamping, grinding, and unloading of the grinding bowl, resulting in a high degree of automation and enabling continuous batch grinding operations. Second, it has the ability to monitor and warn of the grinding position status in real time. If the position of the grinding bowl deviates during the grinding process, it can be adjusted promptly, helping to avoid grinding failure and damage to the grinding bowl and equipment. This effectively solves the technical problems mentioned in the background art, such as low automation and lack of position deviation warning and intervention capabilities. This method not only improves the efficiency and consistency of grinding operations but also significantly enhances the operational safety and intelligence level of the equipment.

[0016] In the grinding system of this invention, the control module acts as the central hub of the entire system, sending commands sequentially to the grinding bowl transfer device, the grinding bowl clamping device, and the grinding machine according to a preset time sequence. The grinding bowl transfer device is responsible for transporting the grinding bowl containing ore to the designated position on the grinding machine; the grinding bowl clamping device then clamps and fixes the grinding bowl; the grinding machine starts vibratory grinding. The coordinated action of these three components automates the entire process from feeding, positioning, clamping to grinding, reducing or even eliminating manual intervention, significantly improving operational efficiency and consistency, while avoiding the safety hazards of manual contact with dust and high-temperature components. Furthermore, it effectively solves the technical problems mentioned in the background art, such as low automation and lack of position deviation warning and intervention capabilities. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the grinding system of the grinding control method of the present invention.

[0018] Figure 2 This is a schematic diagram of the grinding machine used in the grinding control method of the present invention.

[0019] Figure 3 This is a schematic diagram of the pressure cap structure of the grinding control method of the present invention.

[0020] Figure 4 This is a schematic diagram of the clamping mechanism of the grinding control method of the present invention.

[0021] The labels in the diagram represent: 1. Grinding bowl transfer device; 2. Grinding machine; 21. Support platform; 22. Vertical support hole; 3. Grinding bowl clamping device; 31. Mounting bracket; 32. Pressure cap; 321. Sealing ring; 33. Downward pressure drive mechanism; 34. Buffer spring; 4. Grinding bowl; 41. Columnar body; 42. Outer convex ring; 43. Ring groove; 5. Robotic arm; 6. Clamping mechanism; 61. Connecting seat; 62. Claw assembly; 621. Connecting rod; 622. Arc-shaped claw; 623. Stop bar; 63. Clamping drive assembly; 64. Clamping block; 65. Slot. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Example 1: Figures 1 to 4This illustration shows an embodiment of the grinding control method of the present invention. The grinding control method of this embodiment employs a grinding system, which includes a grinding bowl transfer device 1, a grinding machine 2, a grinding bowl clamping device 3, and a control module. The grinding bowl clamping device 3 is located inside the grinding machine 2. The grinding bowl transfer device 1, the grinding machine 2, and the grinding bowl clamping device 3 are all signal-connected to the control module. The grinding control method includes the following steps: S1. The control module sends an action signal to the grinding bowl transfer device 1, causing the grinding bowl transfer device 1 to transfer the grinding bowl 4 to the designated position on the grinder 2. This step is the grinding bowl placement step. Specifically, the clamping drive assembly 63 drives the two gripper assemblies 62 to move relative to each other, and the groove 65 on the clamping block 64 engages with the outer protruding ring 42 of the grinding bowl 4 to achieve stable clamping of the grinding bowl 4. During placement, the cylindrical body 41 of the grinding bowl 4 is inserted into the vertical bearing hole 22 of the bearing platform 21 to achieve initial positioning.

[0027] S2. The control module sends an action signal to the grinding bowl clamping device 3, causing the grinding bowl clamping device 3 to clamp the grinding bowl 4. This step is the clamping step. Specifically, under the action of the buffer spring 34, the pressure cap 32 presses the grinding bowl 4 firmly onto the support platform 21 with a set pressure, while the sealing ring 321 at the bottom of the pressure cap 32 forms a reliable seal with the grinding bowl 4.

[0028] S3. The control module sends a start signal to the grinder 2, causing it to start operating at a fixed frequency (e.g., 50Hz) to begin vibratory grinding of the ore in the grinding bowl 4. Simultaneously, the control module monitors the operating current data of the grinder 2 in real time (specifically, the operating current data of the grinder 2's drive motor) and calculates the average value I1 of the operating current data within N consecutive or intermittent set time periods T. This step is the start-up and monitoring step. T can be set to 100ms and N=50, meaning 50 current values ​​are collected every 5 seconds and their average value I1 is calculated, or the average value within a sliding window is calculated continuously. The purpose of this is to filter out instantaneous current fluctuations and obtain a stable and reliable current characterization value.

[0029] S4. The control module compares I1 with the existing safe current threshold (I0, I2) within the control module. If the number of times n that I1 exceeds (I0, I2) within N set time periods T is less than or equal to the set number m, the control module determines that the position of the grinding bowl 4 is correct, and then the grinder 2 continues grinding. If the number of times n that I1 exceeds (I0, I2) within N set time periods T is greater than the set number m, the control module determines that the position of the grinding bowl 4 is deviated, and then the grinder 2 stops, proceeding to S5. This step is a judgment step. The control module compares the calculated average current I1 with the existing safe current threshold (I0, I2) within the control module. This safe current threshold is a range, with I0 being the lower limit and I2 being the upper limit. Under normal circumstances, when the grinding bowl 4 is correctly positioned and well-pressurized, the load on the grinder 2 is stable, and the operating current will remain within a normal range. If the grinding bowl 4 is misaligned, resulting in inadequate clamping or seal failure, the load will decrease, causing the operating current I1 to fall below the lower limit I0; if material jamming or other mechanical failures occur, the load will increase, causing the operating current I1 to rise above the upper limit I2.

[0030] S5. The control module sends a release signal to the grinding bowl clamping device 3, causing the grinding bowl clamping device 3 to release the grinding bowl 4. Then, it sends an action signal to the grinding bowl transfer device 1, causing the grinding bowl transfer device 1 to adjust the position of the grinding bowl 4. Then, steps S2 to S4 are performed. This step is an adjustment step. Specifically, the control module first sends a release signal to the grinding bowl clamping device 3, causing the pressing drive mechanism 33 to drive the pressure cap 32 to rise and release the grinding bowl 4. Then, the control module sends an action signal to the grinding bowl transfer device 1, and the robotic arm 5 grabs the grinding bowl 4 through the clamping mechanism 6, fine-tunes its position, and repositions it on the support platform 21. After the adjustment is completed, the process starts again from step S2, that is, re-clamping, starting, and monitoring, until the position is determined to be correct.

[0031] S6. After the grinder 2 has completed the predetermined grinding time, the control module sends a stop signal to the grinder 2 to stop its operation. Then, it sends a release signal to the grinding bowl clamping device 3 to release the grinding bowl 4. Finally, the grinding bowl transfer device 1 removes the grinding bowl 4. This step is the removal step. Specifically, after the grinder 2 completes the grinding work for the predetermined time (e.g., 2 minutes), the control module sends a stop signal to the grinder 2 to stop its operation. Subsequently, the control module sends a release signal to the grinding bowl clamping device 3 to raise the pressure cap 32 and release the grinding bowl 4. Finally, the control module controls the grinding bowl transfer device 1 to remove the grinding bowl 4.

[0032] The decision logic of the control module is as follows: If, within N set time periods T, the number of times n that I1 exceeds (I0, I2) is less than or equal to the set number m (for example, m / N≤0.1, i.e., 10% instantaneous deviation is allowed), the control module determines that the position of the grinding bowl 4 is correct and the clamping state is good, and then the grinder 2 continues to perform grinding work. If, within N set time periods T, the number of times n that I1 exceeds (I0, I2) is greater than the set number m, the control module determines that the position of the grinding bowl 4 is deviated, which may lead to grinding failure or equipment damage. At this time, the control module immediately sends a stop signal to the grinder 2, causing the grinder 2 to stop operating, and proceeds to step S5 for adjustment.

[0033] The grinding control method of this invention, through full-process automated control, high-precision mechanical structure design, and an intelligent position deviation diagnosis and adjustment mechanism based on real-time current monitoring and dynamic threshold comparison, achieves the following: First, it unifies and coordinates the scheduling and control of various processes such as placement, clamping, grinding, and unloading of the grinding bowl 4, resulting in a high degree of automation and enabling continuous batch grinding operations. Second, it has the ability to monitor and warn of the grinding position status in real time. If the position of the grinding bowl 4 deviates during the grinding process, it can be adjusted promptly, helping to avoid grinding failure and damage to the grinding bowl and equipment. This effectively solves the technical problems mentioned in the background art, such as low automation and lack of position deviation warning and intervention capabilities. This method not only improves the efficiency and consistency of grinding operations but also significantly enhances the operational safety and intelligence level of the equipment.

[0034] Furthermore, in this embodiment, 0 ≤ m / N ≤ 0.1. That is, a 10% instantaneous deviation is allowed.

[0035] Furthermore, in this embodiment, the safe current thresholds (I0, I2) are obtained by the control module through statistical calculation of the historical I1. The safe current thresholds (I0, I2) are not fixed, but are obtained through statistical calculation of the historical I1 by the control module. For example, during the initial debugging of the equipment or during a standard grinding operation, the system automatically records the average current I1 during multiple normal grinding processes, and determines the initial I0 and I2 based on the distribution of these data (e.g., taking ±15% of the mean or calculated based on the standard deviation).

[0036] Furthermore, in this embodiment, the safe current threshold (I0, I2) is recalculated periodically based on the historical I1. The system can recalculate the safe current threshold (I0, I2) periodically (e.g., weekly or monthly) based on the newly accumulated historical I1 in the database. This can adaptively compensate for the drift of the current base value caused by factors such as equipment aging, bearing wear, and changes in material properties, making the monitoring and judgment logic more accurate and reliable.

[0037] Furthermore, in this embodiment, step S7 is also included: the grinding bowl transfer device 1 flips the grinding bowl 4 to pour out the ground ore powder. Specifically, the robotic arm 5 of the grinding bowl transfer device 1 moves the removed grinding bowl 4 to the unloading station and flips the grinding bowl 4 to pour the ground ore powder into the collection container. During the flipping process, the stop bar 623 on the gripper assembly 62 can effectively prevent the movable grinding blocks inside the grinding bowl 4 from falling, ensuring that only the powder is poured out.

[0038] Further, in this embodiment, the grinding bowl clamping device 3 includes a mounting frame 31, a pressure cap 32, and a pressing drive mechanism 33. The grinding machine 2 has a support platform 21 for carrying the grinding bowl 4. The mounting frame 31 is fixed inside the grinding machine 2. The pressure cap 32 is raised and lowered on the mounting frame 31 and located directly above the support platform 21. The pressing drive mechanism 33 is mounted on the mounting frame 31 and connected to the pressure cap 32. The pressing drive mechanism 33 is signal-connected to the control module. In actual operation, the control module acts as the central hub of the entire system, sending commands sequentially to the grinding bowl transfer device 1, the grinding bowl clamping device 3, and the grinding machine 2 according to a preset timing sequence. The grinding bowl transfer device 1 is responsible for transporting the grinding bowl 4 containing ore to the designated position on the grinding machine 2; the grinding bowl clamping device 3 then clamps and fixes the grinding bowl 4; the grinding machine 2 starts vibratory grinding. The three components work together to automate the entire process from feeding, positioning, compaction to grinding, reducing or eliminating the need for manual intervention, significantly improving operational efficiency and consistency, while avoiding the safety hazards of manual contact with dust and high-temperature components.

[0039] Furthermore, in this embodiment, the pressure cap 32 is slidably mounted on the mounting bracket 31, and a buffer spring 34 is provided between the pressure cap 32 and the mounting bracket 31. After the pressure cap 32 descends to contact the upper end of the grinding bowl 4, it continues to descend a short distance. At this time, the buffer spring 34 is compressed, storing elastic potential energy. The amount of compression of the buffer spring 34 determines the magnitude of the clamping force, allowing the pressure cap 32 to clamp the grinding bowl 4 in a flexible rather than rigid manner. This adaptive clamping process can compensate for the slight positional deviation of the grinding bowl 4 in the height direction and the flatness error of the support platform 21, which helps to ensure that the pressure cap 32 and the grinding bowl 4 always obtain a uniform and stable contact pressure, thereby helping to ensure the sealing effect during the grinding process and avoiding material leakage or breakage of the grinding bowl 4 due to uneven rigid clamping.

[0040] Furthermore, in this embodiment, the grinding bowl 4 includes a cylindrical body 41 and an outwardly protruding ring 42 disposed around the cylindrical body 41. The end of the grinding bowl 4 is provided with an annular groove 43. The support platform 21 is provided with a vertical support hole 22 for inserting the cylindrical body 41. The bottom of the pressure cap 32 is provided with a sealing ring 321. When the grinding bowl 4 is placed in the grinding bowl transfer device 1, the cylindrical body 41 is inserted into the vertical support hole 22, achieving precise initial radial positioning and preventing lateral movement of the grinding bowl 4 during grinding. When the pressure cap 32 is pressed down, the sealing ring 321 fits tightly against the annular groove 43 at the end of the grinding bowl 4, undergoing elastic deformation under the pressure force to fill the tiny gap between them, forming a reliable dynamic seal. This sealing structure can effectively prevent ore dust leakage even under the high-frequency vibration state of the grinder 2, avoiding material loss and environmental pollution caused by fine powder leakage, while protecting surrounding equipment and operators from dust.

[0041] Further, in this embodiment, the grinding bowl transfer device 1 includes a robotic arm 5 and a clamping mechanism 6 mounted on the robotic arm 5. The clamping mechanism 6 includes a connecting seat 61 mounted on the robotic arm 5 and two gripper assemblies 62 oppositely mounted on the connecting seat 61. A clamping drive assembly 63 is provided on the connecting seat 61, which drives the two gripper assemblies 62 to move closer and further apart to clamp the grinding bowl 4. After the control module sends an action command to the robotic arm 5, the robotic arm 5 moves to the position where the grinding bowl 4 is to be grasped according to the pre-taught path. Subsequently, the clamping drive assembly 63 (e.g., a pneumatic finger or an electric gripper) actuates, driving the two gripper assemblies 62 to move inward synchronously, clamping the cylindrical body 41 of the grinding bowl 4. After clamping, the robotic arm 5 moves the grinding bowl 4 above the support platform 21 of the grinder 2, the gripper assemblies 62 release, and the grinding bowl 4 is precisely placed into the vertical support hole 22. The entire handling process is uniformly scheduled by the control module and strictly connected with the subsequent compaction and grinding steps in sequence, realizing fully automated material flow and avoiding random deviations in placement caused by manual handling, thus laying the foundation for the stability of subsequent compaction and grinding.

[0042] Further, in this embodiment, the gripper assembly 62 includes a connecting rod 621 and an arc-shaped gripper 622. The connecting rod 621 is movably mounted on the connecting seat 61 and connected to the gripping drive assembly 63. The arc-shaped gripper 622 is mounted on the connecting rod 621. At least two clamping blocks 64 are spaced apart around the arc center of the arc-shaped gripper 622 on the inner side of the connecting rod 621. Each clamping block 64 has a slot 65 for engaging with the outer convex ring 42 of the grinding bowl 4. At least one side of the arc-shaped gripper 622 has multiple inwardly protruding stop bars 623, each stop bar 623 spaced apart along a direction perpendicular to the movement of the connecting rod 621. The stop bars 623 of the two gripper assemblies 62 are staggered. When the gripping drive assembly 63 drives the two gripper assemblies 62 to close, the slots 65 on the clamping blocks 64 engage with the outer convex ring 42 of the grinding bowl 4, forming an axial and circumferential lock. This locking structure ensures that the grinding bowl 4 will not slip due to gravity during subsequent tilting and unloading. Meanwhile, the staggered baffles 623 on both sides, after the arc-shaped grippers 622 close, are distributed crosswise above the movable grinding block (not shown in the figure) inside the grinding bowl 4. When the robotic arm 5 flips the grinding bowl 4 to pour out the powder, the movable grinding block falls under the influence of gravity and is blocked by the baffles 623, thus preventing it from falling out of the grinding bowl 4. This design ensures that the powder can be poured out smoothly while preventing the movable block from falling accidentally, significantly improving the safety of the equipment and the continuity of operation.

[0043] Example 2: Figures 1 to 4An embodiment of the grinding system of the present invention is also shown, used to implement the grinding control method of Embodiment 1. The grinding system includes a grinding bowl transfer device 1, a grinding machine 2, a grinding bowl clamping device 3, and a control module. The grinding bowl clamping device 3 is disposed inside the grinding machine 2. The grinding bowl transfer device 1, the grinding machine 2, and the grinding bowl clamping device 3 are all signal-connected to the control module. The grinding bowl clamping device 3 includes a mounting frame 31, a pressure cap 32, and a pressing drive mechanism 33. The grinding machine 2 is provided with a support platform 21 for carrying the grinding bowl 4. The mounting frame 31 is fixed inside the grinding machine 2. The pressure cap 32 is raised and lowered on the mounting frame 31 and located directly above the support platform 21. The pressing drive mechanism 33 is disposed on the mounting frame 31 and connected to the pressure cap 32. The pressing drive mechanism 33 is signal-connected to the control module. In actual operation, the control module acts as the central hub of the entire system, sending commands to the grinding bowl transfer device 1, the grinding bowl clamping device 3, and the grinding machine 2 in a preset sequence. The grinding bowl transfer device 1 is responsible for transporting the grinding bowl 4 containing ore to the designated position of the grinding machine 2; the grinding bowl clamping device 3 then clamps and fixes the grinding bowl 4; the grinding machine 2 starts vibratory grinding. The coordinated action of these three components automates the entire process from feeding, positioning, clamping to grinding, reducing or eliminating manual intervention, significantly improving operational efficiency and consistency, while avoiding safety hazards from manual contact with dust and high-temperature components. Furthermore, it effectively solves the technical problems mentioned in the background art, such as low automation and lack of position deviation warning and intervention capabilities.

[0044] Furthermore, in this embodiment, the pressure cap 32 is slidably mounted on the mounting bracket 31, and a buffer spring 34 is provided between the pressure cap 32 and the mounting bracket 31. Specifically, when the control module sends a clamping signal, the downward driving mechanism 33 (e.g., a cylinder or electric push rod) is activated, pushing the pressure cap 32 to slide downward along the mounting bracket 31. After the pressure cap 32 descends to contact the upper end of the grinding bowl 4, it continues to descend a short distance. At this time, the buffer spring 34 is compressed, storing elastic potential energy. The amount of compression of the buffer spring 34 determines the magnitude of the clamping force, allowing the pressure cap 32 to clamp the grinding bowl 4 in a flexible rather than rigid manner. This adaptive clamping process can compensate for the slight positional deviation of the grinding bowl 4 in the height direction and the flatness error of the support platform 21, which helps to ensure that the pressure cap 32 and the grinding bowl 4 always obtain a uniform and stable contact pressure, thereby helping to ensure the sealing effect during the grinding process and avoiding material leakage or breakage of the grinding bowl 4 due to uneven rigid clamping.

[0045] Furthermore, in this embodiment, the grinding bowl 4 includes a cylindrical body 41 and an outwardly protruding ring 42 disposed around the cylindrical body 41. The end of the grinding bowl 4 is provided with an annular groove 43. The support platform 21 is provided with a vertical support hole 22 for inserting the cylindrical body 41. The bottom of the pressure cap 32 is provided with a sealing ring 321. When the grinding bowl 4 is placed in the grinding bowl transfer device 1, the cylindrical body 41 is inserted into the vertical support hole 22, achieving precise initial radial positioning and preventing lateral movement of the grinding bowl 4 during grinding. When the pressure cap 32 is pressed down, the sealing ring 321 fits tightly against the annular groove 43 at the end of the grinding bowl 4, undergoing elastic deformation under the pressure force to fill the tiny gap between them, forming a reliable dynamic seal. This sealing structure can effectively prevent ore dust leakage even under the high-frequency vibration state of the grinder 2, avoiding material loss and environmental pollution caused by fine powder leakage, while protecting surrounding equipment and operators from dust.

[0046] Further, in this embodiment, the grinding bowl transfer device 1 includes a robotic arm 5 and a clamping mechanism 6 mounted on the robotic arm 5. The clamping mechanism 6 includes a connecting seat 61 mounted on the robotic arm 5 and two gripper assemblies 62 oppositely mounted on the connecting seat 61. A clamping drive assembly 63 is provided on the connecting seat 61, which drives the two gripper assemblies 62 to move closer and further apart to clamp the grinding bowl 4. After the control module sends an action command to the robotic arm 5, the robotic arm 5 moves to the position where the grinding bowl 4 is to be grasped according to the pre-taught path. Subsequently, the clamping drive assembly 63 (e.g., a pneumatic finger or an electric gripper) actuates, driving the two gripper assemblies 62 to move inward synchronously, clamping the cylindrical body 41 of the grinding bowl 4. After clamping, the robotic arm 5 moves the grinding bowl 4 above the support platform 21 of the grinder 2, the gripper assemblies 62 release, and the grinding bowl 4 is precisely placed into the vertical support hole 22. The entire handling process is uniformly scheduled by the control module and strictly connected with the subsequent compaction and grinding steps in sequence, realizing fully automated material flow and avoiding random deviations in placement caused by manual handling, thus laying the foundation for the stability of subsequent compaction and grinding.

[0047] Further, in this embodiment, the gripper assembly 62 includes a connecting rod 621 and an arc-shaped gripper 622. The connecting rod 621 is movably mounted on the connecting seat 61 and connected to the gripping drive assembly 63. The arc-shaped gripper 622 is mounted on the connecting rod 621. At least two clamping blocks 64 are spaced apart around the arc center of the arc-shaped gripper 622 on the inner side of the connecting rod 621. Each clamping block 64 has a slot 65 for engaging with the outer convex ring 42 of the grinding bowl 4. At least one side of the arc-shaped gripper 622 has multiple inwardly protruding stop bars 623, each stop bar 623 spaced apart along a direction perpendicular to the movement of the connecting rod 621. The stop bars 623 of the two gripper assemblies 62 are staggered. When the gripping drive assembly 63 drives the two gripper assemblies 62 to close, the slots 65 on the clamping blocks 64 engage with the outer convex ring 42 of the grinding bowl 4, forming an axial and circumferential lock. This locking structure ensures that the grinding bowl 4 will not slip due to gravity during subsequent tilting and unloading. Meanwhile, the staggered baffles 623 on both sides, after the arc-shaped grippers 622 close, are distributed crosswise above the movable grinding block (not shown in the figure) inside the grinding bowl 4. When the robotic arm 5 flips the grinding bowl 4 to pour out the powder, the movable grinding block falls under the influence of gravity and is blocked by the baffles 623, thus preventing it from falling out of the grinding bowl 4. This design ensures that the powder can be poured out smoothly while preventing the movable block from falling accidentally, significantly improving the safety of the equipment and the continuity of operation.

[0048] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A grinding control method, characterized in that: The grinding process is carried out using a grinding system, which includes a grinding bowl transfer device (1), a grinding machine (2), a grinding bowl clamping device (3), and a control module. The grinding bowl clamping device (3) is located inside the grinding machine (2). The grinding bowl transfer device (1), the grinding machine (2), and the grinding bowl clamping device (3) are all connected to the control module via signals. The grinding control method includes the following steps: S1. The control module sends an action signal to the grinding bowl transfer device (1) so that the grinding bowl transfer device (1) transfers the grinding bowl (4) to the designated position on the grinder (2); S2. The control module sends an action signal to the grinding bowl clamping device (3) to clamp the grinding bowl (4). S3. The control module sends a start signal to the grinder (2) to start the grinder (2) at a fixed frequency. At the same time, the control module monitors the running current data of the grinder (2) in real time and calculates the average value I1 of the running current data of the grinder (2) in each set time T within N consecutive or intermittent set time T. S4. The control module compares I1 with the existing safe current threshold (I0, I2) in the control module. If the number of times n in which I1 exceeds (I0, I2) within N set time periods T is less than or equal to the set number m, the control module determines that the position of the grinding bowl (4) is correct, and then the grinder (2) continues to grind. If the number of times n in which I1 exceeds (I0, I2) within N set time periods T is greater than the set number m, the control module determines that the position of the grinding bowl (4) is deviated, and then the grinder (2) stops, and proceeds to S5. S5. The control module sends a release signal to the grinding bowl clamping device (3) to release the grinding bowl (4), and then sends an action signal to the grinding bowl transfer device (1) to adjust the position of the grinding bowl (4), and then proceeds from S2 to S4. S6. After the grinding machine (2) grinds for a predetermined time, the control module sends a stop signal to the grinding machine (2) to stop the grinding machine (2) from running. Then, it sends a release signal to the grinding bowl clamping device (3) to release the grinding bowl (4). Then, the grinding bowl transfer device (1) takes out the grinding bowl (4).

2. The grinding control method according to claim 1, characterized in that: 0≤m / N≤0.

1.

3. The grinding control method according to claim 1, characterized in that: The safe current thresholds (I0, I2) are obtained by the control module through statistical calculation of I1 from historical records.

4. The grinding control method according to claim 3, characterized in that: Every so often, the safe current threshold (I0, I2) is recalculated based on the historical I1.

5. The grinding control method according to any one of claims 1 to 4, characterized in that: It also includes S7, a grinding bowl transfer device (1) to flip the grinding bowl (4) and pour out the ground ore powder.

6. A grinding system, characterized in that: The grinding control method for implementing any one of claims 1 to 5 includes a grinding bowl transfer device (1), a grinding machine (2), a grinding bowl clamping device (3), and a control module. The grinding bowl clamping device (3) is located inside the grinding machine (2). The grinding bowl transfer device (1), the grinding machine (2), and the grinding bowl clamping device (3) are all signal-connected to the control module. The grinding bowl clamping device (3) includes a mounting frame (31), a pressure cap (32), and a downward pressure driving mechanism (33). The grinding machine (2) is provided with a support platform (21) for carrying the grinding bowl (4). The mounting frame (31) is fixed inside the grinding machine (2). The pressure cap (32) is raised and lowered on the mounting frame (31) and located directly above the support platform (21). The downward pressure driving mechanism (33) is located on the mounting frame (31) and connected to the pressure cap (32). The downward pressure driving mechanism (33) is signal-connected to the control module.

7. The grinding system according to claim 6, characterized in that: The pressure cap (32) is slidably mounted on the mounting bracket (31) and a buffer spring (34) is provided between the pressure cap (32) and the mounting bracket (31).

8. The grinding system according to claim 6, characterized in that: The grinding bowl (4) includes a columnar body (41) and an outer protruding ring (42) on the periphery of the columnar body (41). The end of the grinding bowl (4) is provided with an annular groove (43). The support platform (21) is provided with a vertical support hole (22) for the columnar body (41) to be inserted. The bottom of the pressure cap (32) is provided with a sealing ring (321).

9. The grinding system according to claim 8, characterized in that: The grinding bowl transfer device (1) includes a robotic arm (5) and a clamping mechanism (6) provided on the robotic arm (5). The clamping mechanism (6) includes a connecting seat (61) provided on the robotic arm (5) and two gripper assemblies (62) arranged opposite to each other on the connecting seat (61). The connecting seat (61) is provided with a clamping drive assembly (63). The clamping drive assembly (63) is used to drive the two gripper assemblies (62) to move closer and further apart to clamp the grinding bowl (4).

10. The grinding system according to claim 9, characterized in that: The gripper assembly (62) includes a connecting rod (621) and an arc-shaped gripper (622). The connecting rod (621) is movably mounted on the connecting seat (61) and connected to the gripping drive assembly (63). The arc-shaped gripper (622) is mounted on the connecting rod (621). The inner side of the connecting rod (621) is provided with at least two clamping blocks (64) spaced apart around the arc center of the arc-shaped gripper (622). The clamping blocks (64) are provided with slots (65) for engaging with the outer convex ring (42) of the grinding bowl (4). At least one side of the arc-shaped gripper (622) is provided with a plurality of inwardly protruding stop bars (623). Each stop bar (623) is spaced apart along the direction of movement perpendicular to the connecting rod (621). The stop bars (623) of the two gripper assemblies (62) are staggered.

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