Automated experimental method for grinding, sieving and weighing based on Bond's work

Abstract

The present invention discloses an automated method for experimenting with grinding, sieving, and weighing based on Bond's work, comprising a background control system and a robotic arm module, a ball mill module, a spherical material ball separator module, a collector-weigher module, and a vibrating screen module, respectively controlling the actions of the robotic arm, the ball mill, the spherical material ball separator, the collector-weigher, and the vibrating screen. The robotic arm module, ball mill module, spherical material ball separator module, collector-weigher module, and vibrating screen module are all connected to and controlled by the background control system.The present invention combines an industrial robotic arm and an automated testing module to automate the grinding-sieving-weighing process of cement raw materials, thereby saving labor and improving testing efficiency compared to traditional manual testing methods, and reducing the influence of human error due to standardization and the absence of crew members in the testing process.

Description

Step 1) initialization, sending to said ball mill module a start instruction to control said ball mill to enter the initial working state and a first action control instruction; under the control of said first action control instruction, opening the cover of the material barrel; Step 2) sending a first gripping instruction to said robotic arm module; under the control of said first gripping instruction, said robotic arm grips the material cup at position number one and introduces the raw material sample in said material cup into said ball mill; Step 3) sending a second action control instruction to said ball mill module, under the control of said second action control instruction, closing said cover of said material barrel, starting the first grinding, and setting the number of grinding revolutions to N1; after the grinding is completed, opening said cover of the material barrel, pouring the grinding materials into said ball mill and the steel balls into the storage container; Step 4) sending a second gripping instruction to said robotic arm module; under the control of said second gripping instruction, said robotic arm grips said storage container, and pours the grinding materials and the steel balls into said storage container in said material spherical ball separator, and returns said storage container to the initial position; Step 5) send a first start instruction to said material spherical ball separator module, under the control of said first start instruction, said material spherical ball separator completes the separation of material spherical balls within a specified time, drop the steel balls into the first container and the grinding materials into the second container; Step 6) sending a third gripping instruction to said robotic arm module, under the control of said third gripping instruction, said robotic arm grips said first container, and dumps the steel balls from said first container into said material barrel, returns said first container to the initial position, then grips said second container and dumps the grinding materials into said weigher-collector in three times;said background control system sends an operation instruction to said weighing collector module, under the control of said current operation instruction, said weighing collector module weighs the weight of the grinding materials after said robotic arm has completed each dumping, transfers said material cup in which the grinding materials are from the loading position to the gripping position, and transfers said empty material cup to the loading position, after three collections, the weights of the three material cups of the grinding materials are weighed, namely Qj 1, Qj2, Qj3, with j=1, and j representing the first grinding, transmitting the data of the weights of the three material cups of the grinding materials to said background control system, and said robotic arm returns said second container to the initial position; ; Step 7) sending a fourth gripping instruction to said robotic arm module, under the control of said fourth gripping instruction, said robotic arm grasps said material cup in which the grinding materials are loaded and dumps the grinding materials onto said vibrating screen, returns this material cup to the initial position, and repeats these actions three times to dump three material cups of the grinding materials onto said vibrating screen; Step 8) sending a second start instruction to said vibrating screen module and under the control of said second start instruction starting, said vibrating screen starts and finishes vibrating sieving within a specified time to obtain the residual coarse materials of the sieving on the sieves; Step 9) sending a fifth gripping instruction to said robotic arm module and under the control of said fifth gripping instruction, said robotic arm grips said sieve and dumps the residual coarse materials of the sieving into the weighing collector; said background control system sending an operation instruction to said weighing collector module and under the control of said current operation instruction, said weighing collector module weighs the loaded residual coarse materials of the sieving, to obtain the weight of the residual coarse materials of the sieving after crushing QCj, with j= 1, and j representing the first crushing, and transmitting the data to said background control system;Step 10) said background control system calculates the total weight of the fine powder after grinding Qxj based on the weights of the three material cups of the grinding materials Qjl, Qj2, Qj3 and the weight of the residual coarse materials from sieving QCj; and calculates the value of Gj obtained by the first grinding according to the following formula, with j=l, j representing the first grinding; Gj = weight of the fine powder produced by grinding / number of revolutions N1 = [total weight of the fine powder after grinding - weight of the fine powder contained in the raw material sample itself] / number of revolutions NI = [Qxj-Q0*(l-RF0)] / Nl, where Q0 is the standard weight value of the raw material sample; where RFO is the cumulative residual percentage of the raw material sieving larger than the target granularity;Step 11) after completing the first grinding, repeat the above steps to complete the second grinding, and the number of revolutions N2 of the second grinding is calculated according to the following formula: N2=[Q0 / (2.5+l)-(Q0-Qcj)*(l-RF0)] / Gl; G1 is the value of G obtained in the first grinding; According to this method, the cycle is executed for M times to reach the steady state, and the value of M is taken in the range of 3 to 11, the values ​​of the last three Gj at the steady state are taken to calculate the average value G. [Claim 2] An automated grinding, sieving and weighing experiment method based on Bond work according to claim 1, characterized; [Claim 3] in that, a quantitative replenishment weigher is included, and a quantitative replenishment weigher module controlling said quantitative replenishment weigher is communicatively connected to said background control system and controlled by said background control system, and said background control system performs the following steps: Before the execution of step 2), an operation instruction is sent to said robotic arm module and under the control of said operation instruction, said robotic arm grasps said material cup containing raw materials and dumps the raw materials into said quantitative replenishment weigher, and said quantitative replenishment weigher module is triggered to transfer the raw materials to said material cup under the control of said background control system and weighs the raw materials in real time until the return weighing value reaches the preset value QO, where QO is the standard weight value of the raw material sample; under the control of said background control system, said robotic arm grasps said material cup in which the raw material sample of weight QO is loaded and places it in position number one. An automated grinding, sieving and weighing experiment method based on Bond work according to claim 2, characterized in that, step 9) sending a fifth gripping instruction to said robotic arm module and under the control of said fifth gripping instruction, said robotic arm grips said sieve and dumps the residual coarse materials from the sieving onto the sieves in said weigher-collector; said background control system sending an operation instruction to said weigher-collector module and under the control of said current operation instruction, said weigher-collector module weighs the loaded residual coarse materials from the sieving, to obtain the weight of the residual coarse materials from the sieving after grinding QCj, with j=l, and j representing the first grinding, and transmitting the data to said background control system;said background control system sends a sixth gripping instruction to said robotic arm module, under the control of said instruction, said robotic arm grips said bucket into which the residual coarse materials from screening are loaded and dumps the residual coarse materials from screening into said barrel; material, returns said bucket to the initial position; [Claim 4] An automated grinding, sieving and weighing experiment method based on Bond work according to claim 3, characterized in that, after the execution of step 9), said background control system controls said robotic arm to grasp said material cup in which the raw materials are loaded, and then to dump the raw materials into said quantitative replenishment weigher, and until the return weighing value of said quantitative replenishment weigher module reaches the first predefined value, controls said robotic arm to grasp said material cup in which the raw materials are loaded to place it at position number one, wherein, said first predefined value corresponding to the difference between Q0 and QCj. [Claim 5] An automated grinding, sieving and weighing experiment method based on Bond work according to claim 3, characterized in that, after the execution of step 9), said background control system controls said robotic arm to grasp said material cup in which the raw materials are loaded, and then to dump the raw materials into said quantitative replenishment weigher, and until the return weighing value of said quantitative replenishment weigher module reaches the first predefined value, controls said robotic arm to grasp said material cup in which the raw materials are loaded to place it at position number one, wherein, said first predefined value corresponding to the difference between Q0 and QCj.Bond work-based sieving and weighing system according to any one of claims 2 to 4, characterized in that, after performing step 11, the following steps are to be performed: Step 12) sending an operation instruction to said robotic arm module and under the control of said current operation instruction, said robotic arm picks up said third container containing the fine powders of the last three balancings after mixing and pours the fine powders into said quantitative replenishment weigher until the weighing value of the return fine powder sample from said quantitative replenishment weigher module reaches the predefined value for taking the sample, said robotic arm hands over said third container; said background control system controls said vibrating sieve module to complete sieving within a predefined time,said robotic arm grasps said material cup containing the fine powders after sieving and pours the fine powders after sieving into said weighing collector for weighing, and transmits the sieving and weighing data to said background control system; the above actions are repeated a number of times to carry out the test of passing 80% of the particles of the fine powder in terms of granularity, and said background control system calculates P80 based on the sieving and weighing data, and P80 is the passing granularity of 80% of the particles of the finished product of fine powder. [Claim 6] An automated experiment method for grinding, sieving and , [Claim 7] Bond work-based weighing according to claim 5, characterized in that, in a step 13) is included, said background control system calculates a grinding work index according to the following formula,.,,. i?6.2 , in which Wi is the index P .*XG X UO / VPSO-lO / vTSO J grinding work, P is the target sieve opening size of finished product, G is the average value of the three Gj at steady state, P80 is the 80% passing granularity of finished product particles, and F80 is the 80% passing granularity of raw material sample. An automated grinding, sieving and weighing experiment method based on Bond work according to claim 6, characterized in that, the F80 value and the RFO value can be predefined in said background control system; or it is possible to obtain the F80 value and the RFO value by the following method: sending a seventh gripping instruction, under said seventh gripping instruction, said robotic arm grips said material cup in which the raw materials are loaded at position number two, and then dumps the raw materials into said quantitative replenishment weigher, until the weighing value of the return raw material sample of said quantitative replenishment weigher module reaches the second preset value, said robotic arm returns said material cup to position number two; sending an eighth gripping instruction to said robotic arm module, under the control of said eighth gripping instruction, said robotic arm grasps said material cup in which the raw material sample whose weight is the second redefined value is loaded and dumps the raw materials onto said vibrating screen; said background control system controls said vibrating screen module to complete sieving within a predefined time, said robotic arm grasps said vibrating screen after sieving and dumps the residual materials onto the sieves into said collector-weigher module for weighing, and transmits the sieving and weighing data to said background control system, the above actions are repeated a number of times in order to realize the test of passing 80% of the particles of the raw material sample into

Claims

matter of granularity, and said background control system calculates the value of F80 and the value of RFO based on the sieving and weighing data.

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