Grinding-screening-weighing automated experimental method based on bond work

Abstract

Disclosed in the present invention is a grinding-screening-weighing automated experimental method based on Bond work, comprising a background control system, and a mechanical arm module, a ball mill module, a material ball separation module, an aggregate weighing module and a vibrating screen module which respectively control a mechanical arm, a ball mill, a material ball separator, an aggremeter and a vibrating screen to act. The mechanical arm module, the ball mill module, the material ball separation module, the aggregate weighing module and the vibrating screen module are all in communication connection with the background control system and are controlled by the background control system. The present invention achieves the automation of a grinding-screening-weighing process of cement raw materials by combining an industrial mechanical arm and an automated experimental module, saves manpower and improves the experimental efficiency compared with conventional manual experimental modes, and reduces the influence of human factors due to the standardization and unmanned operation of the experimental process.

Description

Experimental method for automated grinding and screening based on Bond work Technical Field

[0001] The present invention belongs to the technical field of intelligent electromechanical equipment, and in particular relates to a Bond work-based grinding, screening and weighing automation experimental method for testing cement. Background Art

[0002] Cement is a powdered, hydraulic, inorganic binder widely used in various types of construction projects and boasts high value. However, cement raw materials are prone to abrasive wear, which, if not promptly treated, can directly impact the performance of the cement. In addition to limestone, cement raw materials also include clay, sandstone, shale, and bauxite, as well as iron-based materials such as iron powder, sulfuric acid slag, and iron ore, as well as industrial waste residues. This diverse raw material variety allows for a wide variety of ingredients, but it also complicates process control in homogenization, conditioning, grinding, and calcining, significantly increasing the impact of abrasiveness. Therefore, ball mills are currently commonly used for cement milling. Vibrating screens and ball separators are then used to separate the cement particles to achieve the desired particle size.

[0003] The Grinding Work Index (GWI) is a measure of a material's grindability. This is achieved by simulating a dry closed-circuit grinding system using standard test grinding methods. The material is ground to equilibrium, and the GWI is calculated by calculating the product yield per mill revolution. During testing, the product yield per mill revolution at equilibrium is often used to indicate the material's grindability.

[0004] The Bond work index (Bonde work index) is an indicator of the grinding difficulty of cement raw materials and is a key parameter for mill selection and grinding process design. GB / T 26567-2011, "Test Method for Grindability of Cement Raw Materials (Bonde Method)," proposes intermittent cyclic grinding of samples in a specified ball mill. The grinding work index is calculated based on the mill output and finished product particle size at equilibrium, as well as the sample particle size and finished product sieve aperture.

[0005] The grindability testing process for cement raw materials includes drying, crushing, and equalizing the raw materials, as well as grinding, sieving, and weighing. The main problems with traditional grindability testing include: multiple test steps, a complex process that is time-consuming and labor-intensive; complete reliance on manual labor, which results in high workload and low efficiency; and poor test environment conditions and high levels of dust.

[0006] Summary of the Invention

[0007] The purpose of the present invention is to provide an automated test method for grinding, screening and weighing based on Bond work, so as to solve the problems existing in the existing traditional grindability test, such as multiple test links, complex process, time-consuming and labor-intensive; complete reliance on manual labor, high workload and low efficiency for test personnel; poor test environment conditions and high dust content.

[0008] In order to achieve the above-mentioned purpose, the technical solution of the automated experimental method of grinding, screening and weighing based on Bond work provided by the present invention is as follows:

[0009] The grinding, screening and weighing automation experimental method based on Bond's work includes a background control system and a robot arm module, a ball mill module, a ball separation module, an aggregate weighing module and a vibrating screen module that respectively control the actions of the robot arm, the ball mill, the ball separation module, the aggregate weighing module and the vibrating screen module. The robot arm module, the ball mill module, the ball separation module, the aggregate weighing module and the vibrating screen module are all connected to the background control system for communication and are controlled by the background control system. The background control system performs the following steps:

[0010] Step 1) Initialization: sending a start-up instruction and a first action control instruction to the ball mill module for controlling the ball mill to enter a starting state; under the control of the first action control instruction, the barrel cover is opened and the barrel is rotated to a loading angle;

[0011] Step 2) Send a first grabbing instruction to the robotic arm module. Under the control of the first grabbing instruction, the robotic arm grabs the material cup at position 1 and delivers the raw material sample in the material cup into the barrel;

[0012] Step 3) Send a second action control command to the ball mill module. Under the control of the second action control command, the barrel cover is closed, the barrel rotates to the grinding angle, and the first grinding is started. The grinding speed is set to N1. After the rotation is completed, the barrel cover is opened and rotated to the discharge angle. The ground material and steel balls in the barrel are poured into the storage container. The barrel is rotated to the loading angle.

[0013] Step 4) Sending a second grabbing instruction to the robotic arm module. Under the control of the second grabbing instruction, the robotic arm grabs the storage container, pours the ground material in the container into the ball separator, and then returns the storage container to its original position.

[0014] Step 5) Sending a first start command to the ball separation module. Under the control of the first start command, the ball separator completes the separation of steel balls and ground material according to the set time. The steel balls are placed in the first container and the ground material is placed in the second container.

[0015] Step 6) Send a third grabbing instruction to the robotic arm module. Under the control of the third grabbing instruction, the robotic arm grabs the first container and pours the steel balls in the first container into the barrel, puts the first container back to its original position, then grabs the second container and pours the ground material into the aggregate weighing device three times; the background control system sends an operation instruction to the aggregate weighing module. Under the control of this operation instruction, the aggregate weighing module weighs the ground material after each pouring of the robotic arm, transfers the material cup filled with the ground material from the feeding position to the grabbing position, and transfers the empty material cup to the feeding position, completing three aggregation operations, weighing the weights Qj1, Qj2, and Qj3 of the three cups of ground material, where j=1 and j represents the first grinding, and transmits the weight data of the three cups of ground material to the background control system. The robotic arm puts the second container back to its original position;

[0016] Step 7) Send a fourth grabbing instruction to the robotic arm module. Under the control of the fourth grabbing instruction, the robotic arm grabs the cup of ground material and pours the ground material into the vibrating screen. The cup is returned to its original position. This action is repeated three times, and three cups of ground material are poured into the vibrating screen.

[0017] Step 8) Sending a second start-up instruction to the vibrating screen module. Under the control of the second start-up instruction, the vibrating screen starts and completes vibration screening within a set time, obtaining the residual coarse material from the screen mesh;

[0018] Step 9) Send a fifth grabbing instruction to the robotic arm module. Under the control of the fifth grabbing instruction, the robotic arm grabs the screen and pours the coarse material on the screen into the aggregate weighing device. The background control system sends an operation instruction to the aggregate weighing module. Under the control of this operation instruction, the aggregate weighing module weighs the coarse material and obtains the weight of the coarse material after grinding, QCj, where j=1 and j represents the first grinding. The data is then fed back to the background control system.

[0019] Step 10) The backend control system calculates the total weight of the fine powder after grinding, Qxj, based on the weights of the three cups of ground material, Qj1, Qj2, and Qj3, and the weight of the coarse material remaining on the sieve, Qcj. The control system also calculates the Gj value obtained from the first grinding according to the following formula, where j = 1 and j represents the first grinding.

[0020] Gj = weight of fine powder produced by grinding / number of revolutions N1 = [total weight of fine powder after grinding - weight of fine powder contained in the raw material sample itself] / number of revolutions N1 = [Qxj - Q0 * (1 - RF0)] / N1, where Q0 is the standard weight value of the raw material sample; where RF0 is the cumulative sieve residue percentage in the raw material that is larger than the target particle size;

[0021] Step 11) After the first grinding, repeat the above steps to complete the second grinding. The second grinding revolution number N2 is calculated according to the following formula: N2 = [Q0 / (2.5+1)-(Q0-Qcj)*(1-RF0)] / G1, where G1 is the Gj value obtained from the first grinding. Repeat this method M times to reach equilibrium, with M ranging from 3 to 11. The Gj values ​​at the last three equilibrium states are taken and the average value G is calculated. This control system and control strategy can achieve automated grinding, separation, screening, weighing, and calculation of experimental results, saving manpower.

[0022] Furthermore, a quantitative feeding weighing device is included, and a quantitative feeding weighing module for controlling the quantitative feeding weighing device is connected to and controlled by a background control system. The background control system further performs the following steps:

[0023] Before executing step 2), an operation command is sent to the robotic arm module. Under this operation command, the robotic arm grabs the cup containing the raw material and pours it into the quantitative feeding weighing device. Under the control of the background control system, the quantitative feeding weighing module starts to transport the raw material to the cup and weigh it in real time until the feedback weighing value reaches the preset value Q0, where Q0 is the standard weight of the raw material sample. Under the control of the background control system, the robotic arm grabs the cup containing the raw material sample weighing Q0 and places it in position 1. This step is to obtain a standard amount of raw material sample for system testing.

[0024] Furthermore, in step 9, a fifth grab instruction is sent to the robotic arm module. Under this command, the robotic arm grabs the screen and pours the residual coarse material onto the aggregate weigher. The backend control system then sends an operation instruction to the aggregate weighing module. Under this operation instruction, the aggregate weighing module weighs the residual coarse material, determining the weight of the residual coarse material after grinding, QCj, where j = 1 and j represents the first grinding step. This data is then fed back to the backend control system. The backend control system then sends a sixth grab instruction to the robotic arm module. Under this instruction, the robotic arm grabs the cup containing the residual coarse material, pours it into the barrel, and returns the cup to its original position. This step is designed to fully utilize the material and save costs.

[0025] Furthermore, after executing step 9), the backend control system controls the robotic arm to grab the cup containing the raw material and pour it into the cup of the quantitative feeding weighing device. Once the weight of the raw material sample reported by the quantitative feeding weighing module reaches the first reset preset value, the robotic arm is controlled to grab the cup containing the raw material sample and place it in position 1. The first reset preset value is the difference between Q0 and QCj. This is to obtain a standard amount of raw material sample after using the coarse material left over from the screening, allowing for the reuse of test waste and cost savings.

[0026] Furthermore, after executing step 11), perform the following steps:

[0027] Step 12) Send an operation instruction to the robotic arm module. Under the control of this operation instruction, the robotic arm pours the third container containing the fine powder after the last three balances of mixing into the quantitative feeding weighing device until the weight of the fine powder sample fed back by the quantitative feeding weighing module reaches the sampling preset value, and the robotic arm returns the container to the third container; the background control system controls the vibrating screen module to complete the screening within the preset time, the robotic arm grabs the material cup containing the screened fine powder and pours the screened fine powder into the aggregate weighing device for weighing, and feeds back the screening weighing data to the background control system. The above actions are repeated several times to complete the test of the 80% passing particle size of the fine powder. The background control system calculates P80 based on the screening weighing data. P80 is the particle size at which 80% of the finished fine powder passes.

[0028] Furthermore, the method further includes step 13) the background control system calculates the grinding work index according to the following formula: , where Wi is the grinding work index, P is the target sieve size of the finished product, G is the average of three Gj in the equilibrium state, P80 is the particle size at which 80% of the finished product passes, and F80 is the particle size at which 80% of the raw material sample passes.

[0029] Furthermore, the F80 value and RF0 value can be preset in the background control system;

[0030] Or get the F80 and RF0 values ​​by:

[0031] Send the seventh grabbing instruction to the robotic arm module. Under the control of the seventh grabbing instruction, the robotic arm grabs the cup containing the raw material at the second position and pours it into the quantitative feeding weighing device until the weighing weight of the raw material sample fed back by the quantitative feeding weighing module reaches the second reset preset value. The robotic arm then puts the cup back to the second position.

[0032] The eighth grabbing instruction is sent to the robotic arm module. Under the control of the eighth grabbing instruction, the robotic arm grabs the material cup containing the raw material sample with a weight of the second reset preset value and pours the raw material into the vibrating screen; the background control system controls the vibrating screen module to complete the screening within the preset time, the robotic arm grabs the screen after screening, pours the remaining material on the screen into the aggregate weighing device for weighing, and feeds back the screening weighing data to the background control system. The above actions are repeated several times to complete the test of 80% of the raw material samples passing the particle size test. The background control system calculates the F80 and RF0 values ​​based on the screening weighing data.

[0033] Compared with the existing technology, the beneficial effects of the present invention are: the present invention combines an industrial robotic arm and an automated testing module to realize the automation of the grinding-screening-weighing process of cement raw materials. Compared with the traditional manual testing method, it saves manpower and improves the testing efficiency. Due to the standardization and unmanned nature of the testing process, the influence of human factors is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] FIG1 is a system layout diagram of the present invention.

[0035] DETAILED DESCRIPTION

[0036] To further illustrate the technical means and effectiveness of the present invention in achieving its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the Bond-based milling and sieving automation experimental method proposed by the present invention, including its specific implementation, structure, features, and effectiveness. In the following description, terms such as first, second, and third are used solely to distinguish one from another and do not indicate a sequence. The order of the process is determined by the step numbers, and different references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0037] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0038] The specific scheme of the automated experimental method for grinding, screening and weighing based on Bond work provided by the present invention is described in detail below with reference to the accompanying drawings.

[0039] An embodiment of the present invention provides an automated grinding, screening and weighing experimental method based on Bond work, which includes a background control system 1, and a robot arm module, a ball mill module, a ball separation module, an aggregate weighing module and a vibrating screen module that respectively control the actions of a robot arm 2, a ball mill 3, a ball separator 4, an aggregate weighing device 5 and a vibrating screen 6. The ball mill 3, the ball separator 4, the aggregate weighing device 5 and the vibrating screen 6 are all conventional processing devices in the field. The robot arm 2 is a robot whose actions of grabbing, moving up and down or horizontally, tilting, and putting down are controlled by a controller. In the present invention, it is directly purchased from the market for use, and the purpose is to control its specific actions through the background control system 1 of the present invention (as shown in Figure 1).

[0040] The robotic arm module, ball mill module, ball separation module, aggregate weighing module and vibrating screen module are all in communication with and controlled by the background control system 1. The background control system 1 uses a computer and a computer installed with the control system of the present invention. The background control system 1 performs the following steps:

[0041] Step 1) Initialization: sending a start instruction and a first action control instruction for controlling the ball mill 3 to enter a start-up state to the ball mill module; under the control of the first action control instruction, opening the barrel cover;

[0042] Step 2) Send a first grabbing instruction to the robot arm module. Under the control of the first grabbing instruction, the robot arm 2 grabs the material cup at position 1 and delivers the raw material sample in the material cup into the barrel;

[0043] Step 3) Send a second action control instruction to the ball mill module. Under the control of the second action control instruction, close the barrel cover and start the first grinding. The grinding speed is set to N1. After the grinding is completed, open the barrel cover and pour the ground material and steel balls in the barrel into the storage container. The barrel is rotated to the loading angle. It should be noted that the barrel of the ball mill module 3 is designed to be rotatable. When loading, the barrel opening faces upward, and when pouring, the barrel opening is tilted downward.

[0044] Step 4) Sending a second grabbing instruction to the robotic arm module. Under the control of the second grabbing instruction, the robotic arm 2 grabs the storage container, pours the ground material in the storage container into the ball separator 4, and then returns the storage container to its original position.

[0045] Step 5) Sending a first start command to the ball separation module. Under the control of the first start command, the ball separator 4 completes the separation of steel balls and ground material according to the set time. The steel balls are placed in the first container and the ground material is placed in the second container.

[0046] Step 6) Send a third grabbing instruction to the robotic arm module. Under the control of the third grabbing instruction, the robotic arm 2 grabs the first container, pours the steel balls in the first container into the barrel, puts the first container back to its original position, and then grabs the second container, and pours the ground material into the aggregate weighing device 5 in three times; the background control system 1 sends an operation instruction to the aggregate weighing module. Under the control of this operation instruction, the aggregate weighing module 5 weighs the ground material after each pouring of the robotic arm, transfers the material cup filled with the ground material from the feeding position to the grabbing position, and transfers the empty material cup to the feeding position, completing three aggregation operations, weighing the weights Qj1, Qj2, and Qj3 of the three cups of ground material, where j=1 and j represents the first grinding, and transmits the weight data of the three cups of ground material to the background control system. The robotic arm puts the second container back to its original position;

[0047] Step 7) Send a fourth grabbing instruction to the robotic arm module. Under the control of the fourth grabbing instruction, the robotic arm 2 grabs the cup of ground material and pours the ground material into the vibrating screen module 6. The cup is returned to its original position. This action is repeated three times, and three cups of ground material are poured into the vibrating screen 6.

[0048] Step 8) Sending a second start-up instruction to the vibrating screen module. Under the control of the second start-up instruction, the vibrating screen 6 starts and completes the vibration screening within the set time, obtaining the residual coarse material from the screen;

[0049] Step 9) Send a fifth grabbing instruction to the robotic arm module. Under the control of the fifth grabbing instruction, the robotic arm 2 grabs the screen and pours the coarse material on the screen into the aggregate weighing device 5. The background control system 1 sends an operation instruction to the aggregate weighing module 5. Under the control of this operation instruction, the aggregate weighing module 5 weighs the coarse material after grinding, and obtains the weight of the coarse material after grinding, QCj, where j=1 and j represents the first grinding. The data is then fed back to the background control system.

[0050] Step 10) Backstage control system 1 calculates the total weight of the fine powder after grinding as Qxj based on the weights of the three cups of ground material Qj1, Qj2, and Qj3 and the weight of the coarse material remaining on the screen Qcj. It also calculates the Gj value (the amount of fine powder produced per revolution g / r) obtained from the first grinding according to the following formula, where j = 1, and j represents the first grinding;

[0051] Gj = weight of fine powder produced by grinding / number of revolutions N1 = [total weight of fine powder after grinding - weight of fine powder contained in the raw material sample itself] / number of revolutions N1 = [Qxj - Q0 * (1 - RF0)] / N1, where Q0 is the standard weight of the raw material sample required for grinding (a fixed preset value);

[0052] Step 11) After the first grinding is completed, repeat the above steps to complete the second grinding. The number of revolutions N2 for the second grinding is calculated according to the following formula: N2 = [Q0 / (2.5+1)-(Q0-Qcj)*(1-RF0)] / G1, where RF0 is the cumulative sieve residue percentage of the raw material larger than the target particle size;

[0053] According to this method, the cycle is executed M times to reach the equilibrium state. The value range of M is 3-11. The Gj values ​​under the last three equilibrium states are taken and the average value G is calculated.

[0054] On the basis of Example 1, a quantitative feeding weighing device 7 is included, and the quantitative feeding weighing module 7 controlling the quantitative feeding weighing device is in communication connection with the background control system 1 and is controlled by the background control system 1. The background control system 1 further performs the following steps:

[0055] Before executing step 2), an operating instruction is sent to the robotic arm module. Under this instruction, the robotic arm grabs a cup containing raw materials and pours them into the quantitative feeding weighing device 7. Under the control of the background control system 1, the quantitative feeding weighing module starts conveying the raw materials to the cup and weighing them in real time until the feedback reaches the preset weight value Q0, where Q0 is the standard weight of the raw material sample. Under the control of the background control system 1, the robotic arm grabs the cup containing the raw material sample weighing Q0 and places it in position 1. This step is to obtain a standard amount of raw material sample for system testing.

[0056] Preferably, after executing step 2), a grabbing instruction is sent to the robotic arm module, and the background control system 1 controls the robotic arm to grab the cup containing the raw material at position 2 and pour it into the quantitative feeding weighing device 7 until the weighing weight value of the raw material sample fed back by the quantitative feeding weighing module reaches the first reset preset value, and then controls the robotic arm to grab the cup containing the raw material sample and pour it into the vibrating screen; the background control system controls the vibrating screen module to complete the screening within the preset time, and the robotic arm grabs the screen after screening, pours the remaining material on the screen into the aggregate weighing module for weighing and feedback to the background control system, and the above actions are repeated several times to complete the test of 80% passing particle size of the raw material sample, and the background control system calculates F80 (80% passing particle size of the raw material sample) and RF0 (the cumulative percentage of sieve residue in the raw material larger than the target particle size) according to the screening weighing data.

[0057] In order to reuse the test waste and save costs, preferably, step 9) sends a fifth grabbing instruction to the robotic arm module, under the control of the fifth grabbing instruction, the robotic arm grabs the screen and pours the coarse material on the screen into the aggregate weighing device 5; the background control system 1 sends an operation instruction to the aggregate weighing module, under the control of this operation instruction, the aggregate weighing module weighs the loaded coarse material, and the weight of the coarse material after grinding is obtained QCj, j=1, j represents the first grinding, and the data is fed back to the background control system; the background control system 1 sends a sixth grabbing instruction to the robotic arm module, under the control of this instruction, the robotic arm grabs the material cup containing the coarse material and pours the coarse material into the barrel, and puts the material cup back to its original position.

[0058] Preferably, after executing step 9), the background control system 1 controls the robotic arm to grab the cup containing the raw material and pour it into the cup in the quantitative feeding weighing device 7 until the weighing weight of the raw material sample fed back by the quantitative feeding weighing module reaches the reset preset value. Then, the robotic arm is controlled to return the raw material cup and grab the cup containing the raw material sample and place it in position 1, where the reset preset value is the difference between Q0 and QCj. After the coarse material is utilized, the raw material sample weight must meet Q0. The remaining part needs to be weighed by the quantitative feeding weighing module, and the missing raw material is poured into the barrel to achieve the standard weight value of the raw material sample required by the test.

[0059] Preferably, after performing step 11), perform the following steps:

[0060] Step 12) Send an operation instruction to the robotic arm module. Under the control of this operation instruction, the robotic arm pours the third container containing the fine powder after the last three balances of mixing into the quantitative feeding weighing device 7 until the weight of the fine powder sample fed back by the quantitative feeding weighing module reaches the sampling preset value, and the robotic arm returns the container to the third container; the background control system controls the vibrating screen module to complete the screening within the preset time, the robotic arm grabs the material cup containing the screened fine powder and pours the screened fine powder into the aggregate weighing device 5 for weighing, and feeds back the screening weighing data to the background control system. The above actions are repeated several times to complete the test of the 80% passing particle size of the fine powder. The background control system calculates P80 based on the screening weighing data. P80 is the particle size of the finished fine powder that passes 80%.

[0061] Preferably, in step 13) the background control system 1 calculates the grinding work index according to the following formula: , where Wi is the grinding work index, P is the target sieve size (target particle size) of the finished product, G is the average value of the three Gj in the equilibrium state, P80 is the particle size at which 80% of the finished product passes, and F80 is the particle size at which 80% of the raw material sample passes.

[0062] Preferably, during the test, the F80 value and RFO value can be preset in the background control system; then it is necessary to use other methods to measure the F80 value and RFO value of the raw material in advance.

[0063] Combined with this test system, the F80 value and RF0 value can be obtained through the automated test of this system as follows:

[0064] The seventh grabbing instruction is sent to the robot arm module. Under the control of the seventh grabbing instruction, the robot arm 2 grabs the material cup containing the raw material at the second position and pours it into the quantitative feeding weighing device 7 until the weighing weight value of the raw material sample fed back by the quantitative feeding weighing module reaches the second reset preset value. The robot arm then puts the material cup back to the second position.

[0065] The eighth grabbing instruction is sent to the robotic arm module. Under the control of the eighth grabbing instruction, the robotic arm 2 grabs the material cup containing the raw material sample with a weight of the second reset preset value and pours the raw material into the vibrating screen 6; the background control system 1 controls the vibrating screen module to complete the screening within the preset time, and the robotic arm grabs the screen after screening, pours the remaining material on the screen into the aggregate weighing device 5 for weighing, and feeds back the screening weighing data to the background control system. The above actions are repeated several times to complete the test of 80% of the raw material samples passing the particle size test. The background control system calculates the F80 and RF0 values ​​according to the screening weighing data. This method makes this test system more automated.

[0066] In this embodiment, the cups of the raw material samples are placed on the cup cabinet 8, which is convenient for the robot arm to extract and place them. For example, positions 1 and 2 can be coded to facilitate machine identification.

[0067] It should be noted that when grinding is not performed, the set of sieves used for screening the raw materials has a bottom layer of sieve with target fineness, and above it are sieves with fineness greater than the target fineness, each layer smaller than the previous one. After screening, the aggregate is weighed and the residual material on each layer of sieve is calculated to calculate F80 (the fineness value that 80% of the raw materials can pass through) and RF0 (the cumulative percentage of sieve residue in the raw materials that is greater than the target particle size).

[0068] After each grinding, the separated milled material is screened using a set of sieves with the target aperture size (usually three layers of 80μm sieves. The difference from the aforementioned set of sieves is that there is a feed tray under each layer of screen, while the bottom of the previous set of sieves is the feed tray, and the top is all screens). In this way, the material with a fineness less than the target fineness is screened out, and the coarse material left on the screen is returned to continue grinding;

[0069] After repeated grinding for several times, when the equilibrium state is finally reached, the fine materials ground after three balances are mixed (all smaller than the target fineness), and a part is weighed for screening. At this time, the aperture of the sieve is smaller than the target fineness, and each layer is smaller than the previous one. After screening, the aggregate is weighed and the remaining material on each layer of the sieve is calculated to calculate P80 (the fineness value that 80% of the finished product can pass through).

[0070] The present invention combines an industrial robotic arm with an automated testing module to automate the grinding, screening, and weighing process of cement raw materials. Compared with traditional manual testing methods, it saves manpower and improves testing efficiency. Due to the standardization and unmanned nature of the testing process, the influence of human factors is reduced.

[0071] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A Bond-based milling and sieving automation experimental method, characterized in that: It includes a background control system and a mechanical arm module, a ball mill module, a ball separation module, an aggregate weighing module and a vibrating screen module that respectively control the actions of the mechanical arm, the ball mill, the ball separator, the aggregate weighing device and the vibrating screen. The mechanical arm module, the ball mill module, the ball separation module, the aggregate weighing module and the vibrating screen module are all connected to the background control system for communication and are controlled by the background control system. The background control system performs the following steps: Step 1) Initialization: sending a start instruction and a first action control instruction for controlling the ball mill to enter a start working state to the ball mill module; under the control of the first action control instruction, opening the barrel cover of the ball mill; Step 2) sending a first grabbing instruction to the robot arm module. Under the control of the first grabbing instruction, the robot arm grabs the material cup at position 1 and sends the raw material sample in the material cup into the ball mill; Step 3) Send a second action control instruction to the ball mill module. Under the control of the second action control instruction, close the barrel cover, start the first grinding, and set the grinding speed to N1; After grinding, open the barrel cover and pour the ground material and steel balls in the ball mill into the storage container; Step 4) Sending a second grabbing instruction to the robot arm module, under the control of the second grabbing instruction, the robot arm grabs the storage container, and pours the ground material and steel balls in the storage container into the ball separator, and then puts the storage container back to the original position; Step 5) sending a first start instruction to the ball separation module. Under the control of the first start instruction, the ball separator completes the separation of the steel balls and the ground material according to the preset time, so that the steel balls fall into the first container and the ground material falls into the second container; Step 6) Send a third grabbing instruction to the robot arm module. Under the control of the third grabbing instruction, the robot arm grabs the first container and pours the steel balls in the first container into the barrel of the ball mill, puts the first container back to its original position, and then grabs the second container to pour the ground material into the aggregate weigher three times; the background control system sends an operation instruction to the aggregate weighing module. Under the control of this operation instruction, the aggregate weighing module weighs the ground material after each pouring of the robot arm, transfers the material cup filled with the ground material from the feeding position to the grabbing position, and transfers the empty material cup to the feeding position, completing three aggregate operations, weighing the weights of three cups of ground material Qj1, Qj2, Qj3, j=1, j represents the first grinding, and transmits the weight data of the three cups of ground material to the background control system, and the robot arm puts the second container back to its original position; Step 7) Send a fourth grabbing instruction to the robot arm module. Under the control of the fourth grabbing instruction, the robot arm grabs the cup containing the ground material and pours the ground material into the vibrating screen, puts the cup back to its original position, repeats the action three times, and pours three cups of ground material into the vibrating screen; Step 8) sending a second start-up instruction to the vibration screen module. Under the control of the second start-up instruction, the vibration screen starts and completes vibration screening within a set time to obtain the residual coarse material from the screen; Step 9) Send the fifth grabbing instruction to the robot arm module. Under the control of the fifth grabbing instruction, the robot arm grabs the screen and pours the coarse material on the screen into the aggregate weighing device; the background control system sends an operation instruction to the aggregate weighing module. Under the control of this operation instruction, the aggregate weighing module weighs the loaded coarse material, and weighs the weight of the coarse material after grinding QCj, j=1, j represents the first grinding, and feeds the data back to the background control system; Step 10) The background control system calculates the total weight of the fine powder after grinding as Qxj based on the weights of the three cups of ground materials Qj1, Qj2, Qj3 and the weight of the coarse material on the sieve QCj; and calculates the Gj value obtained from the first grinding according to the following formula, where j=1, and j represents the first grinding; Gj = weight of fine powder produced by grinding / number of revolutions N1 = [total weight of fine powder after grinding - weight of fine powder contained in the raw material sample itself] / number of revolutions N1 = [Qxj-Q0*(1-RF0)] / N1, where Q0 is the standard weight value of the raw material sample; Where RF0 is the cumulative percentage of residues in the raw material that are larger than the target particle size; Step 11) After the first grinding is completed, repeat the above steps to complete the second grinding. The number of revolutions N2 of the second grinding is calculated according to the following formula: N2 = [Q0 / (2.5+1)-(Q0-Qcj)*(1-RF0)] / G1; G1 is the G value obtained from the first grinding; According to this method, the cycle is executed M times to reach the equilibrium state. The value range of M is 3-11. The Gj values ​​under the last three equilibrium states are taken, and the average value G is calculated.

2. The Bond-work-based milling and sieving automation experimental method according to claim 1, characterized in that: It also includes a quantitative feeding weighing device, and a quantitative feeding weighing module that controls the quantitative feeding weighing device is connected to the background control system for communication and is controlled by the background control system. The background control system also performs the following steps: Before executing step 2), an operation instruction is sent to the robotic arm module. Under the control of this operation instruction, the robotic arm grabs the cup containing the raw material and pours the raw material into the quantitative feeding weighing device. The quantitative feeding weighing module starts to transport the raw material to the cup and weigh it in real time under the control of the background control system until the feedback weighing weight value reaches the preset value Q0, where Q0 is the standard weight value of the raw material sample; under the control of the background control system, the robotic arm grabs the cup containing the raw material sample with a weight of Q0 and places it at position No.

1.

3. The Bond-based milling and sieving automation experimental method according to claim 2, characterized in that: Step 9) Send the fifth grabbing instruction to the robot arm module. Under the control of the fifth grabbing instruction, the robot arm grabs the screen and pours the coarse material on the screen into the aggregate weighing device; the background control system sends an operation instruction to the aggregate weighing module. Under the control of this operation instruction, the aggregate weighing module weighs the loaded coarse material, and weighs the weight of the coarse material after grinding QCj, j=1, j represents the first grinding, and feeds back the data to the background control system; the background control system sends the sixth grabbing instruction to the robot arm module. Under the control of this instruction, the robot arm grabs the cup containing the coarse material and pours the coarse material into the barrel, and puts the cup back to its original position.

4. The Bond-based milling and sieving automation experimental method according to claim 3, characterized in that: After executing step 9), the background control system controls the robot arm to grab the cup containing the raw material and pour it into the quantitative feeding weighing device until the weighing weight value of the raw material sample fed back by the quantitative feeding weighing module reaches the first reset preset value, and then controls the robot arm to grab the cup containing the raw material sample and place it at position No. 1, wherein the first reset preset value is the difference between Q0 and QCj.

5. The Bond-based milling and sieving automation experimental method according to any one of claims 2 to 4, characterized in that: After executing step 11), perform the following steps: Step 12) Send an operation instruction to the robot arm module. Under the control of this operation instruction, the robot arm pours the third container containing the fine powder from the last three balances after mixing into the quantitative feeding weighing device until the weight of the fine powder sample fed back by the quantitative feeding weighing module reaches the preset sampling value, and the robot arm puts it back into the third container; the background control system controls the vibration screen module to complete the screening within the preset time, the robot arm grabs the material cup containing the sieved fine powder and pours the sieved fine powder into the aggregate weighing device for weighing, and feeds back the sieving weighing data to the background control system, and the above actions are repeated several times to complete the test of 80% passing particle size of the fine powder. The background control system calculates P80 based on the sieving weighing data, and P80 is the particle size of 80% passing the finished fine powder.

6. The Bond-work-based milling and sieving automation experimental method according to claim 5, characterized in that: The process also includes step 13) the background control system calculates the grinding work index according to the following formula: , where Wi is the grinding work index, P is the target sieve size of the finished product, G is the average of three Gj in the equilibrium state, P80 is the particle size at which 80% of the finished product passes, and F80 is the particle size at which 80% of the raw material sample passes.

7. The Bond-work-based milling and sieving automation experimental method according to claim 6, characterized in that: The F80 value and RF0 value can be preset in the background control system; Or get the F80 and RF0 values ​​by: Send the seventh grabbing instruction to the robot arm module. Under the control of the seventh grabbing instruction, the robot arm grabs the material cup containing the raw material at the second position and pours it into the quantitative feeding weighing device until the weighing weight value of the raw material sample fed back by the quantitative feeding weighing module reaches the second reset preset value, and the robot arm puts the material cup back to the second position; The eighth grabbing instruction is sent to the robotic arm module. Under the control of the eighth grabbing instruction, the robotic arm grabs the material cup containing the raw material sample with a weight of the second reset preset value and pours the raw material into the vibrating screen; the background control system controls the vibrating screen module to complete the screening within the preset time, the robotic arm grabs the screen after screening, pours the remaining material on the screen into the aggregate weighing module for weighing, and feeds back the screening weighing data to the background control system. The above actions are repeated several times to complete the test of 80% of the raw material samples passing the particle size test, and the background control system calculates F80 and RF0 based on the screening weighing data.

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