CN-118122446-B - Full-automatic unmanned on duty accurate steel ball supplementing robot system and working method thereof

Abstract

The invention discloses a fully-automatic unattended accurate steel ball supplementing robot system and a working method thereof. Comprises an intelligent three-dimensional motion device, an electromagnetic lifting device, a steel ball storage bin, a PLC control cabinet and a steel ball receiving and distributing device. The electromagnetic lifting device moves under the drive of an electric trolley of the intelligent three-dimensional movement device, when the electric trolley reaches the position right above the ball storage bin, the electric trolley makes a circle of semi-rotation movement towards the inner side of a track of the three-dimensional movement device to drive a steel wire rope of the lifting device to swing, the electromagnetic chuck automatically attracts a steel ball on the outermost surface of the ball storage bin, a weighing sensor and a ranging sensor automatically count, and then the trolley continues to move along the track and accurately inputs the balls into a steel ball receiving and distributing device and sends the balls into the ball mill. According to the invention, the frequency of ball feeding is adjusted in real time according to the running condition of the ball mill, so that continuous and accurate steel ball feeding is realized. The stability of the ball filling operation process of the ball mill and the rationality of the steel ball proportion are ensured, and the energy consumption of the ball mill operation and unnecessary steel ball loss can be effectively reduced.

Inventors

• KU JIANGANG
• LIN HANYU
• WANG QIAN

Assignees

• 福州大学
• 山东华特磁电科技股份有限公司

Dates

Publication Date

20260512

Application Date

20240418

Claims (3)

1. 1. The full-automatic unmanned precise steel ball supplementing robot system is characterized by comprising an intelligent three-dimensional movement device, an electromagnetic lifting device (3), a steel ball storage bin (4), a PLC control cabinet (5), a steel ball receiving and distributing device and an electromagnetic chuck body (13), wherein the electromagnetic chuck body (13) is connected below a hanging steel rope of the electromagnetic lifting device (3); The intelligent three-dimensional movement device comprises a running track (1) and an electric trolley (2), wherein the electric trolley consists of a running motor (8), a lifting motor (11), a weighing and ranging sensor (10) and an intelligent display screen (9), the intelligent three-dimensional movement device is positioned above a steel ball storage bin (4) in a factory building, the electric trolley (2) moves along the track under the driving of the running motor (8), a steel wire rope is connected below the electric trolley (2), the lifting motor (11) drives an electromagnetic lifting device (3) to lift, and the weighing and ranging sensor (10) automatically monitors the lifting quality of the electromagnetic lifting device (3) and displays quality readings on the display screen (9); the electric trolley (2) moves under the constraint of the running rail (1), the stroke of the electric trolley moves from the side of the ball mill to the side of the ball bin, and returns to the initial position after the electric trolley inwards surrounds the ring surface for a half a circle; The electromagnetic chuck body (13) is formed by a middle cylindrical shell and a lower shell, wherein an iron core (12) and a coil (14) are arranged in the shell, the shell material of the electromagnetic chuck body (13) is austenitic stainless steel, the coil (14) is copper, and the iron core (12) is ferrite; The lower shell is semi-ellipsoidal, the ratio of the bottom radius to the bottom height a is b=2-7, the ratio of the middle cylindrical shell radius to the height a is h=1-3, and the ratio of the bottom radius to the steel ball radius a is r=0.85-1.2.
2. 2. The full-automatic unattended accurate steel ball supplementing robot system is characterized in that the steel ball receiving and distributing device comprises a receiving hopper (6) and an adhesive tape conveyor (7), the steel ball receiving and distributing device is arranged on the side face of a steel ball feeding port of a ball mill, an electromagnetic lifting device (3) is driven by an intelligent three-dimensional motion device to carry steel balls, the receiving hopper (6) receives the steel balls carried by the electromagnetic lifting device (3) and rolls into a cavity of the ball mill through the adhesive tape conveyor (7), and a PLC control cabinet (5) intelligently controls motion of each device.
3. 3. The working method of the full-automatic unmanned accurate supplementing steel ball robot system is characterized by adopting the full-automatic unmanned accurate supplementing steel ball robot system as claimed in any one of the claims 1-2, and comprises the following steps: Step one, the electric trolley (2) moves to the position right above the steel ball storage bin (4) under the drive of the travelling motor (8), the lifting motor (11) controls the electromagnetic chuck body (13) to descend to a proper height, and meanwhile, the electric trolley (2) continues to move inwards along the annular surface of the track (1) for a half a circle to drive the electromagnetic lifting device (3) to swing downwards; secondly, the electromagnetic chuck body (13) just adsorbs one steel ball on the lower surface of the semi-ellipsoidal shell; And thirdly, lifting the height of the electromagnetic chuck body (13) upwards, continuously moving the electric trolley (2) along the running track (1) to an initial position, powering off the electromagnetic chuck body (13) to demagnetize, and releasing the attraction of the steel balls, wherein the steel balls reach the rubber belt conveyor (7) through the receiving hopper (6) and are slowly conveyed into the cavity of the ball mill to finish ball feeding.

Description

Full-automatic unmanned on duty accurate steel ball supplementing robot system and working method thereof Technical Field The invention relates to the technical field of ore grinding, in particular to a fully-automatic unmanned robot system for accurately supplementing steel balls and a working method thereof. Background As important equipment of a mineral dressing plant, the ball mill fully ensures the grinding fineness and realizes the dissociation of the monomer of the mineral to be selected. Steel balls are generally selected as grinding media of the ball mill. During the running process of the ball mill, the steel balls are continuously worn, and the number and the proportion of the steel balls are changed, so that the steel balls are required to be added into the ball mill in real time to stabilize the filling rate and the proportion of the steel balls, so that the grinding efficiency and the production capacity are ensured. The traditional steel ball adding mode is usually completed manually, an operator firstly adds the steel balls into a ball hopper, and then hoists the steel balls into the ball hopper through a travelling crane for adding. On one hand, the ball feeding process is extremely complicated, so that the problems of increased labor intensity, increased risk coefficient, reduced efficiency and inaccurate and timely ball feeding are caused, and on the other hand, the problems of blocking of a ball feeding pipeline, sudden increase of load of the ball mill and increase of loss of the steel balls are easily caused when the steel balls are instantly fed into a cavity of the ball mill. An automatic ball feeding system is expected to solve the problems. The automatic ball feeding system for the ball mill has the following problems that a ball grabbing mechanism grabs balls from the lower part of a ball storage bin, the balls are easy to be blocked, and a channel port is blocked, the ball grabbing mechanism is insufficient in ball contact precision, the phenomenon of ball leakage is easy to occur, and the ball feeding is uneven, and the continuity and the stability of the ball mill are insufficient due to the fact that the ball feeding cannot be adjusted according to the actual working condition of the ball mill. Disclosure of Invention In view of the above, the invention aims to provide a fully-automatic unmanned accurate steel ball supplementing robot system and a working method thereof, which can adjust the frequency of adding balls in real time according to the running condition of a ball mill so as to realize continuous and accurate steel ball supplementing. The stability of the ball filling operation process of the ball mill and the rationality of the steel ball proportion are ensured, and the energy consumption of the ball mill operation and unnecessary steel ball loss can be effectively reduced. The fully-automatic unattended accurate steel ball supplementing robot system comprises an intelligent three-dimensional motion device, an electromagnetic lifting device (3), a steel ball storage bin (4), a PLC control cabinet (5), a steel ball receiving and distributing device and an electromagnetic chuck body (13), wherein the electromagnetic chuck body (13) is connected below a hanging steel rope of the electromagnetic lifting device (3). In a preferred embodiment, the intelligent three-dimensional movement device comprises a running track (1) and an electric trolley (2), wherein the intelligent three-dimensional movement device is positioned above a steel ball storage bin (4) in a factory building, the electric trolley (2) moves along the track under the driving of a travelling motor (8), a steel wire rope is connected below the electric trolley (2), a lifting motor (11) drives an electromagnetic lifting device (3) to lift, a weighing and ranging sensor (10) automatically monitors the lifting quality of the electromagnetic lifting device (3), and a quality indication is displayed on a display screen (9). In a preferred embodiment, the steel ball receiving and distributing device comprises a receiving hopper (6) and an adhesive tape conveyor (7), wherein the steel ball receiving and distributing device is arranged on the side face of a steel ball feeding port of the ball mill, the electromagnetic lifting device (3) is driven by the intelligent three-dimensional moving device to be used for carrying steel balls, the receiving hopper (6) receives the steel balls carried by the electromagnetic lifting device (3) and rolls into a cavity of the ball mill through the adhesive tape conveyor (7), and the PLC control cabinet (5) intelligently controls the movement of each device. In a preferred embodiment, the running rail (1) inwards surrounds a circle and a half of the ring surface at one side close to the ball bin, the surrounding area is larger than the bottom area of the ball storage bin (4), the electric trolley (2) moves under the constraint of the running rail (1) and moves towards the ball bin