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CN119549244A - A method and device for detecting load parameters of liner radial pressure ball mill - Google Patents

A method and device for detecting load parameters of liner radial pressure ball mill Download PDF

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Publication number
CN119549244A
CN119549244A CN202510015945.9A CN202510015945A CN119549244A CN 119549244 A CN119549244 A CN 119549244A CN 202510015945 A CN202510015945 A CN 202510015945A CN 119549244 A CN119549244 A CN 119549244A
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China
Prior art keywords
liner
measuring
ball mill
radial pressure
position angle
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CN202510015945.9A
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Inventor
黄宋魏
何济帆
张博亚
童雄
吴丽萍
程贯瑞
和丽芳
李丹阳
唐浩珀
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Kunming University of Science and Technology
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Kunming University of Science and Technology
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Priority to CN202510015945.9A priority Critical patent/CN119549244A/en
Publication of CN119549244A publication Critical patent/CN119549244A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B02—CRUSHING, PULVERISING, OR DISINTEGRATING; PREPARATORY TREATMENT OF GRAIN FOR MILLING
    • B02C—CRUSHING, PULVERISING, OR DISINTEGRATING IN GENERAL; MILLING GRAIN
    • B02C17/00—Disintegrating by tumbling mills, i.e. mills having a container charged with the material to be disintegrated with or without special disintegrating members such as pebbles or balls
    • B02C17/18—Details
    • B02C17/1805—Monitoring devices for tumbling mills

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  • Engineering & Computer Science (AREA)
  • Food Science & Technology (AREA)
  • Crushing And Grinding (AREA)

Abstract

本发明公开一种衬板径向压力式球磨机负荷参数检测方法及装置，属于选矿过程自动检测领域。本发明通过安装在球磨机筒体上的力传感器和位置传感器获得测量衬板受到的径向压力信号和原点位置信号，通过无线发送–接收器将信号传送到检测主机。本发明根据位置信号和径向压力信号计算测量衬板的位置角度及其受到的径向压力，建立各个位置角度对应的径向压力动态数据矩阵，对动态数据矩阵进行滤波处理得到滤波数据矩阵，以滤波数据矩阵为依据，通过相关数学模型计算球磨机的装载量、充填率和钢料比。本发明能在线精确检测球磨机的装载量、充填率和钢料比，对实现磨矿分级智能控制，降低能耗和钢耗，提高磨矿效率和产品合格率有积极作用。

The present invention discloses a liner radial pressure type ball mill load parameter detection method and device, belonging to the field of automatic detection of mineral processing. The present invention obtains the radial pressure signal and origin position signal of the measuring liner through the force sensor and position sensor installed on the ball mill cylinder, and transmits the signal to the detection host through a wireless transmitter-receiver. The present invention calculates the position angle of the measuring liner and the radial pressure it receives according to the position signal and the radial pressure signal, establishes a radial pressure dynamic data matrix corresponding to each position angle, performs filtering processing on the dynamic data matrix to obtain a filtered data matrix, and calculates the loading capacity, filling rate and steel-to-material ratio of the ball mill based on the filtered data matrix through relevant mathematical models. The present invention can accurately detect the loading capacity, filling rate and steel-to-material ratio of the ball mill online, and has a positive effect on realizing intelligent control of grinding and classification, reducing energy consumption and steel consumption, and improving grinding efficiency and product qualification rate.

Description

Lining plate radial pressure type ball mill load parameter detection method and device
Technical Field
The invention discloses a method and a device for detecting load parameters of a radial pressure ball mill with a lining plate, and belongs to the field of automatic detection in a mineral separation process.
Background
Wet ball mills are the most commonly used grinding equipment in the beneficiation industry. The internal load body of the wet ball mill consists of steel balls, ore and water. When the ball mill cylinder rotates, the steel ball is carried up due to the friction action of the inner wall of the ball mill cylinder, when the rising angle exceeds the disengaging angle, the steel ball falls down, and the ore is crushed by the impact action of the falling steel ball and the grinding action between the steel ball and the inner wall of the cylinder. Factors influencing the ore grinding efficiency are many, including factors such as the steel medium filling rate, the ratio of steel medium to ore material (steel-material ratio), the loading capacity, the ore grinding concentration and the like, and the steel medium filling rate, the loading capacity, the steel-material ratio and the like are collectively called as load parameters. Practice shows that the filling rate, the loading capacity and the steel-material ratio of the steel medium are important factors influencing the grinding effect, the reasonable loading parameters are the precondition of realizing the efficient operation of the ball mill and energy conservation and consumption reduction, and are also important factors influencing the granularity of the mill product, and the efficient grinding effect can be obtained only when the filling rate, the loading capacity and the steel-material ratio are in a reasonable state.
The traditional ball mill single factor load parameter detection method mainly comprises a current method, a sound method, a useful power method, a vibration method and the like. The current method judges the load of the ball mill according to the intensity of the current of the mill and the change thereof, but the current of the ball mill is not obviously changed along with the load from empty mill to full mill in practice, and the current is obviously changed only when the load is seriously overloaded. The sound method utilizes the sound generated by the ball mill to be related to the internal material load, so that the mill load is judged according to the difference of the sound, and the factors influencing the detection of the sound method are many, such as the noise, the material hardness, the granularity, the material load, the medium load, the grinding concentration, the circulation load and the like generated by the peripheral ball mill. The current method utilizes the unimodal corresponding relation between the current intensity of the motor of the ball mill and the load of the ball mill to indirectly detect the load of the ball mill, but the current intensity is not obvious along with the change of the load of the ball mill before the overload of the ball mill. The vibration method indirectly detects the load of the mill through the vibration intensity of the ball mill according to the characteristics that the vibration intensity is related to the load of the ball mill, and main factors influencing the vibration include the medium filling rate, the material filling rate, the grinding concentration and the like. The traditional ball mill single factor load parameter detection method is simpler, but is easily influenced by the factors such as grinding concentration, material granularity, material hardness, steel ball size and the like due to the limitation of a detection principle, and the load parameter of the ball mill cannot be accurately detected in the whole process.
In order to solve the defects of the traditional ball mill single-factor load parameter detection method, a ball mill load detection method which combines two or more single-factor methods, such as a power-sound method, a power-vibration method, an acoustic-vibration method, a power-acoustic-vibration method and the like, by utilizing certain complementarity of the single-factor method is presented. The multifactor method tries to improve the detection precision by utilizing the complementarity of the multifactor method and simultaneously improves the calculation precision by utilizing the information fusion and soft measurement technology, but in practice, the detection of the load of the ball mill by the methods still belongs to the difficult problem because of the excessively complex calculation and poor repeatability.
The applicant of the invention discloses a ball mill load parameter detection method and device, the patent name is ZL201310377730.9, the technology still has the main defects that 1) by measuring the resistance between an electrode and a cylinder body, whether the electrode is in contact with the load body is judged, the resistance is unchanged when the electrode leaves the load body because the electrode is adhered to ore pulp is difficult to fall off or falls off in a delayed manner, the falling angle and the contact angle of the load body cannot be accurately judged, the filling rate of the load body of the ball mill cannot be accurately calculated, 2) the weight of the whole cylinder body of the ball mill is measured by adopting a force sensor to obtain the filling rate of the ball mill, although the technology is directly applicable to miniature ball mill and small ball mill, for medium, large or extra-large ball mill, the force sensor is not allowed to be arranged on a base of the ball mill at all because the total weight of equipment and the load reaches tens of tons to hundreds of tons, and 3) the filling rate of the ball mill cannot be accurately judged, and the filling rate of the medium, large or extra-large ball mill cannot be calculated. 4) The mathematical model of the filling rate, the loading capacity and the steel-material ratio of the invention needs to be further improved to improve the detection precision. Although the patent provides a new technical idea and method, the patent has great limitation in detection method and practical application.
Disclosure of Invention
In order to overcome the defects of the prior ball mill load parameter detection method and device, the invention provides a lining plate radial pressure type ball mill load parameter detection method and device, which are characterized in that the radial pressure applied to a lining plate and the corresponding position angle are measured in the ball mill, and the loading parameters such as the loading capacity, the filling rate, the steel-material ratio and the like of the ball mill are calculated by taking radial pressure and the position angle as basic basis and judging the disengaging angle and the contact angle of the load body and a related mathematical model. The invention is not only suitable for detecting the load parameters of miniature and small ball mills, but also suitable for detecting the load parameters of medium-sized, large-sized and ultra-large ball mills, and has higher detection precision, higher reliability, better adaptability and wider application range.
The invention provides a method and a device for detecting load parameters of a radial pressure type ball mill of a lining plate, and the method and the device comprise the method for detecting the load parameters of the radial pressure type ball mill of the lining plate and the device for detecting the load parameters of the radial pressure type ball mill of the lining plate. The radial pressure of the ball mill internal load body on the measuring lining plate and the corresponding measuring lining plate position angle are obtained through the lining plate radial pressure type ball mill load parameter detection device, and the load parameters such as the loading capacity, the filling rate, the steel-material ratio and the like of the ball mill load body are calculated through a mathematical model by taking the measuring lining plate radial pressure and the measuring lining plate position angle as main basis through the lining plate radial pressure type ball mill load parameter detection method.
The invention provides a method for detecting load parameters of a radial pressure ball mill of a lining plate, which comprises the following steps:
M101, measuring the position angle of a lining plate and collecting and calculating signals of radial pressure of the lining plate;
Step M102, establishing a dynamic data matrix and a filtering data matrix;
And M103, calculating the loading capacity of the ball mill by using the filtering data matrix as a basis and using a loading capacity mathematical model.
M104, judging and calculating a disengaging angle and a contact angle by measuring radial pressure change characteristics of the lining plate on the basis of the filter data matrix;
M105, calculating the filling rate of the ball mill by using a filling rate mathematical model based on the disengaging angle and the contact angle;
and M106, calculating the steel-material ratio of the ball mill load body by using the ball mill loading capacity and the ball mill filling rate as the basis and using a steel-material ratio mathematical model.
Further, in the step M101, the specific steps of signal acquisition and calculation for measuring the position angle of the lining plate and the radial pressure thereof include:
s101, transmitting radial pressure received by a measuring lining plate to a force sensor through the radial force guiding function of a lining plate measuring device, converting the radial pressure of the lining plate into a mv-level voltage signal by the force sensor, and converting the mv-level voltage signal into a volt-level voltage signal by a signal amplifier;
Step S102, mounting a position sensor on the outer side surface of the ball mill cylinder body in the same horizontal line with the measuring lining plate, mounting an origin metal block near the side surface of the lowest horizontal line of the ball mill cylinder body, generating an electric pulse when the position sensor passes through the origin metal block, judging that the measuring lining plate is at the origin position, simultaneously taking the origin position as a timing starting point to measure the running time of the lining plate, taking the time interval of two electric pulses as the rotation period of the ball mill cylinder body, and automatically resetting the running time timer when the pulses are generated;
step 103, collecting an electric pulse signal output by a position sensor in real time, starting timing by the occurrence of the pulse signal, and calculating the position angle of the measuring lining plate by taking the rotation period of the ball mill cylinder and the running time of the measuring lining plate after passing through the origin as the basis, wherein the calculation formula of the position angle of the measuring lining plate is as follows:
Wherein θ is the position angle of the measuring lining plate, T is the rotation period of the ball mill cylinder, T is the running time of the measuring lining plate after passing through the origin, and T is automatically reset when the measuring lining plate passes through the origin each time;
Step S104, collecting radial pressure signals of the measuring lining plate and calculating the radial pressure of the measuring lining plate, and carrying out digital filtering treatment on collected data of the radial pressure of the measuring lining plate at each position angle, wherein the digital filtering method of the collected data of the radial pressure of the measuring lining plate comprises the steps of obtaining a computer A/D value of the radial pressure signals of the measuring lining plate in a period of time, sequencing the A/D value data according to the size, removing one third of big data and one third of small data, averaging the middle data to obtain a filtering value of the computer A/D value of the radial pressure signals of the measuring lining plate, and calculating a mathematical model of the radial pressure of the measuring lining plate, wherein the mathematical model is as follows:
F=KF(N1-N01-N02cosθ)
Wherein F is the radial pressure of the measuring lining plate, K F is the pressure coefficient, N 1 is the current sampling value, namely the filtering value of the computer A/D value of the radial acting force applied to the measuring lining plate, N 01 is the elastic sampling value, namely the filtering value of the computer A/D value caused by the elastic force, N 02 is the weight origin sampling value, namely the filtering value of the computer A/D value caused by the weight of the measuring lining plate when the measuring lining plate is at the origin position, and θ is the position angle of the measuring lining plate.
During the operation of the ball mill, N 01 and N 02 continuously change along with the change of materials and the abrasion of a measuring lining plate, and automatic calibration of N 01 and N 02 is required. The automatic calibration method of N 01 and N 02 comprises the steps of obtaining a filter value N 180 of a computer A/D value when the position angle of a measuring lining plate is 180 degrees and a filter value N 225 of the computer A/D value when the position angle of the measuring lining plate is 225 degrees from a filter data matrix, and carrying out calculation of N 01 and N 02, wherein the calculation formula is as follows:
Further, in the step M102, the specific steps of creating the dynamic data matrix and the filtering data matrix include:
The method comprises the steps of 3-1, performing discretization processing on a position angle theta to establish a dynamic data matrix corresponding to the radial pressure F of a measuring lining plate, wherein the discretization method comprises the steps of calculating a position angle element value delta theta of the measuring lining plate according to the length of the measuring lining plate along the circumferential direction of a cylinder body, calculating a total equal fraction N of the position angle according to the position angle element value delta theta of the measuring lining plate, sequencing each equal fraction of the position angle along the rotation direction of the cylinder body by taking an origin position as a starting point to obtain a position angle sequence number k of the measuring lining plate, recording the radial pressure F of the measuring lining plate corresponding to each position angle sequence number k, and establishing the relation between the position angle sequence number k and the radial pressure F of the measuring lining plate to obtain a dynamic data matrix F DS;
The expression of the dynamic data matrix F DS is:
Wherein, 1 to N are position angle serial numbers, and F 11 to F Nn are measuring lining plate radial pressure data sequences corresponding to the position angle serial numbers.
The method for establishing the digital filtering and filtering data matrix of the radial pressure of the measuring lining plate comprises the steps of dividing the radial pressure data of the measuring lining plate of each column of the dynamic data matrix F DS into five equal parts, sequencing each part of data according to the size, averaging a plurality of data in the middle to obtain a filtering value of the data, and averaging the filtering values of the five parts of data to obtain a final filtering value of the radial pressure of the measuring lining plate corresponding to the position angle sequence number, thereby constructing a filtering data matrix F DSA of the position angle sequence number and the final filtering value.
The expression of the filter data matrix F DSA is:
Wherein, 1 to N are position angle serial numbers, and F 1A to F NA are measured lining plate radial pressure data filtering values corresponding to the position angle serial numbers.
The related calculation formulas for measuring the position angle element value delta theta of the lining plate, the position angle total equal fraction N as well as the position angle sequence number k are as follows:
Wherein delta theta is the value of the angle element of the position of the measuring lining plate, L is the length of the measuring lining plate along the circumferential direction of the cylinder, D is the diameter of the cylinder of the ball mill, N is the total equal fraction of the position angle, T is the rotation period of the cylinder of the ball mill, k is the serial number of the position angle, the calculation result takes an integer part, T is the time of the measuring lining plate after passing through the origin, and T is reset when a pulse signal is generated.
Further, in the step M103, the loading capacity of the ball mill is calculated by using a loading capacity mathematical model based on the filtering data matrix, where the loading capacity mathematical model is:
Wherein M is the loading capacity, K is the position angle number, delta theta is the position angle element value of the measured lining plate, N is the total equal fraction of the position angle, F is the radial pressure of the measured lining plate, T is the rotation period of the ball mill cylinder, g is the gravity acceleration, K m is the loading capacity coefficient, and M 0 is the loading capacity correction amount.
Further, in the step M104, based on the filtered data matrix, the method for obtaining the measured liner release angle and contact angle by measuring the radial pressure change characteristic of the liner to determine and calculate the release angle and contact angle comprises the following steps:
Based on radial pressure data and position angle serial numbers of the filter data matrix, a relation curve for measuring radial pressure and position angle serial numbers of the lining plate is established, the release angle and the position angle serial numbers corresponding to the contact angle of the ball mill load body are judged according to the curve change characteristics, and the release angle theta A and the contact angle theta B are calculated according to the corresponding position angle serial numbers.
The judging and calculating steps of the disengaging angle theta A and the contact angle theta B are as follows:
7-1, establishing a relation curve of the radial pressure of the measured lining plate and the position angle sequence number by taking the radial pressure data and the position angle sequence number of the filter data matrix as the basis, taking the radial pressure of the measured lining plate as the ordinate and taking the position angle sequence number of the measured lining plate as the abscissa;
Step 7-2, when the position angle of the measured lining plate is in the range of 0 to pi, the curve gradually changes from high to low, and finally the sharp decline is changed into gentle, and the intersection point of the gentle line and the sharp decline curve is used as a position angle serial number K A corresponding to the disengaging angle;
Step 7-3, when the position angle of the measured lining plate is in the range of pi to 2 pi, the curve gradually changes from low to high, the curve changes from gentle to rapid rise, and the intersection point of the gentle line and the rapid rise curve is used as a position angle serial number K B corresponding to the contact angle;
And 7-4, calculating a disengaging angle theta A and a contact angle theta B,θA＝kAΔθ,θB＝kB delta theta by taking K A and K B as references, wherein delta theta is the angle element value of the measured lining plate position.
Further, in the step M105, the filling rate of the ball mill is calculated according to the separation angle and the contact angle through a filling rate mathematical model, and the filling rate mathematical model of the ball mill is as follows:
Wherein Φ is the filling rate, K f1 is the filling rate coefficient of 0-theta B-θA -pi, K f2 is the filling rate coefficient of pi < theta B-θA <2 pi, theta A is the disengaging angle, theta B is the contact angle, Φ 01 is the filling rate correction quantity of 0-theta B-θA -pi, and Φ 02 is the filling rate correction quantity of pi < theta B-θA <2 pi.
Further, in the step M106, the steel-material ratio of the ball mill load body is calculated by using the steel-material ratio mathematical model based on the ball mill load capacity and the ball mill filling rate, and the steel-material ratio mathematical model is as follows:
Wherein P is the steel-material ratio, d 1 is the steel ball density, d 2 is the ore density, d 3 is the water density, M is the loading capacity;
C is the percentage concentration of ore pulp, V is the volume of a ball mill cylinder, phi is the filling rate, K p is the steel-material ratio coefficient, and P 0 is the steel-material ratio correction amount.
The invention also provides a lining plate radial pressure type ball mill load parameter detection device which comprises a detection host 1, a wireless receiver 2, an origin metal block 3, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a force sensing device 7, a lining plate measuring device 8 and a power supply 9;
The lining plate measuring device 8 comprises a measuring lining plate base 11, a measuring lining plate 12, an elastic gasket 13, a hollow bolt 14, a dowel bar 15, a base lining plate fastening nut 16, a dowel bar check nut 20, a hollow bolt connecting thread 21 and a dowel bar connecting thread 22, and the lining plate measuring device 8 can be integrally arranged on a ball mill cylinder. A groove is arranged in the middle of the measuring lining board base 11 and is used for installing the measuring lining board 12, and the external dimension of the measuring lining board is the same as that of other lining boards;
the force sensing device 7 comprises a force sensor 17, a force sensor fastening bolt 18 and a force sensor bracket 19;
The measuring lining plate 12 and the elastic gasket 13 are arranged in a groove of the measuring lining plate base 11, the hollow bolt 14 is connected with the measuring lining plate base 11 through a hollow bolt connecting thread 21, the hollow bolt 14 passes through a mounting hole of a ball mill cylinder and a lower mounting hole of a force sensor bracket 19, the measuring lining plate base 11 and the force sensor bracket 19 are fixed on the ball mill cylinder through a base lining plate fastening nut 16, one end of a dowel bar 15 is connected with the measuring lining plate 12 through a dowel bar connecting thread 22, the other end of the dowel bar 15 is connected with a dowel bar check nut 20 so as to prevent the measuring lining plate 12 from falling off during installation, and the fastening degree of the dowel bar check nut 20 is suitable for the measuring lining plate 12 to be just not loosened;
The force sensing device 7 is arranged outside the ball mill cylinder, one end of the force sensor 17 is connected with the dowel bar 15, the other end of the force sensor 17 is fixed on the force sensor bracket 19 through the force sensor fastening bolt 18, and the fastening degree of the force sensor fastening bolt 18 is one twentieth of the full-scale output signal of the force sensor 17 when the force sensor 17 is positioned at the highest point of the ball mill cylinder;
The origin metal block 3 is arranged at a position aligned with the lower edge of the ball mill cylinder along the line and close to the cylinder, the position sensor 4 is arranged on the side surface of the ball mill cylinder which is flush with the horizontal line of the measuring lining plate 12, and the position sensor 4 can send out an electric pulse signal when passing through the origin metal block 3;
the wireless transmitter 5, the signal amplifier 6 and the power supply are arranged on the surface of the ball mill cylinder body and are arranged in a straight line with the position sensor 4 and the force sensor 17, the force sensor 17 signals are amplified by the signal amplifier 6 and then transmitted to the wireless transmitter 5, the position sensor 4 is directly connected with the wireless transmitter 5, the position sensor 4, the wireless transmitter 5 and the signal amplifier 6 are powered by the power supply, and the force sensor signals and the position sensor signals are transmitted to the detection host 1 through the wireless transmitter 5 and the wireless receiver 2.
In particular, in order to ensure an accurate measurement of the radial force of the measuring lining plate, the design of the force-sensing device 7 and the lining plate measuring device 8 according to the invention comprises in particular:
1) The hollow bolt 14 is used for fixing the measuring lining plate base 11 and the force sensor bracket 19 on the ball mill cylinder, the length of the hollow bolt is determined according to the thickness of the ball mill cylinder and the mounting component thereof, and the outer diameter of the hollow bolt is slightly smaller than the size of a lining plate mounting hole on the ball mill cylinder;
2) The middle of the hollow bolt 14 is a cylindrical hollow, the hollow diameter of the hollow bolt is slightly larger than the maximum diameter of the dowel bar 15, two ends of the hollow bolt 14 are provided with threads, one end of the hollow bolt is connected with the measuring lining plate base 11, and the other end of the hollow bolt is used for fixing the measuring lining plate base 11 and the force sensor bracket 19 on the ball mill cylinder through the base lining plate fastening nut 16;
3) The length of the dowel bar 15 is determined according to the installation requirements of the hollow bolt 14, the dowel bar check nut 20, the force sensor 17 and the measuring lining plate 12, the dowel bar 15 is large in size in the middle and small in two ends, a smooth bar is arranged in the middle, stepped threads with smaller diameters are arranged at two ends, one end is used for installing the measuring lining plate 12, the other end is used for installing the dowel bar check nut 20 and the force sensor 17, and the thread specification is determined by the installation threads of the force sensor 17.
4) The dowel bar 15 passes through the hollow bolt 14 and firmly connects the measuring lining plate 12 and the force sensor 17, and the radial pressure born by the measuring lining plate 12 is transmitted to the force sensor 17 through the combined guiding action of the dowel bar 15 and the hollow bolt 14 on the radial pressure of the measuring lining plate, so that the influence of acting forces in other directions on the measurement of the force sensor 17 can be greatly reduced, and the method provides an advantage for accurately detecting the radial pressure of the measuring lining plate.
5) An elastic gasket 13 is provided between the measuring liner plate base 11 and the measuring liner plate 12 to prevent leakage of slurry and influence of radial force measurement due to unrecoverable deformation of the elastic gasket 13, and lubricating oil is injected between the hollow bolt 14 and the dowel bar 15 to reduce friction.
6) The measuring lining board base 11, the measuring lining board 12 and the elastic gasket 13 are loss components, and other components can be reused.
The installation scheme of the load parameter detection device of the radial pressure type ball mill of the lining plate specifically comprises the following steps:
In the step S301, a lining plate measuring device is arranged on a ball mill cylinder, wherein the lining plate measuring device 8 is arranged in a groove of a lining plate measuring base 11, a measuring lining plate 12 and an elastic gasket 13 are arranged in the groove, a hollow bolt 14 is connected with the lining plate measuring base 11 through a hollow bolt connecting thread 21, the hollow bolt 14 penetrates through a mounting hole of the ball mill cylinder and a lower mounting hole of a force sensor bracket 19, and the lining plate measuring base 11 and the force sensor bracket 19 are fixed on the ball mill cylinder through a base lining plate fastening nut 16. One end of the dowel bar 15 is connected with the measuring lining plate 12 through dowel bar connecting threads 22, the other end of the dowel bar 15 is connected with dowel bar check nuts 20, so that the measuring lining plate 12 is prevented from falling off during installation, and the tightening degree of the dowel bar check nuts 20 is suitable for measuring the fact that the lining plate 12 is just not loosened;
Step S302, matching and installing a lining plate measuring device and a force sensor device, wherein the force sensor device 7 is arranged outside a ball mill cylinder, one end of a force sensor 17 is connected with a dowel bar 15, the other end of the force sensor 17 is fixed on a force sensor bracket 19 through a force sensor fastening bolt 18, and the fastening degree of the force sensor fastening bolt 18 is that the output signal of the force sensor is about one twentieth of the full-scale output signal when the force sensor 17 is positioned at the highest point of the ball mill cylinder;
Step S303, mounting a position sensor and an induction metal block, namely mounting the position sensor and an origin metal block outside and nearby the ball mill cylinder, wherein the origin metal block 3 is mounted at a position aligned with the lower edge of the ball mill cylinder along the line and close to the cylinder, the position sensor 4 is mounted on the side surface of the ball mill cylinder which is level with the horizontal line of the measuring lining plate 12, and the position sensor 4 can reliably send out an electric pulse signal when passing through the origin metal block 3;
And step S304, mounting and connecting a detection system and electronic components thereof, wherein the detection system of the load parameter detection device of the radial pressure type ball mill of the lining plate comprises a detection host machine 1, a wireless receiver 2, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a power supply 9 and a force sensor 17. The installation scheme of the detection system is that a detection host 1 and a wireless receiver 2 are connected and installed near a ball mill, a wireless transmitter 5, a signal amplifier 6 and a power supply are installed on the surface of the ball mill cylinder and are arranged in a straight line with a position sensor 4 and a force sensor 17, signals of the force sensor 17 are amplified by the signal amplifier 6 and then transmitted to the wireless transmitter 5, the position sensor 4 is directly connected with the wireless transmitter 5, and the position sensor 4, the wireless transmitter 5 and the signal amplifier 6 are powered by the power supply. The force sensor signal and the position sensor signal are transmitted to the detection host 1 through the wireless transmitter 5 and the wireless receiver 2. The detection main unit 1 can be installed at any position near the ball mill as required.
The beneficial effects of the invention are as follows:
(1) The invention can accurately detect load parameters such as the loading capacity, the filling rate, the steel-material ratio and the like of the ball mill in real time, and provides accurate and reliable detection data for realizing intelligent optimal control of the ball mill.
(2) The invention is not only suitable for detecting the load parameters of miniature and small ball mills, but also suitable for detecting the load parameters of medium-sized, large-sized and extra-large ball mills, has higher precision and more convenient installation, and is more beneficial to field implementation, popularization and application.
(3) According to the invention, by directly measuring the radial pressure of the lining plate and calculating the load parameter of the ball mill through the related mathematical model, the problems that in the prior art, the detection error is large or the detection cannot be realized due to the reasons of pulp adhesion, excessive weight of ball mill equipment, ore property change, pulp concentration change and the like can be avoided, and the adaptability is stronger.
(4) The detection signals of the invention are all transmitted wirelessly, thus solving the difficult problem that the rotating ball mill cylinder is inconvenient to wire, and the detection host can be arranged at a required position, so that the installation is simpler and the debugging is more convenient.
(5) The invention has positive effects and good practical value on improving the running efficiency, grinding yield, product qualification rate and subsequent mineral separation index of the ball mill and reducing the electricity consumption and the steel consumption.
Drawings
FIG. 1 is a flow chart of the detection method of the present invention.
Fig. 2 is a flow chart of signal acquisition and calculation according to the present invention.
FIG. 3 is a general flowchart of the working steps of the present invention.
Fig. 4 is a flow chart of the installation of the detection device of the present invention.
Fig. 5 is a schematic structural diagram of a detection device according to the present invention.
FIG. 6 is a schematic view of the position and angle of the present invention.
Fig. 7 is a construction and installation diagram of the lining plate measuring device and the force sensing device of the present invention.
The reference numbers in the figure are 1-detection host, 2-wireless receiver, 3-origin metal block, 4-position sensor, 5-wireless transmitter, 6-signal amplifier, 7-force sensor, 8-lining plate measuring device, 9-power supply, 11-measuring lining plate base, 12-measuring lining plate, 13-elastic gasket, 14-hollow bolt, 15-dowel bar, 16-base lining plate fastening nut, 17-force sensor, 18-force sensor fastening bolt, 19-force sensor bracket, 20-dowel bar check nut, 21-hollow bolt connecting screw thread and 22-dowel bar connecting screw thread.
Detailed Description
The invention will be further described with reference to fig. 1 to 5 and the detailed description.
Example 1 this embodiment is used for detecting load parameters of a ball mill, the ball mill has a cylinder size of Φ4000×6400, a lining plate size of length×thickness=500 mm×314mm×50mm, the ball mill is composed of main parts such as a feeding part, a discharging part, a rotating part, a transmission part (a speed reducer, a pinion, a motor, an electric controller) and the like, the cylinder rotating speed is 16.8r/min, the rated ball loading amount is 149t, the rated loading amount is 240t, the motor power is 1250kw, the power supply voltage is 10kvAC, the treated ore is lead zinc ore, the ore density is 3.2g/cm 3, the input ore granularity is less than 13mm, and the output ore granularity range is 0.074-0.3 mm.
In order to realize accurate detection of the load parameters of the ball mill in the embodiment, the invention provides a method and a device for detecting the load parameters of a radial pressure type ball mill of a lining plate. The radial pressure type ball mill load parameter detection method for the lining plate is used for directly measuring the radial pressure of the load body in the ball mill on the measuring lining plate and the corresponding position angle of the measuring lining plate, and the load parameters such as the loading capacity, the filling rate, the steel-material ratio and the like of the load body of the ball mill are calculated through a relevant mathematical model by taking the radial pressure of the measuring lining plate and the position angle of the measuring lining plate as main basis.
The invention provides a method for detecting load parameters of a radial pressure ball mill with a lining plate, which comprises the following working steps:
Step S201, transmitting radial pressure received by the measuring lining plate to the force sensor through radial force guiding action of the lining plate measuring device, converting the radial pressure of the lining plate into a mv-level voltage signal by the force sensor, and converting the mv-level voltage signal into a volt-level voltage signal by the signal amplifier. The output signal range of the force sensor is 0-13 mv, and the output signal is converted into 0-10V through a signal amplifier.
And S202, mounting a position sensor on the outer side surface of the ball mill cylinder body in the same horizontal line as the measuring lining plate, mounting an origin metal block near the side surface of the lowest horizontal line of the ball mill cylinder body, generating an electric pulse when the position sensor passes through the origin metal block, judging that the measuring lining plate is at the origin position, simultaneously taking the origin position as a timing starting point to measure the running time of the lining plate, taking the time interval of two electric pulses as the rotation period of the ball mill cylinder body, and automatically resetting the running time timer when the pulses are generated.
And S203, collecting an electric pulse signal output by the position sensor in real time, starting timing by the occurrence of the pulse signal, and calculating the position angle of the measuring lining plate according to the rotation period of the ball mill cylinder and the running time of the measuring lining plate after passing through the origin. The calculation formula for measuring the position angle of the lining plate is as follows:
In the formula, theta is the position angle of the measuring lining plate, T is the rotation period of the ball mill cylinder, the embodiment is 3.57s, T is the running time of the measuring lining plate after passing through the origin, T is more than or equal to 0 and less than or equal to 3.57s, and T is automatically reset when the measuring lining plate passes through the origin each time, and t=0 when the measuring lining plate is reset.
In the embodiment, t=3.57 s, 0.ltoreq.t.ltoreq.3.57 s, and t=0 at the time of reset.
Step S204: the method comprises the steps of acquiring a computer A/D value of a radial pressure signal of the measuring lining plate in a period of time, sequencing the A/D value data according to the size, removing one third of big data and one third of small data, averaging the middle data, and taking the average value as a filtering value of the computer A/D value of the current radial pressure signal.
In this embodiment, the computer a/D values of the radial pressure signal of the liner plate measured in a period of time are obtained, the data are 90, the data of the 90 a/D values are sorted according to the size, 30 big data and 30 small data are removed, and the average value of the 30 middle data is used as the filtering value of the computer a/D value of the current radial pressure signal.
The mathematical model for calculating and measuring radial pressure of the lining plate is as follows:
F=KF(N1-N01-N02cosθ)
Wherein F is the radial pressure of the measuring lining plate, K F is the pressure coefficient, N 1 is the current sampling value, namely the filtering value of the computer A/D value of the radial acting force applied to the measuring lining plate, N 01 is the elastic sampling value, namely the filtering value of the computer A/D value caused by the elastic force, N 02 is the weight origin sampling value, namely the filtering value of the computer A/D value caused by the weight of the measuring lining plate when the measuring lining plate is at the origin position, and θ is the position angle of the measuring lining plate.
During the operation of the ball mill, N 01 and N 02 continuously change along with the change of materials and the abrasion of a measuring lining plate, and automatic calibration of N 01 and N 02 is required. The automatic calibration method of N 01 and N 02 comprises the steps of obtaining a filter value N 180 of a computer A/D value when the position angle of a measuring lining plate is 180 degrees and a filter value N 225 of the computer A/D value when the position angle of the measuring lining plate is 225 degrees from a filter data matrix, and carrying out calculation of N 01 and N 02, wherein the calculation formula is as follows:
In this embodiment, K F＝0.0476,N1 ranges from 16722 to N 1≤65535,N01＝8355,N02 =10722.
Step S205, discretizing the position angle theta, and establishing a dynamic data matrix corresponding to the position angle theta and the radial pressure F of the measuring lining plate. The discretizing method of the position angle theta comprises the steps of calculating a measured lining plate position angle element value delta theta by taking the length of the measured lining plate along the circumferential direction of the cylinder body as a basis, dividing the circumferential angle of the section of the cylinder body into N equal parts by taking the measured lining plate position angle element value delta theta as a basis, and sequencing each equal part of position angles along the rotation direction of the cylinder body by taking the original point position as a starting point to serve as a position angle sequence k of the measured lining plate. The correlation calculation formula is:
Wherein delta theta is the value of the angle element of the position of the measuring lining plate, L is the length of the measuring lining plate along the circumferential direction of the cylinder, D is the diameter of the cylinder of the ball mill, N is the total equal fraction of the position angle, k is the sequence number of the position angle, the calculation result takes an integer part, T is the rotation period of the cylinder of the ball mill, and T is the time after the measuring lining plate passes through the origin.
In this embodiment, Δθ=0.157, l=314 mm, d=4000 mm, n=40, 0+.t+.3.57 s, and t=3.57 s.
Recording the radial pressure F of the measured lining plate corresponding to each position angle sequence number k, and establishing the relation between the position angle sequence number k and the radial pressure F of the measured lining plate to obtain a dynamic data matrix F DS,FDS with the expression as follows:
Wherein, 1 to N are position angle serial numbers, and F 11 to F Nn are measuring lining plate radial pressure data sequences corresponding to the position angle serial numbers.
And S206, carrying out digital filtering processing on the radial pressure data of the measuring lining plate once every a ball mill cylinder rotates for a plurality of weeks, and constructing a filtering data matrix for measuring the radial pressure of the lining plate. The method for constructing the digital filtering and filtering data matrix of the radial pressure of the measuring lining plate comprises the steps of dividing the radial pressure data of the measuring lining plate in each column of a dynamic data matrix F DS into five equal parts, respectively sequencing each part of data according to the size, averaging the middle 10 data to serve as a filtering value of the part of data, averaging the filtering values of the five parts of data to serve as a final filtering value of the radial pressure of the measuring lining plate corresponding to the position angle sequence number, and constructing a filtering data matrix F DSA of the position angle sequence number and the final filtering value, wherein the expression is as follows:
Wherein 1 to N are position angle numbers, n=40 in this embodiment, and F 1A to F 40A are measured liner radial pressure data filtering values corresponding to the position angle numbers.
And S207, calculating the loading capacity of the ball mill by using the loading capacity mathematical model according to the filtering data matrix F DSA. The loading mathematical model is as follows:
In the method, M is the loading capacity (T), k is the position angle number, N is the total equal fraction of the position angle, F is the radial pressure (N) of the measured lining plate, T is the rotation period(s) of the ball mill cylinder, g is the gravity acceleration (M/s 2);Km is the loading capacity coefficient, and M 0 is the loading capacity correction amount (T).
In this example, one set of data is m=229.6t, n=40, d=4m, t=3.57 s, g=9.8M/s 2,
Km＝0.9923,M0=1.723t。
And step S208, based on the filter data matrix F DSA, a relation curve of the radial pressure of the measured lining plate and the position angle sequence number is established, the position angle sequence number corresponding to the disengaging angle and the contact angle is judged according to the data change characteristics of the radial pressure of the measured lining plate, and the disengaging angle theta A and the contact angle theta B are calculated according to the position angle sequence number corresponding to the disengaging angle and the contact angle.
The judging and calculating steps of the disengaging angle theta A and the contact angle theta B are as follows:
7-1, establishing a relation curve of the radial pressure of the measured lining plate and the position angle sequence number by taking the radial pressure data and the position angle sequence number of the filter data matrix as the basis, taking the radial pressure of the measured lining plate as the ordinate and taking the position angle sequence number of the measured lining plate as the abscissa;
Step 7-2, when the position angle of the measured lining plate is in the range of 0 to pi, the curve gradually changes from high to low, and finally the sharp decline is changed into gentle, and the intersection point of the gentle line and the sharp decline curve is used as a position angle serial number K A corresponding to the disengaging angle;
Step 7-3, when the position angle of the measured lining plate is in the range of pi to 2 pi, the curve gradually changes from low to high, the curve changes from gentle to rapid rise, and the intersection point of the gentle line and the rapid rise curve is used as a position angle serial number K B corresponding to the contact angle;
And 7-4, calculating a disengaging angle theta A and a contact angle theta B,θA＝kAΔθ,θB＝kB delta theta by taking K A and K B as references, wherein delta theta is the angle element value of the measured lining plate position.
In this embodiment, one set of data is that the position angle numbers corresponding to the detachment angle and the contact angle are K A =11 and K B =32, Δθ=0.157, and the detachment angle θ A =1.727 and the contact angle θ B = 5.024 are calculated.
And S209, calculating the filling rate of the ball mill by using a filling rate mathematical model according to the separation angle theta A and the contact angle theta B. The ball mill filling rate mathematical model is as follows:
Where Φ is a filling rate (%), K f1 is a filling rate coefficient of 0.ltoreq.θ B-θA.ltoreq.pi, K f2 is a filling rate coefficient of pi < θ B-θA < 2pi, θ A is a release angle (radian), θ B is a contact angle (radian), Φ 01 is a filling rate correction amount of 0.ltoreq.θ B-θA.ltoreq.pi, and Φ 02 is a filling rate correction amount of pi < θ B-θA < 2pi.
In this example, one set of data is K f1＝0.958,Φ01 =0.0316, Φ= 59.54% when 0.ltoreq.θ B-θA.ltoreq.pi, and K f2＝0.955,Φ02 =0.0225, Φ=48.5% when pi < θ B-θA < 2pi.
And S210, calculating the steel-material ratio of the ball mill load body by using the ball mill loading capacity and the ball mill filling rate as the basis through a steel-material ratio mathematical model. The steel-to-steel ratio mathematical model is as follows:
Wherein P is the steel-material ratio, d 1 is the steel ball density (t/M 3);d2 is the ore density (t/M 3);d3 is the water density (t/M 3), M is the loading capacity (t), C is the ore pulp percentage concentration (%), and V is the ball mill barrel volume (M 3);
Phi is the filling rate (%), K p is the steel-to-material ratio coefficient, and P 0 is the steel-to-material ratio correction.
In this embodiment, one set of data is ：P＝2.333,d1＝7.6t/m3,d2＝3.2t/m3,d3＝1t/m3,M＝215t,C＝80％,V＝80.38m3,Φ＝64.9％,Kp＝35.949,P0＝0.034.
The embodiment provides a lining plate radial pressure type ball mill load parameter detection device, which comprises a detection host 1, a wireless receiver 2, an origin metal block 3, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a force sensing device 7, a lining plate measurement device 8, a power supply 9, a measurement lining plate base 11, a measurement lining plate 12, an elastic gasket 13, a hollow bolt 14, a dowel bar 15, a base lining plate fastening nut 16, a force sensor 17, a force sensor fastening bolt 18, a force sensor bracket 19, a dowel bar check nut 20, a hollow bolt connecting thread 21 and a dowel bar connecting thread 22.
The embodiment provides a component model specification of a lining plate radial pressure type ball mill load parameter detection device, which comprises a detection host 1, a CPU I510210U, a memory 16G, a hard disk 256G, a screen 17 inches and a capacitive touch screen; the wireless receiver 2 and the wireless transmitter 5 (transceiver pair) are model LORA-MODBUS-4AI, 16 bit resolution; origin metal block 3 long x wide x thick=50 x 50 x 3,304 stainless steel material; the position sensor 4 comprises an LM18-3020NB, a power supply 10VDC, a signal amplifier 6 comprises JY-S60, a power supply 24VDC and a power supply 10VDC, a power supply 9 comprises a power supply 24VDC and a power supply 10VDC, a measuring lining plate base 11 comprises a measuring lining plate base 11 comprising a measuring lining plate 12 comprising a measuring lining plate base 1 comprising a measuring lining plate base, a measuring lining plate base 1 comprising a measuring lining plate base, a measuring lining type, measuring lining position measuring lining position measuring base, measuring a measuring position measuring.
The lining plate measuring device 8 comprises a measuring lining plate base 11, a measuring lining plate 12, an elastic gasket 13, a hollow bolt 14, a dowel bar 15, a base lining plate fastening nut 16, a dowel bar check nut 20, a hollow bolt connecting thread 21 and a dowel bar connecting thread 22. The lining plate measuring device 8 can be mounted as a whole on the ball mill cylinder. The middle of the measuring lining board base 11 is provided with a groove for installing the measuring lining board 12, and the external dimension of the measuring lining board is the same as that of other lining boards.
The force sensing device 7 comprises a force sensor 17, a force sensor fastening bolt 18, and a force sensor bracket 19.
In particular, in order to ensure an accurate measurement of the radial force of the measuring lining plate, the design of the force-sensing device 7 and the lining plate measuring device 8 of the present invention comprises in particular:
1) The hollow bolt 14 is used for fixing the measuring lining plate base 11 and the force sensor bracket 19 on the ball mill cylinder, the length of the hollow bolt is determined according to the thickness of the ball mill cylinder and the mounting component thereof, and the outer diameter of the hollow bolt is slightly smaller than the size of a lining plate mounting hole on the ball mill cylinder;
2) The middle of the hollow bolt 14 is a cylindrical hollow, the hollow diameter of the hollow bolt is slightly larger than the maximum diameter of the dowel bar 15, two ends of the hollow bolt 14 are provided with threads, one end of the hollow bolt is connected with the measuring lining plate base 11, and the other end of the hollow bolt is used for fixing the measuring lining plate base 11 and the force sensor bracket 19 on the ball mill cylinder through the base lining plate fastening nut 16;
3) The length of the dowel bar 15 is determined according to the installation requirements of the hollow bolt 14, the dowel bar check nut 20, the force sensor 17 and the measuring lining plate 12, the dowel bar 15 is large in size in the middle and small in two ends, a smooth bar is arranged in the middle, stepped threads with smaller diameters are arranged at two ends, one end is used for installing the measuring lining plate 12, the other end is used for installing the dowel bar check nut 20 and the force sensor 17, and the thread specification is determined by the installation threads of the force sensor 17.
4) The dowel bar 15 passes through the hollow bolt 14 and firmly connects the measuring lining plate 12 and the force sensor 17, and the radial pressure born by the measuring lining plate 12 is transmitted to the force sensor 17 through the combined guiding action of the dowel bar 15 and the hollow bolt 14 on the radial pressure of the measuring lining plate, so that the influence of acting forces in other directions on the measurement of the force sensor 17 can be greatly reduced, and the method provides an advantage for accurately detecting the radial pressure of the measuring lining plate.
5) An elastic gasket 13 is provided between the measuring liner plate base 11 and the measuring liner plate 12 to prevent leakage of slurry and influence of radial force measurement due to unrecoverable deformation of the elastic gasket 13, and lubricating oil is injected between the hollow bolt 14 and the dowel bar 15 to reduce friction.
6) The measuring lining board base 11, the measuring lining board 12 and the elastic gasket 13 are loss components, and other components can be reused.
The mounting scheme of the load parameter detection device of the radial pressure type ball mill of the lining plate comprises the following steps:
Step S301, a measuring lining plate 12 and an elastic gasket 13 are installed in a groove of a measuring lining plate base 11, a hollow bolt 14 is connected with the measuring lining plate base 11 through a hollow bolt connecting thread 21, the hollow bolt 14 penetrates through a mounting hole of a ball mill cylinder and a lower mounting hole of a force sensor bracket 19, and the measuring lining plate base 11 and the force sensor bracket 19 are fixed on the ball mill cylinder through a base lining plate fastening nut 16. One end of the dowel bar 15 is connected with the measuring lining plate 12 through dowel bar connecting threads 22, the other end of the dowel bar 15 is connected with dowel bar check nuts 20, so that the measuring lining plate 12 is prevented from falling off during installation, and the tightening degree of the dowel bar check nuts 20 is suitable for measuring the lining plate 12 just without loosening.
And S302, the force sensing device 7 is arranged outside the ball mill cylinder, one end of the force sensor 17 is connected with the dowel bar 15, the other end of the force sensor 17 is fixed on the force sensor bracket 19 through the force sensor fastening bolt 18, and the fastening degree of the force sensor fastening bolt 18 is about one twentieth of the full-range output signal of the force sensor 17 when the force sensor 17 is positioned at the highest point of the ball mill cylinder.
In this embodiment, the tightening degree of the force sensor tightening bolt 18 is 0.6mV in terms of the force sensor output signal when the force sensor 17 is at the highest point of the ball mill cylinder.
And S303, installing a position sensor and an origin metal block outside and nearby the ball mill cylinder, wherein the origin metal block 3 is arranged at a position aligned with the lower edge of the ball mill cylinder along the line and close to the cylinder, the position sensor 4 is arranged on the side surface of the ball mill cylinder which is flush with the horizontal line of the measuring lining plate 12, and the position sensor 4 can reliably send out an electric pulse signal when passing through the origin metal block 3.
In the present embodiment, the minimum distance between the origin metal block 3 and the position sensor 4 is 20mm.
Step S304, a detection system of the lining plate radial pressure type ball mill load parameter detection device comprises a detection host machine 1, a wireless receiver 2, a position sensor 4, a wireless transmitter 5, a signal amplifier 6, a power supply 9 and a force sensor 17. The installation scheme of the detection system is that a detection host 1 and a wireless receiver 2 are connected and installed near a ball mill, a wireless transmitter 5, a signal amplifier 6 and a power supply are installed on the surface of a ball mill cylinder body and are arranged in a straight line with a position sensor 4 and a force sensor 17, signals of the force sensor 17 are amplified by the signal amplifier 6 and then transmitted to the wireless transmitter 5, the position sensor 4 is directly connected with the wireless transmitter 5, and the position sensor 4, the wireless transmitter 5 and the signal amplifier 6 are powered by the power supply 9. The force sensor signal and the position sensor signal are transmitted to the detection host 1 through the wireless transmitter 5 and the wireless receiver 2. In the embodiment, the detection host 1 is arranged on the ore feeding platform of the ball mill.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (10)

1.一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述检测方法包括：1. A method for detecting load parameters of a liner radial pressure ball mill, characterized in that the detection method comprises: 步骤M101:测量衬板位置角度及其径向压力的信号采集与计算；Step M101: signal collection and calculation of measuring liner position angle and radial pressure; 步骤M102:建立动态数据矩阵和滤波数据矩阵；Step M102: Establishing a dynamic data matrix and a filtering data matrix; 步骤M103:以滤波数据矩阵为依据，通过装载量数学模型计算球磨机装载量。Step M103: Based on the filter data matrix, the ball mill loading capacity is calculated through the loading capacity mathematical model. 步骤M104:以滤波数据矩阵为依据，通过测量衬板径向压力变化特征判断和计算脱离角和接触角；Step M104: Based on the filtered data matrix, the breakaway angle and contact angle are determined and calculated by measuring the radial pressure variation characteristics of the liner; 步骤M105:以脱离角和接触角为依据，通过充填率数学模型计算球磨机充填率；Step M105: Calculate the ball mill filling rate through a filling rate mathematical model based on the breakaway angle and the contact angle; 步骤M106:以球磨机装载量、球磨机充填率为依据，通过钢料比数学模型计算球磨机负荷体的钢料比。Step M106: Based on the ball mill loading capacity and the ball mill filling rate, the steel material ratio of the ball mill load is calculated through a steel material ratio mathematical model. 2.根据权利要求1所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述步骤M101中，进行测量衬板位置角度及其径向压力的信号采集与计算的具体步骤包括：2. A method for detecting load parameters of a liner radial pressure ball mill according to claim 1, characterized in that: in step M101, the specific steps of collecting and calculating the signals of measuring the liner position angle and radial pressure include: 步骤S101：通过衬板测量装置的径向力导向作用，将测量衬板受到的径向压力传递给力传感器，由力传感器将衬板的径向压力转换成mv级的电压信号，再由信号放大器将mv级的电压信号转换成伏特级的电压信号；Step S101: The radial pressure on the measuring liner is transmitted to the force sensor through the radial force guiding effect of the liner measuring device, and the force sensor converts the radial pressure on the liner into an mV-level voltage signal, and then the signal amplifier converts the mV-level voltage signal into a volt-level voltage signal; 步骤S102：在与测量衬板同一水平线的球磨机筒体外部侧面安装位置传感器，在球磨机筒体最低水平线的侧面附近安装原点金属块，当位置传感器经过原点金属块时产生一个电脉冲，以此来判断测量衬板正处于原点位置，同时以原点位置为计时起点进行测量衬板运行时间计时，以先后两个电脉冲的时间间隔作为球磨机筒体的转动周期，在脉冲产生时自动复位运行时间计时器；Step S102: a position sensor is installed on the outer side of the ball mill cylinder at the same level as the measuring liner, and an origin metal block is installed near the side of the lowest horizontal line of the ball mill cylinder. When the position sensor passes through the origin metal block, an electric pulse is generated to determine that the measuring liner is at the origin position. At the same time, the measuring liner running time is measured with the origin position as the timing starting point, and the time interval between two consecutive electric pulses is used as the rotation period of the ball mill cylinder. The running time timer is automatically reset when the pulse is generated; 步骤S103：实时采集位置传感器输出的电脉冲信号，并以该脉冲信号出现开始计时，以以球磨机筒体转动周期和测量衬板经过原点后的运行时间为依据计算测量衬板位置角度；所述测量衬板位置角度的计算公式为：Step S103: collect the electrical pulse signal output by the position sensor in real time, and start timing from the appearance of the pulse signal, and calculate the position angle of the measuring liner based on the rotation period of the ball mill drum and the running time after the measuring liner passes the origin; the calculation formula of the measuring liner position angle is: 式中，θ为测量衬板位置角度；T为球磨机筒体转动周期；t为测量衬板经过原点后的运行时间，测量衬板每次经过原点时自动复位t；Where, θ is the position angle of the measuring liner; T is the rotation period of the ball mill drum; t is the running time after the measuring liner passes the origin, and the measuring liner automatically resets to t every time it passes the origin; 步骤S104：进行测量衬板径向压力信号采集与测量衬板径向压力计算，同时对各个位置角度测量衬板径向压力的采集数据进行数字滤波处理，测量衬板径向压力采集数据的数字滤波方法为：获取一段时间内测量衬板径向压力信号的计算机A/D值，对A/D值数据按大小进行排序，去掉三分之一的大数据和三分之一的小数据，对中间数据求平均值作为当前径向压力信号的计算机A/D值的滤波值；计算测量衬板径向压力的数学模型为：Step S104: collect the radial pressure signal of the measuring liner and calculate the radial pressure of the measuring liner, and perform digital filtering on the collected data of the radial pressure of the measuring liner at each position angle. The digital filtering method of the collected data of the radial pressure of the measuring liner is: obtain the computer A/D value of the radial pressure signal of the measuring liner within a period of time, sort the A/D value data by size, remove one third of the large data and one third of the small data, and calculate the average value of the intermediate data as the filter value of the computer A/D value of the current radial pressure signal; the mathematical model for calculating the radial pressure of the measuring liner is: F＝KF(N1-N01-N02cosθ)F＝K F (N 1 -N 01 -N 02 cosθ) 式中，F为测量衬板径向压力；KF为压力系数；N1为当前采样值，即当前测量衬板受到的径向作用力的计算机A/D值的滤波值；N01为弹性采样值，即由弹性力引起的计算机A/D值的滤波值；N02为重量原点采样值，即当测量衬板在原点位置时，由测量衬板重量引起的计算机A/D值的滤波值；θ为测量衬板位置角度；Where, F is the radial pressure of the measuring liner; KF is the pressure coefficient; N1 is the current sampling value, that is, the filtered value of the computer A/D value of the radial force currently measured on the measuring liner; N01 is the elastic sampling value, that is, the filtered value of the computer A/D value caused by the elastic force; N02 is the weight origin sampling value, that is, when the measuring liner is at the origin position, the filtered value of the computer A/D value caused by the measuring liner weight; θ is the measuring liner position angle; 球磨机运行过程中，需要对N01和N02进行自动校准。During the operation of the ball mill, N 01 and N 02 need to be automatically calibrated. 3.根据权利要求1或权利要求2所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述N01和N02的自动校准方法为：从滤波数据矩阵获取测量衬板在位置角度为180°时的计算机A/D值的滤波值N180和测量衬板在225°位置角度时计算机A/D值的滤波值N225，N01和N02的计算公式为：3. A liner radial pressure ball mill load parameter detection method according to claim 1 or claim 2, characterized in that: the automatic calibration method of the N 01 and N 02 is: obtaining the filtered value N 180 of the computer A/D value when the liner is at a position angle of 180° and the filtered value N 225 of the computer A/D value when the liner is at a position angle of 225° from the filter data matrix, and the calculation formulas of N 01 and N 02 are : 4.根据权利要求1所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述步骤M102中，建立动态数据矩阵和滤波数据矩阵的具体步骤包括：4. A liner radial pressure ball mill load parameter detection method according to claim 1, characterized in that: in the step M102, the specific steps of establishing the dynamic data matrix and the filter data matrix include: 步骤3-1：对位置角度θ进行离散化处理，建立位置角度θ与测量衬板径向压力F对应的动态数据矩阵，其离散化方法为：以测量衬板沿筒体圆周方向的长度为依据计算测量衬板位置角度元值Δθ，以测量衬板位置角度元值Δθ为依据计算位置角度总等分数N；以原点位置为起点，沿筒体转动方向对每一等分位置角度进行排序，得到测量衬板的位置角度序号k；记录每个位置角度序号k对应的测量衬板径向压力F，建立位置角度序号k与测量衬板径向压力F的关系，得到动态数据矩阵FDS；Step 3-1: Discretize the position angle θ, and establish a dynamic data matrix corresponding to the position angle θ and the radial pressure F of the measuring liner. The discretization method is as follows: calculate the position angle element value Δθ of the measuring liner based on the length of the measuring liner along the circumferential direction of the cylinder, and calculate the total equal fraction N of the position angle based on the position angle element value Δθ of the measuring liner; sort each equally divided position angle along the rotation direction of the cylinder with the origin as the starting point to obtain the position angle sequence number k of the measuring liner; record the radial pressure F of the measuring liner corresponding to each position angle sequence number k, establish the relationship between the position angle sequence number k and the radial pressure F of the measuring liner, and obtain the dynamic data matrix F DS ; 步骤3-2：球磨机筒体每转动数周，进行一次测量衬板径向压力数据的数字滤波处理，构建测量衬板径向压力的滤波数据矩阵；测量衬板径向压力的数字滤波及滤波数据矩阵建立方法为：将动态数据矩阵FDS的每一列的测量衬板径向压力数据分为五等分，分别对每一份数据按大小进行排序，并对中间若干个数据求平均值作为该份数据的滤波值，再对五份数据的滤波值求平均值，以此作为该位置角度序号对应的测量衬板径向压力的最后滤波值，构建位置角度序号与最后滤波值的滤波数据矩阵FDSA。Step 3-2: Every several revolutions of the ball mill drum, the digital filtering processing of the liner radial pressure data is performed to construct a filtering data matrix for measuring the liner radial pressure; the digital filtering and filtering data matrix establishment method for measuring the liner radial pressure is as follows: the liner radial pressure data of each column of the dynamic data matrix F DS is divided into five equal parts, each portion of the data is sorted by size, and the average of several middle data is calculated as the filtering value of the data, and then the average of the filtering values of the five portions of data is calculated as the final filtering value of the liner radial pressure corresponding to the position angle serial number, and the filtering data matrix F DSA of the position angle serial number and the final filtering value is constructed. 5.根据权利要求4所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述测量衬板位置角度元值Δθ、位置角度总等分数N为、位置角度序号k的相关计算公式为：5. A method for detecting load parameters of a liner radial pressure ball mill according to claim 4, characterized in that: the calculation formula for measuring the liner position angle element value Δθ, the total equal fraction N of the position angle, and the position angle sequence number k is: 式中，Δθ为测量衬板位置角度元值；L为测量衬板沿筒体圆周方向的长度；D为球磨机筒体直径；N为位置角度总等分数；T为球磨机筒体转动周期；k为位置角度序号，计算结果取整数部分；t为测量衬板经过原点后的时间，脉冲信号产生时复位t。Wherein, Δθ is the value of the measuring liner position angle; L is the length of the measuring liner along the circumferential direction of the cylinder; D is the diameter of the ball mill cylinder; N is the total equal fraction of the position angle; T is the rotation period of the ball mill cylinder; k is the position angle serial number, and the calculation result takes the integer part; t is the time after the measuring liner passes the origin, and t is reset when the pulse signal is generated. 6.根据权利要求1所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述步骤M103中，以滤波数据矩阵为依据，通过装载量数学模型计算球磨机装载量，所述装载量数学模型为：6. A liner radial pressure ball mill load parameter detection method according to claim 1, characterized in that: in the step M103, the ball mill load is calculated by a load mathematical model based on the filter data matrix, and the load mathematical model is: 式中，M为装载量；k为位置角度序号；Δθ为测量衬板位置角度元值；N为位置角度总等分数；F为测量衬板径向压力；T为球磨机筒体转动周期；g为重力加速度；Km为装载量系数；M0为装载量修正量。Wherein, M is the load; k is the position angle serial number; Δθ is the measured liner position angle element value; N is the total equal fraction of the position angle; F is the measured liner radial pressure; T is the ball mill cylinder rotation period; g is the gravitational acceleration; Km is the load coefficient; M0 is the load correction value. 7.根据权利要求1所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述步骤M104中，以滤波数据矩阵为依据，通过测量衬板径向压力变化特征判断和计算脱离角和接触角，获取测量衬板脱离角和接触角的方法为：7. A method for detecting load parameters of a liner radial pressure ball mill according to claim 1, characterized in that: in the step M104, based on the filter data matrix, the liner radial pressure change characteristics are measured to determine and calculate the breakaway angle and contact angle, and the method for obtaining the measured liner breakaway angle and contact angle is: 以滤波数据矩阵的径向压力数据和位置角度序号为依据，建立测量衬板径向压力与位置角度序号的关系曲线，并根据该曲线变化特征判断球磨机负荷体的脱离角和接触角对应的位置角度序号，根据对应的位置角度序号计算脱离角θA与接触角θB；Based on the radial pressure data and position angle serial number of the filter data matrix, a relationship curve between the radial pressure of the measuring liner and the position angle serial number is established, and the position angle serial number corresponding to the breakaway angle and contact angle of the ball mill load is determined according to the change characteristics of the curve, and the breakaway angle θ A and the contact angle θ B are calculated according to the corresponding position angle serial number; 所述脱离角θA和接触角θB的判断和计算具体步骤为：The specific steps of judging and calculating the breakaway angle θA and the contact angle θB are as follows: 步骤7-1：以滤波数据矩阵的径向压力数据和位置角度序号为依据，以测量衬板径向压力为纵坐标，以测量衬板位置角度序号为横坐标，建立测量衬板径向压力与位置角度序号的关系曲线；Step 7-1: Based on the radial pressure data and position angle serial number of the filter data matrix, with the measured liner radial pressure as the ordinate and the measured liner position angle serial number as the abscissa, a relationship curve between the measured liner radial pressure and the position angle serial number is established; 步骤7-2：当测量衬板的位置角度在0至π范围内时，曲线由高到低逐渐变化，最后由急剧下降变成平缓，以平缓线与急剧下降曲线的交点作为脱离角对应的位置角度序号KA；Step 7-2: When the position angle of the measuring liner is within the range of 0 to π, the curve changes gradually from high to low, and finally changes from a sharp drop to a gentle drop. The intersection of the gentle line and the sharp drop curve is taken as the position angle serial number K A corresponding to the breakaway angle; 步骤7-3：当测量衬板的位置角度在π至2π范围内时，曲线由低到高逐渐变化，由平缓变成急剧升高，以平缓线与急剧升高曲线的交点作为接触角对应的位置角度序号KB；Step 7-3: When the position angle of the measuring liner is within the range of π to 2π, the curve changes gradually from low to high, from gentle to sharp rise, and the intersection of the gentle line and the sharp rise curve is taken as the position angle serial number K B corresponding to the contact angle; 步骤7-4：以KA和KB为依据计算脱离角θA和接触角θB，θA＝kAΔθ，θB＝kBΔθ,Δθ为测量衬板位置角度元值。Step 7-4: Calculate the breakaway angle θ A and contact angle θ B based on KA and KB , θ A = KA Δθ, θ B = KB Δθ, Δθ is the angle element value of the measuring liner position. 8.根据权利要求1所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述步骤M105中，以脱离角和接触角为依据，通过充填率数学模型计算球磨机充填率，所述球磨机充填率数学模型为：8. A liner radial pressure ball mill load parameter detection method according to claim 1, characterized in that: in the step M105, the ball mill filling rate is calculated by a filling rate mathematical model based on the breakaway angle and the contact angle, and the ball mill filling rate mathematical model is: 式中，Φ为充填率；Kf1为0≤θB-θA≤π的充填率系数；Kf2为π﹤θB-θA﹤2π的充填率系数；θA为脱离角；θB为接触角；Φ01为0≤θB-θA≤π时的充填率修正量；Φ02为π<θB-θA<2π时的充填率修正量。In the formula, Φ is the filling rate; K f1 is the filling rate coefficient when 0≤θ B -θ A ≤π; K f2 is the filling rate coefficient when π﹤θ B -θ A ﹤2π; θ A is the breakaway angle; θ B is the contact angle; Φ 01 is the filling rate correction when 0≤θ B -θ A ≤π; Φ 02 is the filling rate correction when π<θ B -θ A <2π. 9.根据权利要求1所述的一种衬板径向压力式球磨机负荷参数检测方法，其特征在于：所述步骤M106中，以球磨机装载量、球磨机充填率为依据，通过钢料比数学模型计算球磨机负荷体的钢料比，所述钢料比数学模型为：9. A liner radial pressure ball mill load parameter detection method according to claim 1, characterized in that: in the step M106, the steel ratio of the ball mill load body is calculated based on the ball mill loading capacity and the ball mill filling rate through a steel ratio mathematical model, and the steel ratio mathematical model is: 式中，P为钢料比；d1为钢球密度；d2为矿石密度；d3为水密度；M为装载量；Where, P is the steel-to-material ratio; d1 is the steel ball density; d2 is the ore density; d3 is the water density; M is the loading capacity; C为矿浆百分比浓度；V为球磨机筒体体积；Φ为充填率；Kp为钢料比系数；P0为钢料比修正量。C is the percentage concentration of slurry; V is the volume of ball mill cylinder; Φ is the filling rate; Kp is the steel-to-material ratio coefficient; P0 is the steel-to-material ratio correction amount. 10.一种衬板径向压力式球磨机负荷参数检测装置，其特征在于：包括检测主机(1)、无线接收器(2)、原点金属块(3)、位置传感器(4)、无线发送器(5)、信号放大器(6)、力传感装置(7)、衬板测量装置(8)、电源(9)；10. A liner radial pressure ball mill load parameter detection device, characterized in that it comprises a detection host (1), a wireless receiver (2), an origin metal block (3), a position sensor (4), a wireless transmitter (5), a signal amplifier (6), a force sensing device (7), a liner measuring device (8), and a power supply (9); 所述衬板测量装置(8)包括测量衬板基座(11)、测量衬板(12)、弹性垫片(13)、空心螺栓(14)、传力杆(15)、基座衬板紧固螺母(16)、传力杆止回螺母(20)、空心螺栓连接螺纹(21)、传力杆连接螺纹(22)；The lining plate measuring device (8) comprises a measuring lining plate base (11), a measuring lining plate (12), an elastic gasket (13), a hollow bolt (14), a force transmission rod (15), a base lining plate fastening nut (16), a force transmission rod check nut (20), a hollow bolt connecting thread (21), and a force transmission rod connecting thread (22); 所述力传感装置(7)包括力传感器(17)，力传感器紧固螺栓(18)，力传感器支架(19)；The force sensing device (7) comprises a force sensor (17), a force sensor fastening bolt (18), and a force sensor bracket (19); 所述测量衬板(12)和弹性垫片(13)安装在测量衬板基座(11)的凹槽内，空心螺栓(14)通过空心螺栓连接螺纹(21)连接测量衬板基座(11)，空心螺栓(14)穿过球磨机筒体的安装孔和力传感器支架(19)的下安装孔，通过基座衬板紧固螺母(16)将测量衬板基座(11)和力传感器支架(19)固定在球磨机筒体上，传力杆(15)的一端通过传力杆连接螺纹(22)连接测量衬板(12)，传力杆(15)的另一端连接传力杆止回螺母(20)，以防止安装时测量衬板(12)掉落，传力杆止回螺母(20)的紧固程度以测量衬板(12)刚好不松动为宜；The measuring liner (12) and the elastic gasket (13) are installed in the groove of the measuring liner base (11); the hollow bolt (14) is connected to the measuring liner base (11) through the hollow bolt connecting thread (21); the hollow bolt (14) passes through the mounting hole of the ball mill cylinder and the lower mounting hole of the force sensor bracket (19); the measuring liner base (11) and the force sensor bracket (19) are fixed to the ball mill cylinder through the base liner fastening nut (16); one end of the force transmission rod (15) is connected to the measuring liner (12) through the force transmission rod connecting thread (22); the other end of the force transmission rod (15) is connected to the force transmission rod check nut (20) to prevent the measuring liner (12) from falling off during installation; the tightening degree of the force transmission rod check nut (20) is preferably such that the measuring liner (12) is just not loose; 所述力传感装置(7)安装在球磨机筒体的外部，力传感器(17)的一端连接传力杆(15)，另一端通过力传感器紧固螺栓(18)固定在力传感器支架(19)上，力传感器紧固螺栓(18)的紧固程度以力传感器(17)处于球磨机筒体最高点时力传感器输出信号为其满量程输出信号的二十分之一；The force sensor device (7) is installed outside the ball mill cylinder, one end of the force sensor (17) is connected to the force transmission rod (15), and the other end is fixed to the force sensor bracket (19) through the force sensor fastening bolt (18), and the degree of fastening of the force sensor fastening bolt (18) is such that when the force sensor (17) is at the highest point of the ball mill cylinder, the output signal of the force sensor is one twentieth of its full-scale output signal; 所述原点金属块(3)安装在与球磨机筒体下边沿线对齐且靠近筒体的位置，位置传感器(4)安装在与测量衬板(12)水平线平齐的球磨机筒体侧面，并且保证位置传感器(4)经过原点金属块(3)时能发出电脉冲信号；The origin metal block (3) is installed at a position aligned with the lower edge of the ball mill cylinder and close to the cylinder, and the position sensor (4) is installed on the side of the ball mill cylinder flush with the horizontal line of the measuring liner (12), and it is ensured that the position sensor (4) can send an electric pulse signal when passing through the origin metal block (3); 所述无线发送器(5)、信号放大器(6)和电源(9)安装在球磨机筒体表面，并且与位置传感器(4)和力传感器(17)成直线布置；力传感器(17)信号通过信号放大器(6)放大后传送给无线发送器(5)，位置传感器(4)直接连接无线发送器(5)；位置传感器(4)、无线发送器(5)和信号放大器(6)由电源(9)供电，力传感器信号和位置传感器信号通过无线发送器(5)和无线接收器(2)传送给检测主机(1)。The wireless transmitter (5), signal amplifier (6) and power supply (9) are installed on the surface of the ball mill cylinder and arranged in a straight line with the position sensor (4) and the force sensor (17); the signal of the force sensor (17) is amplified by the signal amplifier (6) and then transmitted to the wireless transmitter (5), and the position sensor (4) is directly connected to the wireless transmitter (5); the position sensor (4), wireless transmitter (5) and signal amplifier (6) are powered by the power supply (9), and the force sensor signal and the position sensor signal are transmitted to the detection host (1) through the wireless transmitter (5) and the wireless receiver (2).
CN202510015945.9A 2025-01-06 2025-01-06 A method and device for detecting load parameters of liner radial pressure ball mill Pending CN119549244A (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU1796256C (en) * 1990-12-05 1993-02-23 Ленинградский горный институт им.Г.В.Плеханова Method of mill ball filling control
CN103438934A (en) * 2013-08-27 2013-12-11 昆明理工大学 Method and device for detecting load parameters of ball mill
CN112742591A (en) * 2020-11-30 2021-05-04 洛阳矿山机械工程设计研究院有限责任公司 Intelligent control system and method for vertical stirring mill

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU1796256C (en) * 1990-12-05 1993-02-23 Ленинградский горный институт им.Г.В.Плеханова Method of mill ball filling control
CN103438934A (en) * 2013-08-27 2013-12-11 昆明理工大学 Method and device for detecting load parameters of ball mill
CN112742591A (en) * 2020-11-30 2021-05-04 洛阳矿山机械工程设计研究院有限责任公司 Intelligent control system and method for vertical stirring mill

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