基于视觉机器人的球磨机自动加球系统

Automatic ball-adding system for ball mill based on visual robot

传统的球磨机自动加球系统利用重力和分球机构实现磨球的自动分离,因磨球表面粗糙致使磨球间互相挤压,易发生磨球堵塞或卡住问题。针对这一问题,提出了一种新型球磨机自动加球系统,由视觉机器人识别并计算出磨球的坐标,驱动机械臂末端的电永磁铁,从磨球堆最上层逐个吸取磨球,再由输送系统将磨球输送到球磨机内,可有效消除磨球的堵球、卡球现象。应用结果表明,该自动加球系统达到了设计目的,满足工艺、节能要求,使用性能良好。

The traditional automatic ball-adding system of the ball mill uses gravity and ball separation mechanism to achieve the automatic separation of grinding balls.Due to the rough surface of grinding balls,they are squeezed with each other,which can easily cause blockage or jamming of grinding balls.Aiming at this problem,a new type of automatic ball-adding system for the ball mill was proposed.In this system,the visual robot recognized and calculated the coordinates of the grinding balls,drove the electric permanent magnet at the end of the robotic arm,and sucked the grinding balls one by one from the top layer of the grinding ball pile.Then,the conveying system transported the grinding balls into the ball mill,effectively eliminating the phenomenon of ball blockage and jamming.The application showed that the system had achieved the design objectives,met the requirements of process and energy conservation,and had good performance in use.