Abstract:Abstract: Aiming at the problem that the ball adding into semi-autogenous mill by manual in a concentrator, a scheme of using industrial robots to automatically pick up and transport medium steel balls is proposed, and a automatic control system for picking and transporting steel balls based on Siemens S7-200 SMART CPUSR30 PLC is designed.The control system completes the automatic control of the ball adding process. The whole control system takes the PLC control module as the core and is connected with each module to complete the process of automatically adding and taking steel balls to the semi-autogenous mill. Finally, the operation result information is displayed on the touch screen to realize real-time monitoring of the automatic ball adding process. The experimental results show that the control system can better complete the automatic ball feeding process of the semi-autogenous mill. Compared with the manual operation of electromagnet to take balls, the control system has higher stability, the medium filling rate remains relatively stable, and the grinding effect is improved.