CN115786610A - Tapping machine and control method - Google Patents
Tapping machine and control method Download PDFInfo
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- CN115786610A CN115786610A CN202211532445.5A CN202211532445A CN115786610A CN 115786610 A CN115786610 A CN 115786610A CN 202211532445 A CN202211532445 A CN 202211532445A CN 115786610 A CN115786610 A CN 115786610A
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- 238000010079 rubber tapping Methods 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 210000000078 claw Anatomy 0.000 claims abstract description 57
- 238000006073 displacement reaction Methods 0.000 claims abstract description 31
- 239000011435 rock Substances 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 2
- 230000003213 activating effect Effects 0.000 claims 1
- 238000005553 drilling Methods 0.000 abstract description 17
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 14
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 229910052742 iron Inorganic materials 0.000 abstract description 7
- 239000003921 oil Substances 0.000 description 53
- 238000010586 diagram Methods 0.000 description 5
- 239000010720 hydraulic oil Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000003723 Smelting Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The application discloses a tapping machine and a control method. The control method comprises the steps of setting a parameter relation between the angular displacement of the encoder and the displacement of the walking trolley in the controller, and setting a first threshold value and a second threshold value; starting the tapping machine, controlling the traveling trolley to move to the first end of the crossbeam by the controller, driving the drill rod to rotate by the rock drill and driving the oil cylinder to drive the claw holding mechanism to close; when the displacement of the walking trolley reaches a first threshold value, the controller controls the driving oil cylinder to drive the claw holding mechanism to open; and when the displacement of the walking trolley reaches a second threshold value, the controller controls the walking trolley to move to the second end of the crossbeam. This application can avoid embracing claw mechanism at the drilling in-process of tapping machine by the molten iron scaling loss, has reduced manufacturing cost, has improved production efficiency.
Description
Technical Field
The application belongs to the technical field of smelting, and particularly relates to a tapping machine and a control method.
Background
The holding claw mechanism on the tapping machine is arranged at one end, close to a tap hole of the blast furnace, of the tapping machine so as to guide a drill rod of the tapping machine and avoid damage to the tap hole of the blast furnace due to lack of guidance of the drill rod. However, when the tapping machine is used for tapping a tap hole of a blast furnace, molten iron with a temperature as high as 1500 ℃ splashed from the tap hole often causes burning loss of the claw holding mechanism, thereby increasing production cost and reducing production efficiency caused by replacing the burnt claw holding mechanism.
Disclosure of Invention
This application aims at solving the easy molten iron scaling loss of embracing claw mechanism that the tapping machine can be solved to a certain extent at least, and leads to manufacturing cost to increase, the technical problem that production efficiency reduceed. Therefore, the application provides the tapping machine and the control method.
The technical scheme of the application is as follows:
in one aspect, the present application provides a tapping machine, comprising:
a girder;
the hydraulic motor is arranged at the first end of the crossbeam;
the hydraulic motor can drive the travelling trolley to reciprocate along the axial direction of the girder;
the rock drill is arranged on the walking trolley along the axial direction of the girder;
the drill rod is arranged along the axial direction of the girder, the first end of the drill rod is a working end, and the second end of the drill rod is connected with the output end of the rock drill;
the clamping claw mechanism is arranged at the second end of the girder and can clamp the drill rod in an opening and closing manner;
the driving oil cylinder is arranged on the girder and can drive the claw holding mechanism to open and close;
the rotating shaft of the encoder is correspondingly connected with the rotating shaft of the hydraulic motor;
and the controller is electrically connected with the hydraulic motor, the rock drill and the driving oil cylinder respectively.
Furthermore, the tapping machine further comprises a double-row roller chain, the double-row roller chain is arranged on the crossbeam along the axial direction of the crossbeam, a driving gear of the double-row roller chain is arranged at the first end of the crossbeam and correspondingly connected with a rotating shaft of the hydraulic motor, a driven gear of the double-row roller chain is arranged at the second end of the crossbeam, and the walking trolley is arranged on the double-row roller chain.
Furthermore, the tapping machine further comprises a tracking trolley, the tracking trolley is arranged on the double rows of roller chains, the tracking trolley is arranged between the walking trolley and the claw holding mechanism, and the drill rod penetrates through the tracking trolley.
Furthermore, the tapping machine further comprises a transmission rod, the transmission rod is arranged along the axial direction of the crossbeam, and the first end of the transmission rod is connected with a rocker arm of the claw holding mechanism;
the driving oil cylinder is arranged along the axial direction perpendicular to the girder, and a piston rod of the driving oil cylinder is hinged with the second end of the transmission rod.
The tapping machine further comprises a control system, the control system comprising:
an oil pump;
the oil tank is connected with the oil pump;
the first reversing valve is provided with a port P, a port T, a port A and a port B, the port P of the first reversing valve is connected with the oil pump, and the port T of the first reversing valve is connected with the oil tank;
the hydraulic motor is provided with an A port and a B port, the A port of the first reversing valve is connected with the A port of the hydraulic motor, and the B port of the first reversing valve is connected with the B port of the hydraulic motor;
the second reversing valve is provided with a port P, a port T, a port A and a port B, the port P of the second reversing valve is connected with the oil pump, and the port T of the second reversing valve is connected with the oil tank;
the hydraulic lock comprises a first one-way valve and a second one-way valve, wherein the first one-way valve and the second one-way valve are respectively provided with an A port, a B port and an X port, the A port of the second reversing valve is connected with the A port of the first one-way valve, the B port of the second reversing valve is connected with the A port of the second one-way valve, the X port of the first one-way valve is connected between the B port of the second reversing valve and the A port of the second one-way valve, and the X port of the second one-way valve is connected between the A port of the second reversing valve and the A port of the first one-way valve;
the driving oil cylinder is provided with an opening A and an opening B, the opening B of the first one-way valve is connected with the opening A of the driving oil cylinder, and the opening B of the second one-way valve is connected with the opening B of the driving oil cylinder;
the third reversing valve is provided with a port P, a port T and a port A, the port P of the third reversing valve is connected with the oil pump, and the port T of the third reversing valve is connected with the oil tank;
the hydraulic brake is provided with an A port, the A port of the third reversing valve is connected with the A port of the hydraulic brake, and the hydraulic brake is arranged corresponding to the hydraulic motor;
the first reversing valve, the second reversing valve and the third reversing valve are electrically connected with the controller respectively.
Further, hydraulic system still includes three relief pressure valve, and is three the relief pressure valve is equallyd divide and is had P1 mouth, P2 mouth and L mouth, and is three the P1 mouth of relief pressure valve all with the oil pump is connected, and is three the P2 mouth of relief pressure valve all with the oil tank is connected, and is three the P2 mouth of relief pressure valve respectively with the P mouth of first switching-over valve, the P mouth of second switching-over valve and the P mouth of third switching-over valve.
Further, hydraulic system still includes hydraulic check valve, and is three the P1 mouth of relief pressure valve with equally divide between the oil pump and be connected with hydraulic check valve respectively, and, the T mouth of first switching-over valve the T mouth of second switching-over valve and the T mouth of third switching-over valve with equally divide between the postbox and be connected with hydraulic check valve respectively.
Furthermore, first switching-over valve and first switching-over valve are three-position four-way proportional reversing valve, the third switching-over valve is two-position three-way proportional reversing valve, first switching-over valve second switching-over valve and third switching-over valve are equallyd divide and are had L mouth respectively for be used for with the oil tank is connected.
In another aspect, the present application further provides a control method suitable for the above tapping machine, where the control method includes:
setting a parameter relation between the angular displacement of the encoder and the displacement of the walking trolley in the controller, and setting a first threshold value and a second threshold value;
starting the tapping machine, controlling the walking trolley to move to the first end of the girder by the controller, driving the drill rod to rotate by the rock drilling machine, and driving the claw holding mechanism to be closed by the driving oil cylinder;
when the displacement of the walking trolley reaches the first threshold value, the controller controls the driving oil cylinder to drive the claw holding mechanism to open;
and the displacement of the walking trolley reaches the second threshold value, and the controller controls the walking trolley to move towards the second end of the girder.
Further, said starting said tapping machine comprises: the oil pump is started, the controller controls the P port, the T port, the A port and the B port of the first reversing valve to be in a closed state, the P port of the second reversing valve is in a closed state, the T port, the A port and the B port of the second reversing valve are communicated with each other, the P port of the third reversing valve is in a closed state, and the T port of the third reversing valve is communicated with the A port;
the controller controls the walking trolley to move towards the first end of the girder, and the controller comprises: the controller controls the communication between the port P and the port A of the first reversing valve, and the port T and the port B of the first reversing valve;
the controller control drive hydro-cylinder drive embrace the closure of claw mechanism includes: the controller controls the port P of the second reversing valve to be communicated with the port A, the port T of the second reversing valve is communicated with the port B until the claw holding mechanism is completely closed, the controller controls the port P of the second reversing valve to be in a closed state, and the port T, the port A and the port B of the second reversing valve are communicated with each other;
the controller control drive hydro-cylinder drive embrace the claw mechanism and open and include: the controller controls the port P of the second reversing valve to be communicated with the port B, the port T of the second reversing valve is communicated with the port A until the clamping claw mechanism is completely opened, the controller controls the port P of the second reversing valve to be in a closed state, and the port T, the port A and the port B of the second reversing valve are communicated with each other;
the controller controls the traveling trolley to move towards the second end of the girder, and the controller comprises: the controller controls a port P, a port T, a port A and a port B of the first reversing valve to be in a closed state, the port P of the third reversing valve is communicated with the port A, the port T of the third reversing valve is in the closed state until the hydraulic motor stops rotating, the controller controls the port P of the third reversing valve to be in the closed state, the port T of the third reversing valve is communicated with the port A, the port P of the first reversing valve is communicated with the port B, and the port T of the first reversing valve is communicated with the port A.
The embodiment of the application has at least the following beneficial effects:
the control method that this application provided is applicable to tapping machine, and when the displacement volume of walking dolly reached first threshold value, controller control drive cylinder drive embraced claw mechanism and opened to lead to the drilling rod through the mud cover, and no longer lead to through the drilling rod, the drilling rod continues drilling forward, and the displacement volume of walking dolly reaches the second threshold value, and at this moment, the drilling rod is about to bore through the taphole, and the controller controls the walking dolly backward movement immediately, accomplishes the opening of taphole with this. Because the claw holding mechanism is opened before the drill rod passes through the tap hole, the burning loss of the claw holding mechanism by molten iron sprayed out of the tap hole is avoided, the production cost is reduced, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a tapping machine according to an embodiment of the present application;
FIG. 2 is a top view of the tapping machine of FIG. 1;
FIG. 3 is a schematic structural diagram of the clasping mechanism of FIG. 1;
FIG. 4 is a schematic diagram of the control system of the tapping machine of FIG. 1;
fig. 5 is a flowchart illustrating a control method according to an embodiment of the present application.
Reference numerals:
10-a girder; 20-a hydraulic motor; 30-a walking trolley; 40-a rock drill; 50-a drill pipe; 60-a claw holding mechanism; 61-a rocker arm; 62-a pull rod; 63-a base; 64-holding claw guide sleeve; 70-driving oil cylinder; 80-an encoder; 90-double rows of roller chains; 100-tracking a trolley; 110-a transmission rod; 120-oil tank; 140-a first direction valve; 150-a second reversing valve; 160-hydraulic lock; 161-a first one-way valve; 162-a second one-way valve; 170-a third directional valve; 180-hydraulic brake; 190-a pressure relief valve; 200-hydraulic check valve; 210-high pressure ball valve.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
The application is described below with reference to specific embodiments in conjunction with the following drawings:
fig. 1 and 2 are schematic structural diagrams of a tapping machine according to an embodiment of the present disclosure, and referring to fig. 1 and 2, the tapping machine includes a girder 10, a hydraulic motor 20, a traveling carriage 30, a rock drilling machine 40, a drill rod 50, a gripper mechanism 60, a driving cylinder 70, an encoder 80, and a controller.
The hydraulic motor 20 in the embodiment of the application is arranged at the first end of the girder 10, the hydraulic motor 20 can drive the walking trolley 30 to reciprocate along the axial direction of the girder 10, the rock drilling machine 40 is arranged on the walking trolley 30 along the axial direction of the girder 10, the drill rod 50 is arranged along the axial direction of the girder 10, the first end of the drill rod 50 is a working end, the second end of the drill rod 50 is connected with the output end of the rock drilling machine 40, the holding claw mechanism 60 is arranged at the second end of the girder 10, the holding claw mechanism 60 can clamp the drill rod 50 in an opening and closing manner, the driving oil cylinder 70 is arranged on the girder 10, and the holding claw mechanism 60 can be driven to open and close, the rotating shaft of the encoder 80 is correspondingly connected with the rotating shaft of the hydraulic motor 20, and the controller is electrically connected with the hydraulic motor 20, the rock drilling machine 40 and the driving oil cylinder 70 respectively.
Specifically, when the tapping machine is opened, the hydraulic motor 20 drives the traveling trolley 30 to move from the first end of the girder 10 to the second end of the girder 10, meanwhile, the rock drill drives the drill rod 50 to rotate and impact, the driving oil cylinder 70 drives the clamping mechanism 60 to close, so that the drill rod 50 is clamped by the clamping mechanism 60 to guide, the drill rod 50 extends out of the tapping machine to drill a mud sleeve of a blast furnace taphole through a drill bit on the working end of the drill rod 50, and when the drill rod 50 is about to drill through the mud sleeve, the hydraulic motor 20 immediately rotates reversely to drive the traveling trolley 30 to move from the second end of the girder 10 to the first end of the girder 10, so that iron removal of the blast furnace is realized. Further, the controller converts the displacement amount of the drill rod 50 from the angular displacement amount of the hydraulic motor 20 by the encoder 80, and controls the hydraulic motor 20 to rotate in reverse to move the drill rod 50 in the reverse direction when the displacement amount of the rotary rod reaches a desired value.
Further, referring to fig. 1, the tapping machine further includes a double-row roller chain 90, the double-row roller chain 90 is disposed on the girder 10 along an axial direction of the girder 10, a driving gear of the double-row roller chain 90 is disposed at a first end of the girder 10 and is correspondingly connected to a rotating shaft of the hydraulic motor 20, a driven gear of the double-row roller chain 90 is disposed at a second end of the girder 10, and the traveling trolley 30 is disposed on the double-row roller chain 90. When the hydraulic motor 20 rotates clockwise, the traveling trolley 30 moves from the first end to the second end of the girder 10, and when the hydraulic motor 20 rotates counterclockwise, the traveling trolley 30 moves from the second end to the first end of the girder 10, so that the traveling trolley 30 is driven by the hydraulic motor 20.
Further, referring to fig. 1, the tapping machine further includes a tracking trolley 100, the tracking trolley 100 is disposed on the double-row roller chain 90, the tracking trolley 100 is disposed between the walking trolley 30 and the holding claw mechanism 60, and the drill rod 50 is disposed on the tracking trolley 100 in a penetrating manner, so as to support the drill rod 50 by the tracking trolley 100.
Fig. 3 is a schematic structural diagram of the claw holding mechanism 60 shown in fig. 1, and referring to fig. 3, the claw holding mechanism 60 includes a rocker arm 61, two pull rods 62, two bases 63, and two claw holding guide sleeves 64 integrally fastened, wherein the rocker arm 61 is pivotally connected to first ends of the two pull rods 62, second ends of the two pull rods 62 are pivotally connected to the two bases 63, the two claw holding guide sleeves 64 are respectively connected to the two bases 63, the two bases 63 are rotatably disposed on the girder 10, the closing of the claw holding mechanism 60 can be realized by rotating the rocker arm 61 clockwise, and the opening of the claw holding mechanism 60 can be realized by rotating the rocker arm 61 counterclockwise.
Further, referring to fig. 1, the tapping machine further includes a transmission rod 110, the transmission rod 110 is disposed along an axial direction of the girder 10, a first end of the transmission rod 110 is connected to the rocker arm 61 of the claw holding mechanism 60, the driving cylinder 70 is disposed along an axial direction perpendicular to the girder 10, and a piston rod of the driving cylinder 70 is hinged to a second end of the transmission rod 110. Therefore, the driving rod 110 is driven to rotate back and forth through the telescopic motion of the driving oil cylinder 70, and then the rocker arm 61 of the claw holding mechanism 60 is driven to rotate through the rotating rod, so that the opening and closing driving of the claw holding mechanism 60 by the driving oil cylinder 70 is realized. In addition, a hinge hole for hinging between the piston rod of the driving cylinder 70 and the second end of the transmission rod 110 is set to be an oblong hole, so that the driving cylinder 70 drives the transmission rod 110 to rotate.
Further, referring to fig. 4, the tapping machine further includes a control system including an oil pump (not shown), an oil tank 120, a first direction valve 140, a second direction valve 150, a third direction valve 170, a hydraulic lock 160, a hydraulic brake 180, and the hydraulic motor 20 and the driving cylinder 70.
In the embodiment of the present application, the oil tank 120 is connected to an oil pump, the first direction valve 140 has a port P, a port T, a port a, and a port B, the port P of the first direction valve 140 is connected to the oil pump, the port T of the first direction valve 140 is connected to the oil tank 120, the hydraulic motor 20 has a port a and a port B, the port a of the first direction valve 140 is connected to the port a of the hydraulic motor 20, the port B of the first direction valve 140 is connected to the port B of the hydraulic motor 20, the second direction valve 150 has a port P, a port T, a port a, and a port B, the port P of the second direction valve 150 is connected to the oil pump, the port T of the second direction valve 150 is connected to the oil tank 120, the hydraulic lock 160 includes a first check valve 161 and a second check valve 162 each having a port, B port, and X port, the port a port of the second direction valve 150 is connected to the port a of the first check valve 161, the port B of the second direction valve 150 is connected with the port A of the second one-way valve 162, the port X of the first one-way valve 161 is connected between the port B of the second direction valve 150 and the port A of the second one-way valve 162, the port X of the second one-way valve 162 is connected between the port A of the second direction valve 150 and the port A of the first one-way valve 161, the driving cylinder 70 has the port A and the port B, the port B of the first one-way valve 161 is connected with the port A of the driving cylinder 70, the port B of the second one-way valve 162 is connected with the port B of the driving cylinder 70, the third direction valve 170 has the port P, the port T and the port A, the port P of the third direction valve 170 is connected with the oil pump, the port T of the third direction valve 170 is connected with the oil tank 120, the hydraulic brake 180 has the port A, the port A of the third direction valve 170 is connected with the port A of the hydraulic brake 180, the hydraulic brake 180 is arranged corresponding to the hydraulic motor 20, the first direction valve 140, the second direction valve 150 and the third direction valve 170 are electrically connected to the controller.
Further, referring to fig. 4, the hydraulic system further includes three pressure reducing valves 190, the three pressure reducing valves 190 respectively have a P1 port, a P2 port and an L port, the P1 ports of the three pressure reducing valves 190 are connected to the oil pump, the P2 ports of the three pressure reducing valves 190 are connected to the oil tank 120, and the P2 ports of the three pressure reducing valves 190 are respectively connected to the P port of the first direction changing valve 140, the P port of the second direction changing valve 150 and the P port of the third direction changing valve 170. To adjust the pressure of the hydraulic oil introduced into the first direction valve 140, the second direction valve 150, and the third direction valve 170, respectively, through the three pressure reducing valves 190.
Further, referring to fig. 4, the hydraulic system further includes hydraulic check valves 200, the hydraulic check valves 200 are respectively connected between the P1 ports of the three pressure reducing valves 190 and the oil pump, and the hydraulic check valves 200 are respectively connected between the T port of the first direction changing valve 140, the T port of the second direction changing valve 150, and the T port of the third direction changing valve 170 and the tank. To restrict the flow direction of hydraulic oil in the hydraulic system through the hydraulic check valve 200.
Further, referring to fig. 4, the first direction valve 140 and the first direction valve 140 are three-position four-way proportional direction valves, and the third direction valve 170 is a two-position three-way proportional direction valve. When the first reversing valve 140 is in the second working position, the port P, the port T, the port a and the port B of the first reversing valve 140 are all in a closed state, when the first reversing valve 140 is in the third working position, the port P of the first reversing valve 140 is communicated with the port B, and the port T of the first reversing valve 140 is communicated with the port a; the second reversing valve 150 has three working positions, when the second reversing valve 150 is in the first working position, the port P of the second reversing valve 150 is communicated with the port a, the port T of the second reversing valve 150 is communicated with the port B, when the second reversing valve 150 is in the second working position, the port P of the second reversing valve 150 is in a closed state, the port T, the port a and the port B of the second reversing valve 150 are communicated with each other, when the second reversing valve 150 is in the third working position, the port P of the second reversing valve 150 is communicated with the port B, and the port T of the second reversing valve 150 is communicated with the port a; the third direction valve 170 has two working positions, when the third direction valve 170 is in the first working position, the port P of the third direction valve 170 is in a closed state, the port T of the third direction valve 170 is communicated with the port a, when the third direction valve 170 is in the second working position, the port P of the third direction valve 170 is communicated with the port a, and the port T of the third direction valve 170 is in a closed state.
Further, each of the first direction changing valve 140, the second direction changing valve 150, and the third direction changing valve 170 has an L port for connection with the oil tank 120. The L ports of the first direction valve 140, the second direction valve 150 and the third direction valve 170 are oil release ports of the direction valves, so as to discharge hydraulic oil generated by internal leakage of the first direction valve 140, the second direction valve 150 and the third direction valve 170. The hydraulic motor 20 also has an L port, and the L port of the hydraulic motor 20 is connected to the oil tank 120 for discharging hydraulic oil generated by leakage inside the hydraulic motor 20. A hydraulic check valve 200 is provided between the L port of the hydraulic motor 20 and the oil tank 120 to restrict the flow direction of the hydraulic oil.
Further, referring to fig. 4, the control system further includes a high-pressure ball valve 210, the high-pressure ball valves 210 are respectively disposed between the P1 port of the three pressure reducing valves 190 and the oil pump, and the high-pressure ball valves 210 are respectively disposed between the port a of the first direction valve 140 and the port a of the hydraulic motor 20, between the port B of the first direction valve 140 and the port B of the hydraulic motor 20, between the port B of the first check valve 161 and the port a of the driving cylinder 70, and between the port B of the second check valve 162 and the port B of the driving cylinder 70, so that the high-pressure ball valve 210 is manually opened and closed to implement maintenance and replacement of components of the control system.
Fig. 5 is a schematic flow chart of a control method in an embodiment of the present application, which is suitable for the above-mentioned tapping machine, and in conjunction with fig. 5, the control method includes the following steps:
s1: setting a parameter relation between the angular displacement of the encoder 80 and the displacement of the traveling trolley 30 in the controller, and setting a first threshold value and a second threshold value;
the rotating shaft of the hydraulic motor 20 drives the double-row roller chain 90 to rotate, the double-row roller chain 90 drives the traveling trolley 30 to move, and the traveling trolley 30 drives the drill rod 50 to move, so that the angular displacement of the hydraulic motor 20 corresponds to the displacement of the traveling trolley 30 (i.e., the displacement of the drill rod 50), and because the rotating shaft of the encoder 80 is correspondingly connected with the rotating shaft of the hydraulic motor 20, the angular displacement of the encoder 80 (i.e., the angular displacement of the hydraulic motor 20) corresponds to the displacement of the traveling trolley 30.
S2: starting the tapping machine, controlling the walking trolley 30 to move towards the first end of the girder 10 by the controller, driving the drill rod 50 to rotate by the rock drill 40 and driving the oil cylinder 70 to drive the claw holding mechanism 60 to close;
when the tapping machine is started, the oil pump is started, the controller controls the P port, the T port, the a port and the B port of the first reversing valve 140 to be in a closed state (the first reversing valve 140 is in the second working position), the hydraulic motor 20 is in a non-working state, the P port of the second reversing valve 150 is in a closed state, the T port, the a port and the B port of the second reversing valve 150 are communicated with each other (the second reversing valve 150 is in the second working position), under the action of the hydraulic lock 160, the claw holding mechanism 60 is kept in an open state, the P port of the third reversing valve 170 is in a closed state, the T port and the a port of the third reversing valve 170 are communicated (the third reversing valve 170 is in the first working position), and the hydraulic brake 180 is in a non-braking state;
subsequently, the controller controls the port P of the first direction valve 140 to communicate with the port a, the port T of the first direction valve 140 to communicate with the port B (the first direction valve 140 is at the first working position), and the traveling trolley 30 starts to move toward the first end of the girder 10. The controller controls the port P of the second reversing valve 150 to be communicated with the port a, the port T of the second reversing valve 150 to be communicated with the port B (the second reversing valve 150 is in the first working position), the driving oil cylinder 70 drives the claw holding mechanism 60 to be closed until the claw holding mechanism 60 is completely closed, the controller controls the port P of the second reversing valve 150 to be in a closed state, the port T, the port a and the port B of the second reversing valve 150 to be communicated with each other (the second reversing valve 150 is in the second working position), and under the action of the hydraulic lock 160, the claw holding mechanism 60 is kept in a closed state. At the same time the controller turns on the rock drill 40 to start drilling the drill rod 50.
S3: when the displacement of the walking trolley 30 reaches a first threshold value, the controller controls the driving oil cylinder 70 to drive the claw holding mechanism 60 to open;
the first threshold is set to a value at which the displacement of the traveling carriage 30 does not yet allow the drill pipe 50 to reach a displacement capable of drilling through the tap hole, and is generally set to about 2.5 m. At this time, the drill rod 50 has drilled a certain depth on the mud sleeve, and the drill rod 50 can be guided through the mud sleeve, so that the controller controls the port P of the second directional valve 150 to be communicated with the port B, the port T of the second directional valve 150 to be communicated with the port a (the second directional valve 150 is in the third working position), the driving oil cylinder 70 drives the claw holding mechanism 60 to open until the claw holding mechanism 60 is completely opened, the controller controls the port P of the second directional valve 150 to be in a closed state, the port T, the port a and the port B of the second directional valve 150 to be communicated with each other (the second directional valve 150 is in the second working position), and under the action of the hydraulic lock 160, the claw holding mechanism 60 is kept in an open state and is no longer guided by the claw holding mechanism 60. At the same time, the drill rod 50 continues to drill.
S4: when the displacement of the walking trolley 30 reaches the second threshold value, the controller controls the walking trolley 30 to move towards the second end of the girder 10.
The second threshold is set as the displacement of the traveling trolley 30, so that the drill rod 50 can reach the displacement capable of just drilling through the tap hole, and is generally set to be about 4m, the controller controls the P port, the T port, the a port and the B port of the first reversing valve 140 to be in the closed state (the first reversing valve 140 is in the second working position), the P port of the third reversing valve 170 is communicated with the a port, the T port of the third reversing valve 170 is in the closed state (the third reversing valve 170 is in the second working position), so that the hydraulic motor 20 is in the non-working state, and the hydraulic brake 180 is in the braking state, so that the hydraulic motor 20 is rapidly braked, and the forward movement under the action of inertia is avoided. Until the hydraulic motor 20 stops rotating, the controller controls the port P of the third reversing valve 170 to be in a closed state, the port T of the third reversing valve 170 is communicated with the port a (the third reversing valve 170 is in the first working position), the port P of the first reversing valve 140 is communicated with the port B, the port T of the first reversing valve 140 is communicated with the port a (the first reversing valve 140 is in the third working position), so that the hydraulic brake 180 is in an unbraked state, the hydraulic motor 20 is in a reverse working state, and the traveling trolley 30 moves towards the second end of the girder 10, so that the tapping machine finishes opening the tapping hole, and the tapping hole of the blast furnace starts tapping. Since the holding claw mechanism 60 is opened before the drill rod 50 drills through the tap hole, the holding claw mechanism 60 is prevented from being burnt by molten iron sprayed out of the tap hole. The controller then controls the travelling trolley 30 back to the initial position and switches off the rock drilling machine 40.
If the taphole is blocked in the tapping process, the method can be used for drilling holes, and only the first threshold value and the second threshold value are correspondingly modified.
In the embodiment of the present application, the controller may be a logic controller, a micro-program controller, and the like, which is not limited in the embodiment of the present application.
To sum up, the control method applied to the control system of the tapping machine provided by the embodiment of the application can avoid the burning loss of the holding claw mechanism 60 by molten iron in the drilling process of the tapping machine, reduce the production cost and improve the production efficiency.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise" indicate orientations or positional relationships based on the orientation or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
It should be noted that all the directional indications in the embodiments of the present application are only used to explain the relative position relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.
In addition, descriptions in this application as to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A tapping machine, comprising:
a girder;
the hydraulic motor is arranged at the first end of the girder;
the hydraulic motor can drive the travelling trolley to reciprocate along the axial direction of the girder;
the rock drill is arranged on the walking trolley along the axial direction of the girder;
the drill rod is arranged along the axial direction of the girder, the first end of the drill rod is a working end, and the second end of the drill rod is connected with the output end of the rock drill;
the clamping claw mechanism is arranged at the second end of the girder and can clamp the drill rod in an opening and closing manner;
the driving oil cylinder is arranged on the girder and can drive the claw holding mechanism to open and close;
the rotating shaft of the encoder is correspondingly connected with the rotating shaft of the hydraulic motor;
and the controller is electrically connected with the hydraulic motor, the rock drill and the driving oil cylinder respectively.
2. The tapping machine as claimed in claim 1, further comprising a double row roller chain disposed on the girder in an axial direction of the girder, a driving gear of the double row roller chain being disposed at a first end of the girder and correspondingly connected to a rotating shaft of the hydraulic motor, a driven gear of the double row roller chain being disposed at a second end of the girder, and the traveling trolley being disposed on the double row roller chain.
3. The tapping machine as claimed in claim 2, further comprising a tracking trolley disposed on said double row roller chain, said tracking trolley disposed between said walking trolley and said holding jaw mechanism, said drill pipe being threaded onto said tracking trolley.
4. The tapping machine as claimed in claim 1, further comprising a transmission rod disposed along an axial direction of the girder, a first end of the transmission rod being connected to a rocker arm of the claw holding mechanism;
the driving oil cylinder is arranged along the axial direction perpendicular to the girder, and a piston rod of the driving oil cylinder is hinged with the second end of the transmission rod.
5. The tapping machine as claimed in any one of claims 1-4, further comprising a control system, said control system comprising:
an oil pump;
the oil tank is connected with the oil pump;
the first reversing valve is provided with a port P, a port T, a port A and a port B, the port P of the first reversing valve is connected with the oil pump, and the port T of the first reversing valve is connected with the oil tank;
the hydraulic motor is provided with an A port and a B port, the A port of the first reversing valve is connected with the A port of the hydraulic motor, and the B port of the first reversing valve is connected with the B port of the hydraulic motor;
the second reversing valve is provided with a port P, a port T, a port A and a port B, the port P of the second reversing valve is connected with the oil pump, and the port T of the second reversing valve is connected with the oil tank;
the hydraulic lock comprises a first one-way valve and a second one-way valve, wherein the first one-way valve and the second one-way valve are respectively provided with an A port, a B port and an X port, the A port of the second reversing valve is connected with the A port of the first one-way valve, the B port of the second reversing valve is connected with the A port of the second one-way valve, the X port of the first one-way valve is connected between the B port of the second reversing valve and the A port of the second one-way valve, and the X port of the second one-way valve is connected between the A port of the second reversing valve and the A port of the first one-way valve;
the driving oil cylinder is provided with an opening A and an opening B, the opening B of the first one-way valve is connected with the opening A of the driving oil cylinder, and the opening B of the second one-way valve is connected with the opening B of the driving oil cylinder;
the third reversing valve is provided with a port P, a port T and a port A, the port P of the third reversing valve is connected with the oil pump, and the port T of the third reversing valve is connected with the oil tank;
the hydraulic brake is provided with an A port, the A port of the third reversing valve is connected with the A port of the hydraulic brake, and the hydraulic brake is arranged corresponding to the hydraulic motor;
the first reversing valve, the second reversing valve and the third reversing valve are electrically connected with the controller respectively.
6. The tapping machine as claimed in claim 5, wherein the hydraulic system further comprises three pressure reducing valves, the three pressure reducing valves each having a port P1, a port P2 and a port L, the ports P1 of the three pressure reducing valves each being connected to the oil pump, the ports P2 of the three pressure reducing valves each being connected to the oil tank, and the ports P2 of the three pressure reducing valves each being connected to the port P of the first direction valve, the port P of the second direction valve and the port P of the third direction valve.
7. The tapping machine of claim 6, wherein said hydraulic system further comprises hydraulic check valves, said hydraulic check valves being connected between the P1 ports of the three said pressure reducing valves and said oil pump, respectively, and said hydraulic check valves being connected between the T port of said first direction changing valve, the T port of said second direction changing valve, and the T port of said third direction changing valve and said mail box, respectively.
8. The tapping machine of claim 5, wherein the first directional valve and the first directional valve are each a three-position, four-way proportional directional valve, the third directional valve is a two-position, three-way proportional directional valve, and each of the first directional valve, the second directional valve, and the third directional valve has an L port for connecting with the tank.
9. A control method applied to the tapping machine according to any one of claims 5-8, characterized in that the control method comprises:
setting a parameter relation between the angular displacement of the encoder and the displacement of the walking trolley in the controller, and setting a first threshold value and a second threshold value;
starting the tapping machine, controlling the traveling trolley to move to the first end of the girder by the controller, driving the drill rod to rotate by the rock drill and driving the clamping claw mechanism to be closed by the driving oil cylinder;
when the displacement of the walking trolley reaches the first threshold value, the controller controls the driving oil cylinder to drive the claw holding mechanism to open;
and the displacement of the walking trolley reaches the second threshold value, and the controller controls the walking trolley to move towards the second end of the girder.
10. The control method of claim 9, wherein said activating the tapping machine comprises: the oil pump is started, the controller controls the P port, the T port, the A port and the B port of the first reversing valve to be in a closed state, the P port of the second reversing valve is in a closed state, the T port, the A port and the B port of the second reversing valve are communicated with each other, the P port of the third reversing valve is in a closed state, and the T port of the third reversing valve is communicated with the A port;
the controller controls the walking trolley to move towards the first end of the girder, and the controller comprises: the controller controls the communication between the port P and the port A of the first reversing valve, and the port T and the port B of the first reversing valve;
the controller control drive hydro-cylinder drive embrace the closure of claw mechanism includes: the controller controls the port P of the second reversing valve to be communicated with the port A, the port T of the second reversing valve is communicated with the port B until the claw holding mechanism is completely closed, the controller controls the port P of the second reversing valve to be in a closed state, and the port T, the port A and the port B of the second reversing valve are communicated with each other;
the controller control drive hydro-cylinder drive embrace the claw mechanism and open and include: the controller controls the port P of the second reversing valve to be communicated with the port B, the port T of the second reversing valve is communicated with the port A until the claw holding mechanism is completely opened, the controller controls the port P of the second reversing valve to be in a closed state, and the port T, the port A and the port B of the second reversing valve are communicated with each other;
the controller controls the traveling trolley to move towards the second end of the girder and comprises the following steps: the controller controls a port P, a port T, a port A and a port B of the first reversing valve to be in a closed state, the port P and the port A of the third reversing valve are communicated, the port T of the third reversing valve is in the closed state until the hydraulic motor stops rotating, the controller controls the port P of the third reversing valve to be in the closed state, the port T and the port A of the third reversing valve are communicated, the port P and the port B of the first reversing valve are communicated, and the port T and the port A of the first reversing valve are communicated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211532445.5A CN115786610B (en) | 2022-12-01 | 2022-12-01 | Tapping machine and control method |
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| CN202211532445.5A CN115786610B (en) | 2022-12-01 | 2022-12-01 | Tapping machine and control method |
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| CN115786610B CN115786610B (en) | 2024-07-09 |
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| CN115786610B (en) | 2024-07-09 |
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