JP6291982B2 - Control method for hydraulic hole opening machine, control system for hydraulic hole opening machine, and program - Google Patents

Description

  The present invention relates to a control method for a hydraulic hole opening machine, a control system for a hydraulic hole opening machine, and a program, and is particularly suitable for use in forming an outlet for a blast furnace.

  In the blast furnace, iron ore and coke as raw materials are charged in layers from the top of the furnace, and hot hot air of about 1200 [° C.] is blown from the tuyere at the bottom of the furnace to produce hot metal by a high temperature reduction reaction. Hot metal and molten slag, which is a by-product, drip inside the furnace and accumulate in the furnace bottom to form a hot water pool.

  In order to be able to form a through-hole (spot) from the outside of the furnace toward this hot water pool, a seal port forming position at the bottom of the furnace is filled with a plugging material (refractory) called a mud material. . This mud material is mechanically opened from the outside of the furnace with an opening machine to form a spout, and a mixed liquid of hot metal and molten slag flows out of the furnace from the spout.

In the operation of the current blast furnace, a hydraulic hole opening machine having a high hole opening capacity is often used. There is a technique described in Patent Document 1 as a method for forming a sprue opening by controlling a hydraulic opening machine.
In Patent Document 1, a data table is stored in which the set values of the operation amount of the rod feed pressure, impact strength, and rotation strength of the hydraulic hole opening machine are correlated with the estimated value of the rod feed speed. In addition, it is described that a set value of an operation amount corresponding to a feed speed is read from a data table, and the hydraulic opening machine is operated according to the read set value.

JP2012-188718A

By the way, the hardness of the mud material filled in the spout opening forming position is not uniform, and there are soft portions. When the rod passes through such a soft part, the moving speed of the rod becomes excessively high, so that the mud material collapses and the spear opening breaks in the middle. Then, there are the following problems.
Firstly, the amount of tapping from the tapping port decreases.
Secondly, when the amount of slag is reduced in this way, the pressure near the tuyere increases due to the hot metal remaining at the furnace bottom. If the air blowing pressure is increased with an increase in pressure near the tuyere, there is a risk of air leakage occurring near the tuyere. When such a wind leak occurs, it is necessary to rest and repair. For this reason, the production volume decreases.

  However, in the technique described in Patent Document 1, the hydraulic hole opening machine is operated by increasing or decreasing the feed pressure, striking strength, and rotational strength of the rod. With such an operation amount, it is not easy to operate the hydraulic hole opening machine without breaking the spout at the soft part of the mud material.

  The present invention has been made in view of the problems as described above, and even if there is a soft portion in the closing material provided at the blast furnace outlet forming position, an outlet that is as damaging as possible is formed. The purpose is to do.

The control method of the hydraulic hole opening machine according to the present invention includes a rod for opening a closing material filled at a tap hole forming position of a blast furnace, the rod is attached, and the forward and backward movements are performed with respect to the closing material. A drifter for operating the rod by performing at least the following: a feed step of moving the drifter forward by a hydraulic motor, and a position for detecting the position of the rod Based on the detection step, the position of the rod detected by the position detection step, a speed deriving step for deriving a speed at which the rod advances together with the drifter, and the speed derived by the speed deriving step exceeds a threshold value Then, the flow rate of oil supplied to the hydraulic motor is decreased to reduce the speed at which the rod advances, and the speed derived by the speed deriving step is a threshold value. Becomes fully, the increase the flow rate of oil supplied to the hydraulic motor have a, and hydraulic motor control step of increasing the rate at which the rod is advanced, the hydraulic motor control process is derived by the speed deriving step If the speed is equal to or higher than the threshold value after a predetermined time has elapsed after the speed reaches the threshold value, the flow rate of the oil supplied to the hydraulic motor is decreased to decrease the speed at which the rod advances. When the speed derived by the speed deriving step becomes less than the threshold value and the speed is less than the threshold value even after a predetermined time has elapsed, the flow rate of the oil supplied to the hydraulic motor is increased rod, wherein Rukoto increase the rate of advance.

A control system for a hydraulic hole opening machine according to the present invention includes a rod for opening a closing material filled in a tap hole forming position of a blast furnace, the rod is attached, and the forward and backward movements are performed with respect to the closing material. And a hydraulic motor serving as a power source for at least moving the drifter forward and backward, and a position detector for detecting the position of the rod. A hydraulic opening machine, a hydraulic device that supplies oil for operating the hydraulic motor to the hydraulic motor, and a control device that controls the operation of the hydraulic device. The control device includes speed deriving means for deriving a speed at which the rod advances together with the drifter based on the position of the rod detected by the position detector; When the speed derived by the speed deriving means exceeds a threshold value, the hydraulic apparatus is instructed to reduce the flow rate of oil supplied to the hydraulic motor, and when the speed derived by the speed deriving means becomes less than the threshold value, Instructing the hydraulic apparatus to increase the flow rate of oil supplied to the hydraulic motor, and the hydraulic apparatus decreases the flow rate of oil supplied to the hydraulic motor by the instruction means. In response to the instruction, the flow rate of the oil supplied to the hydraulic motor is decreased to reduce the speed at which the rod advances, and the instruction means supplies the oil supplied to the hydraulic motor. When increasing the flow rate is indicated, in accordance with the instruction, wherein increasing the flow rate of oil supplied to the hydraulic motor to increase the speed at which the rod is advanced, the The indicating means reduces the flow rate of the oil supplied to the hydraulic motor when the speed derived by the speed deriving means becomes equal to or greater than the threshold and the speed is equal to or greater than the threshold even after a predetermined time has elapsed. When the speed is less than the threshold value even after a predetermined time has elapsed after the speed derived by the speed deriving means is less than the threshold value, the hydraulic device is supplied to the hydraulic motor. to oil to increase the flow rate, characterized that you instruction to the hydraulic device.

The program of the present invention includes a rod for opening a plugging material filled in a tap hole forming position of a blast furnace, the rod is attached, and at least forward and backward with respect to the plugging material, The hydraulic pressure in a hydraulic hole opening machine comprising: a drifter that operates the rod; a hydraulic motor that is a power source for at least moving the drifter forward and backward; and a position detector that detects the position of the rod. A program for causing a computer to control the operation of a hydraulic apparatus that supplies oil for operating the hydraulic motor to a motor, based on the position of the rod detected by the position detector A speed deriving step for deriving a speed at which the rod advances together with the drifter, and the speed derived by the speed deriving step is less than a threshold value. The hydraulic device is instructed to reduce the flow rate of oil supplied to the hydraulic motor, and the flow rate of oil supplied to the hydraulic motor is increased when the speed derived by the speed deriving step becomes less than a threshold value. An instruction step for instructing the hydraulic apparatus to perform the operation , wherein the instruction step is performed even if a predetermined time elapses after the speed derived by the speed deriving step exceeds a threshold value. Is less than or equal to the threshold value, the hydraulic device is instructed to reduce the flow rate of the oil supplied to the hydraulic motor, and after the speed derived by the speed deriving step becomes less than the threshold value, a predetermined time If it elapsed the rate even if less than the threshold value, characterized that you instruct to increase the flow rate of oil supplied to the hydraulic motor to the hydraulic device.

  According to the present invention, when the speed at which the rod advances is greater than or equal to the threshold, the flow rate of the oil supplied to the hydraulic motor is decreased to reduce the speed at which the rod advances, and when the speed at which the rod advances is less than the threshold, The flow rate of the feeder is increased by increasing the flow rate of oil supplied to the motor. Therefore, even if there is a soft spot in the closing material provided at the brewing port forming position of the blast furnace, it is possible to form a spilling port that is not damaged as much as possible.

It is a figure which shows an example of a structure of the control system of a hydraulic opening machine. It is a figure which shows an example of operation | movement of a hydraulic device when a hydraulic motor carries out normal rotation (a drifter advances). It is a figure which shows an example of operation | movement of a hydraulic device when a hydraulic motor reversely rotates (a drifter reverse | retreats). It is a figure which shows an example of operation | movement of a hydraulic device when a hydraulic motor stops (it does not forward rotation and reverse rotation). It is a figure which shows an example of a functional structure of a control apparatus. It is a figure which shows notionally an example of the moving speed of the rod at the time of opening a mud material (when performing the operation | movement which a rod advances), and the flow volume of the oil supplied to a hydraulic motor. It is a flowchart explaining an example of operation | movement of the control apparatus at the time of advancing a rod (drifter).

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an example of a configuration of a control system for a hydraulic hole opening machine. In each figure, for the sake of explanation and notation, only parts necessary for the explanation are simplified as necessary.
In FIG. 1, the control system for the hydraulic hole opening machine includes a hydraulic hole opening machine 100, a hydraulic device 200, and a control device 300. In FIG. 1, a longitudinal section in the vicinity of the tap hole forming position 410 of the blast furnace 400 is shown together with the hydraulic hole punch 100, the hydraulic device 200, and the control device 300.

(Hydraulic opening machine 100)
The hydraulic opening machine 100 includes a rod 110, a drifter 120, a hydraulic motor 130, and a position detector 140.
The rod 110 is for mechanically opening the mud material 420 filled in the tap hole forming position 410 of the blast furnace 400 from the outside of the furnace.

  The drifter 120 has a drive mechanism for operating the rod 110. The rod 110 is attached to the drifter 120 (the front end surface thereof (the surface facing the tap hole forming position 410)), and the rod 110 is moved forward or backward by the movement of the drifter 120, and the longitudinal direction of the rod 110. An operation of rotating about the axis as a rotation axis and an operation of repeatedly hitting the mud material 420 can be performed. Here, the drifter 120 moves forward / backward along the frame of the hydraulic hole punching machine 100, and the rod 110 moves forward / backward as the drifter 120 moves forward / backward. Further, the forward direction is a direction toward the inside of the furnace (A direction in FIG. 1), and the backward direction is a direction (the B direction in FIG. 1) of the rod 110 toward the outside of the furnace.

  The hydraulic motor 130 gives power to the drifter 120 to move the rod 110 forward or backward. The hydraulic motor 130 can perform forward rotation and reverse rotation. For example, the rod 110 moves forward when the hydraulic motor 130 performs forward rotation, and the rod 110 moves backward when the hydraulic motor 130 performs reverse rotation. When the hydraulic motor 130 is not moving, the rod 110 does not move forward or backward. As described above, the rod 110 also performs the rotating operation and the striking operation. However, since the power source and the control method for performing these operations can be realized by a known technique, the detailed description thereof is omitted.

The position detector 140 is for detecting the current position of the rod 110. In the present embodiment, a case where an absolute encoder (an encoder that detects an absolute position) is used as the position detector 140 will be described as an example.
FIG. 1 shows a state in which the mud material 420 is being opened by the hydraulic hole opening machine 100 (in the middle of forming the spout opening) (that is, the rod 110 passes through the mud material 420). Indicates the state of moving forward). As the rod 110 moves forward, the mud material 420 inside the furnace is excavated, and when the furnace inner side and the furnace outer side penetrate, a tap hole is formed.

(Hydraulic device 200)
The hydraulic device 200 is for driving the hydraulic motor 130.
2A, 2B, and 2C are diagrams illustrating an example of the configuration of the hydraulic apparatus 200. FIG. Specifically, FIG. 2A is a diagram illustrating an example of the operation of the hydraulic device 200 when the hydraulic motor 130 rotates forward (the drifter 120 moves forward), and FIG. 2B illustrates that the hydraulic motor 130 rotates backward (the drifter 120 moves backward). FIG. 2C is a diagram illustrating an example of the operation of the hydraulic apparatus 200 when the hydraulic motor 130 is stopped (not rotating forward or reverse).

In the example shown in FIGS. 2A to 2C, the hydraulic apparatus 200 includes a pump 210, a tank 220, a three-port flow rate control electromagnetic valve 230, a pressure control electromagnetic valve 240, and a pipe 250. In FIG. 2A to FIG. 2C, white arrow lines indicate the moving direction of oil passing through the pipe. In FIG. 2C, since there is no movement of oil, a white arrow line is not attached.
The 3-port flow control electromagnetic valve 230 is a flow control valve, and is an electromagnetic valve whose opening degree is changed (adjusted) so that the flow rate of oil flowing into the hydraulic motor 130 becomes a set value. In addition, the flow rate of the oil flowing into the hydraulic motor 130 increases as the opening degree of the three-port flow control solenoid valve 230 increases.

  The three-port flow control solenoid valve 230 has three ports, and the oil traveling direction is determined depending on which of these three ports is selected. When the hydraulic motor 130 is rotated forward (the drifter 120 is moved forward), as shown in FIG. 2A, the first port 231 is selected, and when the hydraulic motor 130 is rotated backward (the drifter 120 is moved backward), As shown in FIG. 2B, when the third port 233 is selected and the hydraulic motor 130 is stopped (not rotating forward or reverse), the second port 232 is selected as shown in FIG. 2C. In addition, the three-port flow control solenoid valve 230 operates.

  The pressure control solenoid valve 240 is a pressure control valve for widening the control range of the flow rate of oil supplied to the hydraulic motor 130, and is supplied from the pump 210 to the hydraulic motor 130 (3-port flow control solenoid valve 230). This is a solenoid valve whose opening degree is changed (adjusted) so that the oil pressure becomes a set value. In addition, the pressure of the oil supplied from the pump 210 to the hydraulic motor 130 (three-port flow control electromagnetic valve 230) increases as the opening degree of the pressure control electromagnetic valve 240 increases.

  With such a three-port flow control solenoid valve 230 and a pressure control solenoid valve 240, as shown in FIGS. 2A and 2B, a hydraulic motor is supplied from the pump 210 via the three-port flow control solenoid valve 230 and the pressure control solenoid valve 240. Oil is supplied to 130, and oil discharged from the hydraulic motor 130 via the three-port flow control electromagnetic valve 230 is collected in the tank 220.

(Control device 300)
Returning to the description of FIG. 1, the control device 300 is for controlling the operation of the hydraulic device 200. FIG. 3 is a diagram illustrating an example of a functional configuration of the control device 300. Note that the hardware of the control device 300 is realized by using, for example, an information processing device having a CPU, ROM, RAM, HDD, and various interfaces, a PLC (Programmable Logic Controller), and dedicated hardware. be able to.

<Outline of control>
First, an example of control performed by the control device 300 will be described with reference to FIG. FIG. 4 is a diagram conceptually showing an example of the moving speed of the rod 110 and the flow rate of oil supplied to the hydraulic motor 130 when the mud material 420 is opened (when the rod 110 moves forward). .
As shown in the lower diagram of FIG. 4, in this embodiment, three stages of “large”, “medium”, and “small” are set as the flow rate of the oil supplied to the hydraulic motor 130. The order of “large”, “medium”, and “small” is set in order from the direction in which the oil flow rate increases (the direction in which the moving speed of the rod 110 increases). In the following description, “setting the flow rate of oil supplied to the hydraulic motor 130” is referred to as “setting the oil flow rate” as necessary.

As shown in FIG. 4, when the moving speed of the rod 110 is less than the first threshold A1, and when the predetermined time T1 has not elapsed even if the moving speed of the rod 110 is equal to or higher than the first threshold A1. Set the oil flow rate to “Large”. In this embodiment, the initial value of the oil flow rate setting is “large”.
Thereafter, when the moving speed of the rod 110 is not less than the first threshold A1 and less than the second threshold A2 even after the predetermined time T1 has elapsed after the moving speed of the rod 110 becomes equal to or more than the first threshold A1. The oil flow rate setting is changed from “large” to “medium” (see time ta).
Thereafter, if the moving speed of the rod 110 is equal to or greater than the second threshold A2 even after the predetermined time T1 has elapsed since the moving speed of the rod 110 becomes equal to or greater than the second threshold A2, the oil flow rate is set. Is changed from “medium” to “small” (see time tb).

After that, when the moving speed of the rod 110 is less than the second threshold A2 and the predetermined speed T1 elapses, the moving speed of the rod 110 is less than the second threshold A2 and equal to or more than the first threshold A1. Then, the setting of the oil flow rate is changed from “small” to “medium” (see time tc).
Thereafter, if the moving speed of the rod 110 is less than the first threshold A1 even after the predetermined time T1 has elapsed after the moving speed of the rod 110 is less than the first threshold A1, the oil flow rate is set. Is changed from “medium” to “large” (see time td).

  When changing the setting of the oil flow rate, the predetermined time T1 is waited for immediately after the moving speed of the rod 110 crosses the thresholds A1 and A2 (before the predetermined time T1 elapses). This is to avoid changing the setting of the oil flow rate when crossing A2 again. Here, the predetermined time T1 is set to the same time regardless of which threshold the rod 110 moves across, but the predetermined time may vary depending on the threshold over which the rod 110 moves across.

<Description of Each Part of Control Device 300>
Returning to the description of FIG. 3, the control device 300 includes a control condition acquisition unit 310, a speed derivation unit 320, and an instruction unit 330.
[Control Condition Acquisition Unit 310]
The control condition acquisition unit 310 acquires a control condition indicating a condition for controlling the operation of the hydraulic apparatus 200. As the control conditions, first, the first threshold value A1, the second threshold value A2, the third threshold value A3, and the predetermined time T1 described above are included.

In addition, as a control condition, in each case of setting of the oil flow rate when the rod 110 moves forward (“large”, “medium”, “small”), the “flow rate setting value for the three-port flow control electromagnetic valve 230; The pressure set value for the pressure control solenoid valve 240 ”is included.
In the present embodiment, the control condition acquisition unit 310 acquires the above control conditions through communication with the host control device. However, the control condition acquisition method by the control condition acquisition unit 310 is not limited to this. For example, the control condition acquisition unit 310 may input a control condition based on a user operation on the user interface of the control device 300, or may read a control condition stored in a portable storage medium.

[Velocity deriving unit 320]
Based on the position of the rod 110 detected by the position detector 140, the speed deriving unit 320 calculates the amount of change in position per unit time in the longitudinal direction (forward direction) of the rod 110 as a moving speed (feed) of the rod 110. Speed).
[Instruction unit 330]
The instruction unit 330 determines the flow rate of oil supplied to the hydraulic motor 130 based on the control condition acquired by the control condition acquisition unit 310 and the moving speed of the rod 110 derived by the speed deriving unit 320. 200 is instructed. In the present embodiment, the instruction unit 330 includes a speed determination unit 331 and a solenoid valve control unit 332.

[[Speed determination unit 331]]
The speed determination unit 331 sets the threshold values (first threshold value A1 and second threshold value A2) for the moving speed (feed speed) of the rod 110 during forward movement from the control condition acquisition unit 310 before the rod 110 starts moving forward. read out.
Next, the speed determination unit 331 compares the moving speed of the rod 110 derived by the speed deriving unit 320 with the read threshold value, and determines whether or not the moving speed of the rod 110 has crossed the threshold value.
When the speed determination unit 331 determines that the movement speed of the rod 110 has crossed the threshold, the time determination starts, and even if the predetermined time T1 has elapsed, the movement speed of the rod 110 has crossed the threshold. It is determined whether or not.

[[Solenoid valve control unit 332]]
First, the electromagnetic valve control unit 332 determines the start timing of the forward movement of the rod 110 based on, for example, operation information from the host control device.
Then, at the timing of starting the forward movement of the rod 110, the electromagnetic valve control unit 332 drives the three-port flow control electromagnetic valve 230 so as to connect the ports 231 and 233 corresponding to the forward and backward movements to the pipe 250. Is output. As a result, the three-port flow control solenoid valve 230 is in the state shown in FIGS. 2A and 2B.
In addition, when the timing for starting the forward movement of the rod 110 is reached, the electromagnetic valve control unit 332 sets the initial value of the flow rate for the three-port flow control electromagnetic valve 230 and the initial pressure for the pressure control electromagnetic valve 240 when the rod 110 moves forward. Each value is set, and a current value corresponding to the initial value is individually output to the three-port flow control solenoid valve 230 and the pressure control solenoid valve 240. In the present embodiment, the current value corresponding to the “large” set value as the oil flow rate setting is set as the current value corresponding to the initial value.

  Next, when it is determined by the speed determination unit 331 that the moving speed of the rod 110 is in a state of straddling the threshold value, the electromagnetic valve control unit 332 responds to the state when the speed determination unit 331 has passed the predetermined time T1. The set value of the flow rate for the three-port flow control solenoid valve 230 is changed, and the current value corresponding to the changed set value is output to the three-port flow control solenoid valve 230. Similarly, the electromagnetic valve control unit 332 changes the pressure setting value for the pressure control electromagnetic valve 240 according to the state, and outputs a current value corresponding to the changed setting value to the pressure control electromagnetic valve 240.

Further, when instructed to stop the rod 110 based on the user's operation or the like, the solenoid valve control unit 332 connects the port 233 according to the stop to the pipe 250 so that the three-port flow control solenoid valve 230 is connected. A drive signal for driving is output. As a result, the three-port flow control electromagnetic valve 230 is in the state shown in FIG. 2C.
Further, even when the position of the rod 110 detected by the position detector 140 reaches a predetermined position, the solenoid valve control unit 332 controls the three-port flow rate so that the port 233 corresponding to the stop is connected to the pipe 250. A drive signal for driving the electromagnetic valve 230 is output.
For example, when the rod 110 moves forward, when the position of the rod 110 reaches the forward limit of the rod 110 (a position where the rod 110 cannot advance any further), the electromagnetic valve control unit 332 determines that the position of the rod 110 has reached a predetermined position. judge. Thereafter, the rod 110 is retracted. Since the operation when the rod 110 is retracted can be realized by a known technique, a detailed description thereof is omitted here.

(Operation flowchart)
Next, an example of the operation of the control device 300 when moving the rod 110 forward will be described with reference to the flowchart of FIG. Here, it is assumed that the control device 300 has received necessary information (such as control conditions) from the host control device. Also, as shown in FIG. 4, here, after the moving speed (feed speed) of the rod 110 crosses the first threshold value A1 and the second threshold value A2, before the predetermined time T1 elapses, It is assumed that a threshold other than the threshold is not crossed.

  First, in step S501, the solenoid valve control unit 332 issues a port switching instruction. Specifically, the solenoid valve control unit 332 outputs a drive signal for driving the three-port flow rate control solenoid valve 230 so as to connect the forward port 231 to the pipe 250 (see FIG. 2A).

  Next, in step S502, the electromagnetic valve control unit 332 gives a feed forward (high speed) instruction. Specifically, the electromagnetic valve control unit 332 outputs a current value corresponding to the initial value (“large”) of the flow rate at the time of forward movement with respect to the 3-port flow rate control electromagnetic valve 230 to the 3-port flow rate control electromagnetic valve 230. Further, the solenoid valve control unit 332 outputs a current value corresponding to the initial pressure value (“large”) at the time of forward movement with respect to the pressure control solenoid valve 240 to the pressure control solenoid valve 240.

Next, in step S503, the solenoid valve control unit 332 determines whether or not a stop condition for the rod 110 is satisfied. Specifically, the electromagnetic valve control unit 332 determines whether or not the user has instructed the stop of the rod 110 and whether or not the position of the rod 110 has reached the forward limit of the rod 110.
As a result of the determination, if the stop condition of the rod 110 is satisfied, the process proceeds to step S504, and the solenoid valve control unit 332 issues a feed stop instruction. Specifically, the solenoid valve control unit 332 outputs a drive signal for driving the three-port flow control solenoid valve 230 so as to connect the stop port 233 to the pipe 250 (see FIG. 2C). And the process by the flowchart of FIG. 5 is complete | finished.

On the other hand, when the stop condition of the rod 110 is not satisfied, the process proceeds to step S505. In step S505, the speed determination unit 331 determines the moving speed (feed speed) of the rod 110. Specifically, the speed determination unit 331 determines that the moving speed of the rod 110 is equal to or higher than the first threshold A1 and lower than the second threshold, and the moving speed of the rod 110 is equal to or higher than the first threshold A1 and second even when the predetermined time T1 elapses. It is determined whether or not it remains below the threshold value.
As a result of this determination, the moving speed of the rod 110 is not less than the first threshold value A1 and less than the second threshold value, and the moving speed of the rod 110 is not less than the first threshold value A1 and less than the second threshold value even after the predetermined time T1 has elapsed. If it remains (A1 or more and less than A2 + T1), the process proceeds to step S506. If not (less than A1), it is necessary to change the set values of the three-port flow control solenoid valve 230 and the pressure control solenoid valve 240. Since there is not, it returns to step S503 mentioned above.

  In step S506, the electromagnetic valve control unit 332 issues a feed forward (medium speed) instruction. Specifically, the solenoid valve control unit 332 outputs a current value corresponding to the set value (“medium”) of the forward flow rate for the 3-port flow rate control solenoid valve 230 to the 3-port flow rate control solenoid valve 230. In addition, the solenoid valve control unit 332 outputs a current value corresponding to the set value (“medium”) of the forward pressure for the pressure control solenoid valve 240 to the pressure control solenoid valve 240. As a result, the setting of the oil flow rate is changed from “large” to “medium” (see time ta in FIG. 4).

  Next, in step S507, the solenoid valve control unit 332 determines whether or not a stop condition for the rod 110 is satisfied. As a result of the determination, if the stop condition of the rod 110 is satisfied, the process proceeds to step S508, and the solenoid valve control unit 332 issues a feed stop instruction. The specific contents of steps S507 and S508 are the same as steps S503 and S504, respectively. And the process by the flowchart of FIG. 5 is complete | finished.

On the other hand, when the stop condition of the rod 110 is not satisfied, the process proceeds to step S509. In step S509, the speed determination unit 331 determines the moving speed (feed speed) of the rod 110.
Specifically, the speed determination unit 331 determines which of the first condition (less than A1 + T1), the second condition (A2 or more + T1), or the third condition (A1 or more and less than A2) is satisfied. To do.
The first condition (less than A1 + T1) is that the moving speed of the rod 110 is less than the first threshold value A1, and the moving speed of the rod 110 remains less than the first threshold value A1 even after the predetermined time T1 has elapsed. It is a condition. The second condition (A2 or higher + T1) is that the moving speed of the rod 110 is equal to or higher than the second threshold A2, and the moving speed of the rod 110 remains equal to or higher than the second threshold A2 even after the predetermined time T1 has elapsed. It is a condition. The third condition (A1 or more and less than A2) is a condition that neither the first condition nor the second condition is satisfied.

As a result of this determination, when the first condition (less than A1 + T1) is satisfied, the setting of the oil flow rate needs to be changed from “medium” to “large”, and the process returns to step S502 described above (FIG. 4 time td).
Further, when the third condition (A1 or more and less than A2) is satisfied, there is no need to change the set values of the three-port flow control solenoid valve 230 and the pressure control solenoid valve 240, and the process returns to step S507 described above.
If the second condition (A2 or more + T1) is satisfied, the process proceeds to step S510. In step S510, the electromagnetic valve control unit 332 issues a feed forward (low speed) instruction. Specifically, the electromagnetic valve control unit 332 outputs a current value corresponding to the set value (“small”) of the flow rate at the time of forward movement with respect to the 3-port flow rate control electromagnetic valve 230 to the 3-port flow rate control electromagnetic valve 230. In addition, the solenoid valve control unit 332 outputs a current value corresponding to the set value (“small”) of the forward pressure with respect to the pressure control solenoid valve 240 to the pressure control solenoid valve 240. Thereby, the setting of the oil flow rate is changed from “medium” to “small” (see time tb in FIG. 4).

  Next, in step S511, the solenoid valve control unit 332 determines whether or not a stop condition for the rod 110 is satisfied. As a result of the determination, if the stop condition of the rod 110 is satisfied, the process proceeds to step S512, and the solenoid valve control unit 332 issues a feed stop instruction. The specific contents of steps S511 and S512 are the same as steps S503 and S504, respectively. And the process by the flowchart of FIG. 5 is complete | finished.

On the other hand, when the stop condition of the rod 110 is not satisfied, the process proceeds to step S513. In step S513, the speed determination unit 331 determines the moving speed of the rod 110. Specifically, the speed determination unit 331 determines that the moving speed of the rod 110 is equal to or higher than the first threshold A1 and lower than the second threshold, and the moving speed of the rod 110 is equal to or higher than the first threshold A1 and second even when the predetermined time T1 elapses. It is determined whether or not it remains below the threshold value.
As a result of this determination, the moving speed of the rod 110 is not less than the first threshold value A1 and less than the second threshold value, and the moving speed of the rod 110 is not less than the first threshold value A1 and less than the second threshold value even after the predetermined time T1 has elapsed. If it remains (A1 or more and less than A2 + T1), it is necessary to change the setting of the oil flow rate from “small” to “medium”, so the process returns to step S502 (see time tc in FIG. 4). If not (A2 or more), it is not necessary to change the set values of the three-port flow control solenoid valve 230 and the pressure control solenoid valve 240, and the process returns to step S511 described above.

(Summary)
As described above, in this embodiment, when the moving speed of the rod 110 when moving forward crosses the first threshold value A1 and the second threshold value A2, the flow rate according to the moving speed after straddling is supplied to the hydraulic motor 130. Control the flow rate of oil. Therefore, even if there is a soft part in the mud material 420, the taphole can be formed without being broken as much as possible (no damage), and the stable operation of the blast furnace 400 can be realized.
Moreover, in this embodiment, after the moving speed at the time of the forward movement of the rod 110 straddles the first threshold value A1 and the second threshold value A2, when the state continues for a predetermined time T1, the moving speed after straddling is set to The flow rate of the oil supplied to the hydraulic motor 130 is controlled to the corresponding flow rate. As described above, since it is determined that the change in the moving speed of the rod 110 when moving forward is not sudden, the flow rate of the oil supplied to the hydraulic motor 130 is changed. It is possible to more reliably prevent the speed from not corresponding to the state 420.
In this embodiment, since the pressure control solenoid valve 240 is provided in addition to the three-port flow control solenoid valve 230, the control range of the flow rate of the oil supplied to the hydraulic motor 130 can be widened.

(Modification)
<Modification 1>
In the present embodiment, it is assumed that the moving speed of the rod 110 does not cross any threshold other than the threshold before the predetermined time T1 elapses after the first threshold A1 and the second threshold A2 are straddled. went. For example, the description has been given assuming that the moving speed of the rod 110 does not become the second threshold value or more before the predetermined time T1 elapses after the moving speed becomes the first threshold value A1 or more. However, it is not limited to such a case.

For example, each time the moving speed of the rod 110 crosses the first threshold value A1 and the second threshold value A2, it is determined whether or not the predetermined time T1 has elapsed, and when the predetermined time T1 has elapsed, The setting of the oil flow rate may be determined according to the moving speed.
As a specific example in this case, after the moving speed of the rod 110 becomes equal to or higher than the first threshold value A1, it becomes equal to or higher than the second threshold value before the predetermined time T1 elapses. It is assumed that the moving speed of the rod 110 remains equal to or higher than the second threshold value even after the predetermined time T1 has elapsed since becoming.
In this case, first, at the timing when the predetermined time T1 has elapsed after the moving speed of the rod 110 becomes equal to or higher than the first threshold value A1, the moving speed of the rod 110 is equal to or higher than the first threshold value A1. Change the flow rate setting from “Large” to “Medium”. Thereafter, the setting of the oil flow rate is changed from “medium” to “low” at a timing when a predetermined time T1 has elapsed after the moving speed of the rod 110 becomes equal to or higher than the second threshold A2.

<Modification 2>
In the present embodiment, an example has been described in which the pressure setting values for the pressure control solenoid valve 240 are different in each case of setting the oil flow rate (“large”, “medium”, “small”). However, some or all of these set values may be the same.

<Modification 3>
The case where the setting of the flow rate of the oil when the rod 110 moves forward is made in three stages (“large”, “medium”, “small”) has been described as an example. However, the oil flow rate may be set in two or more stages. For example, the oil flow rate when the rod 110 moves forward may be set in four stages (“large”, “medium”, “small”, “fine”).

In addition, the function of the control apparatus 300 of embodiment of this invention demonstrated above is realizable when a computer runs a program. Further, a computer-readable recording medium in which the program is recorded and a computer program product such as the program can also be applied as an embodiment of the present invention. As the recording medium, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a magnetic tape, a nonvolatile memory card, a ROM, or the like can be used.
In addition, the embodiments of the present invention described above are merely examples of implementation in carrying out the present invention, and the technical scope of the present invention should not be construed as being limited thereto. Is. That is, the present invention can be implemented in various forms without departing from the technical idea or the main features thereof.

  100: Hydraulic aperture machine, 110: Rod, 120: Drifter, 130: Hydraulic motor, 140: Position detector, 200: Hydraulic device, 210: Pump, 220: Tank, 230: Three-port flow control solenoid valve, 240: Pressure control solenoid valve, 250: piping, 300: control device, 310: control condition acquisition unit, 320: speed derivation unit, 330: instruction unit, 331: speed determination unit, 332: solenoid valve control unit, 400: blast furnace, 410 : Spout opening forming position, 420: Mud material

Claims (7)

A rod for opening the plugging material filled in the blast furnace outlet formation position;
A control method of a hydraulic hole opening machine, comprising: a drifter to which the rod is attached, and a drifter that operates the rod by at least moving forward and backward with respect to the blocking material,
A feed step in which the drifter is advanced by a hydraulic motor;
A position detecting step for detecting the position of the rod;
A speed deriving step for deriving a speed at which the rod advances together with the drifter based on the position of the rod detected by the position detecting step;
When the speed derived by the speed deriving step exceeds a threshold value, the flow rate of oil supplied to the hydraulic motor is decreased to decrease the speed at which the rod advances, and the speed derived by the speed deriving step is less than the threshold value. The hydraulic motor control step of increasing the flow rate of the rod by increasing the flow rate of oil supplied to the hydraulic motor;
I have a,
In the hydraulic motor control step, after the speed derived in the speed deriving step becomes equal to or higher than a threshold value, when the speed is equal to or higher than the threshold value even after a predetermined time has elapsed, When the speed of the rod is decreased by reducing the flow rate, and the speed derived by the speed deriving step is less than the threshold value, and the speed is less than the threshold value even after a predetermined time has elapsed, the control method of a hydraulic perforator that the increasing the flow rate of oil supplied to the hydraulic motor rod and said Rukoto increase the rate of advance. The hydraulic motor control step sets an opening of a pressure control valve that adjusts the pressure of oil supplied from a pump and an opening of a flow control valve that adjusts the flow rate of oil passing through the pressure control valve. Te method of controlling a hydraulic perforator of claim 1, wherein the changing the flow rate of oil supplied to the hydraulic motor. The control method for a hydraulic hole opening machine according to claim 1 or 2 , wherein there are a plurality of the threshold values. A rod for opening the plugging material filled in the blast furnace outlet formation position;
A drifter attached to the rod and operating the rod by at least moving forward and backward with respect to the blocking material;
A hydraulic motor serving as a power source for at least moving the drifter forward and backward;
A position detector for detecting the position of the rod;
A hydraulic opening machine with
A hydraulic device for supplying oil for operating the hydraulic motor to the hydraulic motor;
A control device for controlling the operation of the hydraulic device;
A control system for a hydraulic opening machine having
The controller is
Speed deriving means for deriving a speed at which the rod advances together with the drifter based on the position of the rod detected by the position detector;
When the speed derived by the speed deriving means exceeds a threshold value, the hydraulic apparatus is instructed to reduce the flow rate of oil supplied to the hydraulic motor, and when the speed derived by the speed deriving means becomes less than the threshold value. An instruction means for instructing the hydraulic apparatus to increase the flow rate of oil supplied to the hydraulic motor,
The hydraulic device is
When the instruction means instructs to reduce the flow rate of the oil supplied to the hydraulic motor, the speed at which the rod advances by reducing the flow rate of the oil supplied to the hydraulic motor according to the instruction. When the instruction means instructs to increase the flow rate of oil supplied to the hydraulic motor, the rod increases the flow rate of oil supplied to the hydraulic motor in response to the instruction. There is increased the speed at which to move forward,
The instruction means includes
Reducing the flow rate of oil supplied to the hydraulic motor when the speed is equal to or greater than the threshold value even after a predetermined time has elapsed after the speed derived by the speed deriving means is equal to or greater than the threshold value. The flow rate of oil supplied to the hydraulic motor when the speed is less than the threshold value even after a predetermined time has elapsed after instructing the hydraulic device and the speed derived by the speed deriving means is less than the threshold value. the control system of hydraulic perforator characterized that you instruction to the hydraulic device to be increased. The hydraulic device is
A pressure control valve for adjusting the pressure of oil supplied from the pump;
A flow control valve for adjusting the flow rate of oil through the pressure control valve;
Have
According to the instruction by the instruction means, the opening degree of the pressure control valve and the opening degree of the flow rate control valve are set, and the flow rate of oil supplied to the hydraulic motor is changed. The control system of the hydraulic opening machine according to claim 4 . The control system for a hydraulic hole opening machine according to claim 4 or 5 , wherein there are a plurality of the threshold values. A rod for opening the plugging material filled in the blast furnace outlet formation position;
A drifter attached to the rod and operating the rod by at least moving forward and backward with respect to the blocking material;
A hydraulic motor serving as a power source for at least moving the drifter forward and backward;
A position detector for detecting the position of the rod;
A program for causing a computer to control the operation of a hydraulic device that supplies oil for operating the hydraulic motor to the hydraulic motor in a hydraulic hole opening machine comprising:
A speed deriving step of deriving a speed at which the rod advances together with the drifter based on the position of the rod detected by the position detector;
When the speed derived by the speed deriving step exceeds a threshold value, the hydraulic device is instructed to reduce the flow rate of oil supplied to the hydraulic motor, and when the speed derived by the speed deriving step is less than the threshold value. An instruction step for instructing the hydraulic apparatus to increase the flow rate of oil supplied to the hydraulic motor ;
In the instructing step, after the speed derived in the speed deriving step becomes equal to or greater than a threshold value, the flow rate of oil supplied to the hydraulic motor is determined when the speed is equal to or greater than the threshold value even after a predetermined time has elapsed. The hydraulic device is instructed to decrease, and after the speed derived by the speed deriving step becomes less than a threshold value, if the speed is less than the threshold value even after a predetermined time has elapsed, the hydraulic motor is program characterized that you instruct to increase the flow rate of oil supplied to the hydraulic device.

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