Blast furnace tapping and molten iron transportation integrated automatic control system and method

Abstract

The invention relates to the technical field of blast-furnace tapping and molten iron transportation, and discloses an integrated automatic control system and method for blast-furnace tapping and molten iron transportation. The blast furnace tapping and molten iron transportation integrated automatic control system comprises a blast furnace iron removal plant PLC, a blast furnace tapping house HMI, a molten iron canning PLC, a molten iron transportation system, a swing chute automatic control system unit, a temperature measuring and sampling automatic control unit, a tapping machine automatic control unit, a clay gun automatic control unit and a rail clamping device automatic control unit. A molten iron pipe tanker automatic control unit; a blast furnace tapping process calculation and prediction unit; and a process flow management unit. The method has the advantages that the whole process from blast furnace production to molten iron transportation to a molten iron treatment workshop is automatic, the utilization rate and the operation rate of molten iron tanks and tank cars are increased, the production efficiency is improved, and intervention of operators is reduced to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of molten iron tapping and transportation systems, and in particular to an integrated automatic control system and method for blast furnace tapping and molten iron transportation. Background Art

[0002] In the metallurgical industry, the process of opening the taphole and then sealing it to allow the liquid iron smelted in the blast furnace to flow out is called tapping. The process of loading the molten iron flowing out of the taphole into a molten iron tank and then transporting it to the molten iron processing workshop via a molten iron tank truck is called molten iron transportation.

[0003] Blast furnace tapping is primarily achieved through the taphole opening and plugging of the taphole by a taphole opening machine and a mud gun. Opening involves aligning the taphole opening machine's drill rod with the taphole in preparation for tapping. The drill rod's screwing and impacting action open the taphole, allowing the molten iron to flow out. Plugging involves aligning the mud gun with the taphole after tapping is complete. The mud gun then injects mud into the taphole, sealing it and achieving the desired effect. Blast furnace tapping is the ultimate goal of blast furnace smelting and the most crucial step in the entire blast furnace process.

[0004] Molten iron filling is the process of molten iron flowing into the molten iron tank. It is mainly achieved by building real-time monitoring of the status data of the molten iron tank through the collaboration of multiple sensors (railway scale weighing monitoring, molten iron temperature monitoring, molten iron flow rate monitoring, molten iron level monitoring, etc.).

[0005] Molten iron transportation is a process in which locomotives use rails to drag molten iron ladle cars to transport molten iron. The entire process is controlled by real-time monitoring through a multi-level perception system built using multi-sensor fusion technology (vision, lidar, millimeter-wave radar) + 5G information technology.

[0006] However, whether it is blast furnace iron tapping, molten iron filling or molten iron transportation, they all belong to different and independently operated process systems. There is no direct connection between the information exchange of various control systems. The entire production and transportation control process of molten iron from blast furnace production to the final molten iron processing workshop is also inseparable from the communication and intervention of the operators of each system. In addition to these, the swing chute, molten iron sampling, etc. also need to be involved in the control. This leads to delayed exchange of operating data between the control units, poor production connection, low utilization rate of molten iron tanks, affecting production efficiency, and high labor intensity of operators.

[0007] Therefore, an integrated automatic control system and method for blast furnace iron tapping and molten iron transportation is provided to solve the above problems. Summary of the Invention

[0008] The main purpose of the present invention is to solve the problem in the prior art that blast furnace iron tapping, molten iron filling and molten iron transportation all belong to different and independently operated process systems, and the information exchange between the control systems is not directly connected. The entire production and transportation control process of molten iron from blast furnace production to the final molten iron processing workshop is also inseparable from the communication and intervention of the operators of each system. In addition to these, the swing chute, molten iron sampling, etc. also need to be controlled. This leads to delayed interaction of operating data between the control units, poor production connection, low utilization rate of molten iron tanks, affecting production efficiency, and high labor intensity of operators.

[0009] The present invention provides an integrated automatic control system and method for blast furnace iron tapping and molten iron transportation, the integrated automatic control system for blast furnace iron tapping and molten iron transportation comprising:

[0010] Blast furnace iron removal plant PLC, blast furnace tapping yard HMI, molten iron filling PLC, molten iron transportation system, swing chute automatic control system unit, temperature measurement and sampling automatic control unit, tapping machine automatic control unit, mud gun automatic control unit, rail clamp automatic control unit, molten iron pipe tank car automatic control unit, blast furnace tapping process calculation and prediction unit and process flow management unit;

[0011] The blast furnace iron-making yard PLC exchanges information with the blast furnace iron-making yard HMI and the molten iron inlet tank PLC at the same time. The blast furnace iron-making yard PLC exchanges information with the process flow management unit through the first bus. Several branches are extended from the first bus, which respectively exchange information with the molten iron sampling automatic control unit, the swing chute automatic control unit, the startup automatic control unit, the mud gun automatic control unit and the integrated process computer prediction unit. The molten iron inlet tank PLC exchanges information with the molten iron transportation system, the rail clamp automatic control unit and the integrated process calculation and prediction unit at the same time. The molten iron transportation system exchanges information with the process flow management unit through the second bus. Several branches are extended from the second bus, which respectively exchange information with the rail clamp automatic control unit, the molten iron tank car automatic control unit and the integrated process calculation and prediction unit.

[0012] Furthermore, the blast furnace iron-making yard PLC also exchanges information with the swing chute operating console / remote control, the molten iron sampling operating console / remote control, the opening machine operating console / remote control and the mud gun operating console / remote control.

[0013] Furthermore, the molten iron feeding PLC also exchanges information with the rail clamping device operating console.

[0014] Furthermore, the molten iron transportation system also exchanges information with the locomotive cab / remote control.

[0015] Furthermore, the process flow management unit also exchanges information with the centralized control information system.

[0016] On the other hand, the present application also provides a blast furnace iron tapping and molten iron transportation integrated automatic control method, the blast furnace iron tapping and molten iron transportation integrated automatic control method is used for the blast furnace iron tapping and molten iron transportation integrated automatic control system as described above, the blast furnace iron tapping and molten iron transportation integrated automatic control method includes:

[0017] S1. The process management unit obtains blast furnace tapping plan information, molten iron processing workshop production plan information, molten iron ladle status information, and locomotive status information, and automatically selects the corresponding pre-configured process production control flow;

[0018] S2. The process calculation and prediction unit plans and calculates the combination of the standby locomotive and the molten iron ladle car, the track route, travel distance, and travel time of the molten iron ladle car, and sends a ladle car entry instruction to the molten iron ladle car automatic control unit before the calculated planned iron tapping time. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the molten iron ladle car and automatically drives the molten iron ladle car to the molten iron loading position;

[0019] S3. The process management unit sends a tank car rail clamping instruction to the rail clamping device automatic control unit. After receiving the instruction, the rail clamping device automatic control unit sends an action instruction to the molten iron tank inlet PLC. After the molten iron tank inlet PLC detects that the tank car is in place, it controls the rail clamping device to automatically perform the rail clamping action.

[0020] S4. The process management unit sends a swing chute tank position swing instruction to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects that the tank car is in position and ready to receive iron through the molten iron tank loading PLC, and controls the swing chute to automatically swing toward the molten iron tank car.

[0021] S5. The process flow management unit sends a taphole opening instruction to the process calculation and prediction unit. The process calculation and prediction unit calculates the optimal motion posture parameters of the taphole opening machine according to the instruction and sends the motion posture parameters to the taphole opening machine automatic control unit. After receiving the taphole opening instruction and the motion posture parameters, the taphole opening machine automatic control unit automatically controls the taphole opening machine through the blast furnace tapping yard PLC to perform the taphole opening action and controls the taphole opening machine to automatically return to the initial position after the taphole opening is successful.

[0022] S6. The process management unit sends a molten iron temperature sampling instruction to the temperature sampling automatic control unit. After receiving the molten iron temperature sampling instruction, the temperature sampling automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The high-temperature iron-making yard PLC controls the temperature sampling gun to automatically descend / ascend after detecting that the molten iron is being filled through the molten iron filling PLC.

[0023] S7. After the process management unit monitors the molten iron filling capacity through the molten iron filling PLC and the capacity reaches the set value, it sends a swing chute tank position reversal swing instruction to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects that the tank car on the other side is in place and ready to receive iron through the molten iron filling PLC, and controls the swing chute to automatically swing to the other side.

[0024] S8, the process management unit sends an iron mouth plugging instruction to the process computer prediction unit, the process calculation and prediction unit calculates the optimal motion control parameters of the mud gun according to the instruction, and sends the motion control parameters to the mud gun automatic control unit. After receiving the iron mouth plugging instruction and the motion control parameters, the mud gun automatic control unit automatically controls the mud gun to perform the iron mouth plugging action through the blast furnace iron-making yard PLC, and controls the mud gun to automatically return to the initial position to add mud and fill the action after the iron mouth is plugged;

[0025] S9. The process management unit sends a swing chute return-to-center swing instruction to the swing chute automatic control unit. After receiving the swing chute return-to-center swing instruction, the swing chute automatic control unit sends an action instruction to the blast furnace tapping yard PLC. The blast furnace tapping yard PLC detects through the molten iron tank loading PLC that no molten iron has entered the tank, and then controls the swing chute to automatically swing to its initial position.

[0026] S10, the process management unit sends a tank car exit rail instruction to the rail clamp automatic control unit. After receiving the instruction, the rail clamp automatic control unit sends an action instruction to the molten iron tank feeding PLC. The molten iron tank filling PLC receives that the swing position of the swing chute is not in the current molten iron tank car direction and controls the rail clamp to automatically perform the tank car exit rail action.

[0027] S11. After the process management unit receives the production demand of the molten iron treatment workshop, it plans and calculates the combination of idle locomotives and molten iron ladle cars, the track route and travel distance of the molten iron ladle cars, and the travel time through the process calculation and prediction unit. Before the iron mouth blocking step, it sends a ladle exit instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the blast furnace molten iron ladle car to wait for the ladle car to exit the track. After the step of the ladle car exiting the track is completed, the locomotive is hooked and dragged and the ladle car is automatically covered. After that, the ladle car is automatically dragged to the lifting position of the molten iron treatment workshop. After the positioning and recognition determine that the ladle car has completed its departure, the ladle car is automatically opened.

[0028] S12. The process management unit receives the locomotive status data of the molten iron transportation system, and after detecting that the locomotive is low on power, plans and calculates the locomotive's travel track route, travel distance, and travel time through the process calculation and prediction unit, and sends a locomotive charging standby instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to automatically complete the uncoupling action and then automatically drive to the locomotive charging position for charging, and sends locomotive charging feedback to the process management unit. After charging is completed, the locomotive stays on standby and sends standby status feedback to the process management unit.

[0029] Furthermore, the action posture parameters include drill rod selection parameters, drill clamping parameters, rotation angle parameters, boom height parameters, drilling depth parameters, impact force parameters, aerosol blowing parameters and lubrication and cooling parameters.

[0030] Furthermore, the action control parameters include mud gun rotation parameters, mud gun pressure parameters, mud gun mud hitting parameters, mud gun pressure maintaining parameters, mud gun lifting parameters, mud gun returning to the initial position parameters and mud gun adding mud parameters.

[0031] The present invention discloses an integrated automatic control system and control method for blast furnace iron tapping and molten iron transportation, which realizes the purpose of automatic control of the entire process of molten iron from blast furnace iron tapping to molten iron canning and transportation. The application of this automatic control system and automatic control method can connect the various production sub-processes of blast furnace iron tapping, molten iron canning and molten iron transportation, and achieve automation of the entire process from blast furnace iron production to transportation to molten iron processing workshop, thereby improving the utilization rate and operation rate of molten iron tanks and tank cars, enhancing production efficiency, and minimizing operator intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural diagram of the present invention.

[0033] Figure 2 Flowchart of the present invention. DETAILED DESCRIPTION

[0034] An embodiment of the present invention provides an integrated automatic control system and control method for blast furnace iron tapping and molten iron transportation, the integrated automatic control system for blast furnace iron tapping and molten iron transportation comprises: a blast furnace iron removal plant PLC, a blast furnace iron tapping yard HMI, a molten iron tanking PLC, a molten iron transportation system, a swing chute automatic control system unit, a temperature measurement and sampling automatic control unit, an opening machine automatic control unit, a mud gun automatic control unit, a rail clamp automatic control unit, a molten iron pipe tank car automatic control unit, a blast furnace iron tapping process calculation and prediction unit and a process flow management unit; the blast furnace iron tapping yard PLC simultaneously exchanges information with the blast furnace iron tapping yard HMI and the molten iron tank PLC, the blast furnace iron tapping yard PLC and the process flow management unit exchange information through a first bus, a plurality of branches extend from the first bus, and respectively exchange information with the molten iron sampling automatic control unit, the swing chute automatic control unit, the startup automatic control unit, the mud gun automatic control unit and the integrated process computer prediction unit, the molten iron tank PLC LC exchanges information with the molten iron transportation system, the rail clamp automatic control unit and the integrated process calculation and prediction unit at the same time. The molten iron transportation system exchanges information with the process flow management unit through the second bus. Several branches extend from the second bus and exchange information with the rail clamp automatic control unit, the molten iron tank car automatic control unit and the integrated process calculation and prediction unit respectively. The main purpose of the present invention is to solve the problem in the prior art that whether it is blast furnace iron tapping, molten iron filling or molten iron transportation, they all belong to different and independently operated process systems, and the information exchange between the various control systems is not directly connected. The entire production and transportation control process of molten iron from blast furnace production to the final molten iron processing workshop is also inseparable from the communication and intervention of the operators of each system. In addition to these, the swing chute, molten iron sampling, etc. also need to participate in the control. This leads to a lag in the interaction of operating data between the control units, poor production connection, low utilization rate of the molten iron tank, affecting production efficiency, and high labor intensity of operators.

[0035] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0036] For ease of understanding, the specific process of the embodiment of the present invention is described below. The first embodiment of the integrated automatic control system for blast furnace iron tapping and molten iron transportation provided by the present invention includes:

[0037] Blast furnace iron removal plant PLC, blast furnace tapping yard HMI, molten iron filling PLC, molten iron transportation system, swing chute automatic control system unit, temperature measurement and sampling automatic control unit, tapping machine automatic control unit, mud gun automatic control unit, rail clamp automatic control unit, molten iron pipe tank car automatic control unit, blast furnace tapping process calculation and prediction unit and process flow management unit;

[0038] The blast furnace iron-making yard PLC exchanges information with the blast furnace iron-making yard HMI and the molten iron inlet PLC at the same time. The blast furnace iron-making yard PLC and the process flow management unit exchange information through the first bus. Several branches are extended from the first bus, which respectively exchange information with the molten iron sampling automatic control unit, the swing chute automatic control unit, the startup automatic control unit, the mud gun automatic control unit and the integrated process computer prediction unit. The molten iron inlet PLC exchanges information with the molten iron transportation system, the rail clamp automatic control unit and the integrated process calculation and prediction unit at the same time. The molten iron transportation system exchanges information with the process flow management unit through the second bus. Several branches are extended from the second bus, which respectively exchange information with the rail clamp automatic control unit, the molten iron ladle car automatic control unit and the integrated process calculation and prediction unit.

[0039] The molten iron transportation system is used to collect data including locomotive and tank car status monitoring, weighing, positioning, identification, track line roadblock detection, obstacle avoidance, emergency braking status, 5G communication data, and 5G information server information. It also conducts a series of inspections, analysis, and planning for the entire molten iron transportation system, and controls the start, stop, and switching of equipment.

[0040] The swing chute automatic control unit is used for the swing and return control process of the swing chute. The unit includes various sensors required for automatic swing control and an automatic swing server. Among them, a series of detection, analysis and control models of automatic swing run on the automatic swing server; the sensors contained in the swing chute automatic control unit include but are not limited to encoders, laser rangefinders, inclination sensors, linear displacement sensors, etc.

[0041] The temperature measurement and sampling automatic control unit is used to control the descent and elevation of the molten iron temperature measurement and sampling gun. The unit includes various sensors required for automatic temperature measurement and sampling control, as well as an automatic temperature measurement and sampling control server. A series of detection, analysis and control models for automatic temperature measurement and sampling run on the automatic temperature measurement and sampling server. The sensors contained in the temperature measurement and sampling automatic control unit include but are not limited to encoders, laser rangefinders, linear displacement sensors, thermocouples, infrared temperature measuring guns, thermometers, etc.

[0042] The automatic control unit of the opening machine is used to control the process of drill rod selection, drill clamping, boom rotation, boom lifting and lowering, trolley feeding, drill rod rotation impact, mist purging, lubrication and cooling, and the return of the opening machine to the initial position after feeding into place when the opening machine automatically opens; the unit includes various sensors required for automatic opening control, several cameras, and an automatic control server for the opening machine; among them, a series of detection, analysis and control models for automatic control of the opening machine run on the automatic opening machine server; the sensors contained in the automatic control unit of the opening machine include but are not limited to encoders, inclination sensors, linear displacement sensors, etc.; the one or more cameras included can be visible light cameras, infrared cameras, far infrared cameras or high-temperature high-definition cameras, etc.

[0043] The mud gun automatic control unit is used to control the process of mud gun rotation, mud gun pressure, mud gun mud beating, mud gun pressure maintenance, mud gun lifting, mud gun returning to the initial position, and mud gun adding mud when the mud gun is automatically plugged; the unit includes various sensors required for automatic plugging control, several cameras, and an automatic mud gun control server; among them, a series of detection, analysis and control models of the automatic mud gun run on the automatic mud gun server; the sensors contained in the mud gun automatic control unit include but are not limited to encoders, inclination sensors, linear displacement sensors, etc.; the one or more cameras included can be visible light cameras, infrared cameras, far infrared cameras or high-temperature high-definition cameras, etc.

[0044] The automatic control unit of the rail clamp is used to control the clamping and return process of the rail clamp. The unit includes various sensors required for the automatic rail clamp control and an automatic rail clamp server. Among them, a series of detection, analysis and control models of the automatic rail clamp run on the automatic rail clamp server; the sensors contained in the automatic control unit of the rail clamp include but are not limited to proximity switches, photoelectric sensors, travel switches, encoders, inclinometers, linear displacement sensors, etc.

[0045] The automatic control unit of the molten iron ladle car is used to automatically control the electric locomotive to drag the molten iron ladle car from the molten iron processing position to the molten iron filling position, and the travel from the molten iron filling position to the molten iron processing position, as well as the control process of the locomotive and the ladle car being hooked and unhooked, the automatic covering and opening of the molten iron ladle car, and the automatic charging; the unit includes various sensors required for the automatic driving control of the molten iron ladle car, several cameras, and the molten iron ladle car automatic control server; among them, a series of detection, analysis and control models for the automatic driving control of the molten iron ladle car run on the molten iron ladle car automatic control server; the sensors contained in the automatic control unit of the molten iron ladle car include but are not limited to lidar, millimeter wave radar, 5G communication and 5G information server, etc.; the one or more cameras included can be visible light cameras, infrared cameras, far infrared cameras or high-temperature high-definition cameras, etc.

[0046] The blast furnace iron-making process calculation and prediction unit is used to realize the configuration, management, parameter setting, response request and model calculation functions of the production process model. The unit includes a process calculation and prediction server, and the software system of the production process model runs on the process calculation and prediction server; the production process model in the process calculation and prediction unit includes: the departure time of the molten iron ladle before iron-making and the travel track route planning model of the molten iron ladle locomotive, the iron mouth opening machine opening model and the iron mouth mud gun plugging model. By comparing with the data parameters recorded in the previous process flow, the departure time and arrival time of the molten iron ladle, the optimal track route, the optimal drill rod selection of the iron mouth opening machine, the feeding depth, impact force, rotation and lifting angle height, the start time of the air mist purging, lubrication and cooling and the optimal rotation angle, pressure gun, lifting gun, mud gun pressure holding time, mud amount, and mud addition amount parameters of the mud gun are calculated.

[0047] The process management unit defines and configures the integrated production process of blast furnace iron tapping and molten iron transportation, sets parameters and automatically controls the molten iron; this unit includes a process management server and a monitoring terminal. The process management software system runs on the process management server, and the monitoring terminal provides a human-machine operation interface for monitoring the entire production process, manually sending control instructions, defining and configuring parameters, viewing information and confirming instructions.

[0048] The blast furnace iron-making yard PLC also exchanges information with the swing chute operating console / remote control, molten iron sampling operating console / remote control, tapping machine operating console / remote control, and mud gun operating console / remote control.

[0049] The molten iron feeding PLC also exchanges information with the rail clamping device operating console.

[0050] The molten iron transportation system also exchanges information with the locomotive cab / remote control.

[0051] The process management unit also exchanges information with the centralized control information system.

[0052] On the other hand, this embodiment also provides an integrated automatic control system and control method for blast furnace iron tapping and molten iron transportation, including:

[0053] S1. The process management unit obtains blast furnace tapping plan information, molten iron processing workshop production plan information, molten iron ladle status information, and locomotive status information, and automatically selects the corresponding pre-configured process production control flow;

[0054] S2. The process calculation and prediction unit plans and calculates the combination of the standby locomotive and the molten iron ladle car, the track route, travel distance, and travel time of the molten iron ladle car, and sends a ladle car entry instruction to the molten iron ladle car automatic control unit before the calculated planned iron tapping time. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the molten iron ladle car and automatically drives the molten iron ladle car to the molten iron loading position;

[0055] S3. The process management unit sends a tank car rail clamping instruction to the rail clamping device automatic control unit. After receiving the instruction, the rail clamping device automatic control unit sends an action instruction to the molten iron tank inlet PLC. After the molten iron tank inlet PLC detects that the tank car is in place, it controls the rail clamping device to automatically perform the rail clamping action.

[0056] S4. The process management unit sends a swing chute tank position swing instruction to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects that the tank car is in position and ready to receive iron through the molten iron tank loading PLC, and controls the swing chute to automatically swing toward the molten iron tank car.

[0057] S5. The process flow management unit sends a taphole opening instruction to the process calculation and prediction unit. The process calculation and prediction unit calculates the optimal motion posture parameters of the taphole opening machine according to the instruction and sends the motion posture parameters to the taphole opening machine automatic control unit. After receiving the taphole opening instruction and the motion posture parameters, the taphole opening machine automatic control unit automatically controls the taphole opening machine through the blast furnace tapping yard PLC to perform the taphole opening action and automatically controls the taphole opening machine to return to the initial position after the taphole opening is successful. The motion posture parameters include drill rod selection parameters, drill clamping parameters, rotation angle parameters, boom height parameters, drilling depth parameters, impact force parameters, air mist purge parameters, and lubrication and cooling parameters.

[0058] S6. The process management unit sends a molten iron temperature sampling instruction to the temperature sampling automatic control unit. After receiving the molten iron temperature sampling instruction, the temperature sampling automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The high-temperature iron-making yard PLC controls the temperature sampling gun to automatically descend / ascend after detecting that the molten iron is being filled through the molten iron filling PLC.

[0059] S7. After the process management unit monitors the molten iron filling capacity through the molten iron filling PLC and the capacity reaches the set value, it sends a swing chute tank position reversal swing instruction to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects that the tank car on the other side is in place and ready to receive iron through the molten iron filling PLC, and controls the swing chute to automatically swing to the other side.

[0060] S8, the process management unit sends an iron mouth plugging instruction to the process computer prediction unit, the process calculation and prediction unit calculates the optimal motion control parameters of the mud gun according to the instruction, and sends the motion control parameters to the mud gun automatic control unit. After receiving the iron mouth plugging instruction and the motion control parameters, the mud gun automatic control unit automatically controls the mud gun through the blast furnace iron-making yard PLC to perform the iron mouth plugging action, and controls the mud gun to automatically return to the initial position to perform mud filling action after the iron mouth is plugged; the motion control parameters include mud gun rotation parameters, mud gun pressure gun parameters, mud gun mud-beating parameters, mud gun pressure holding parameters, mud gun lifting parameters, mud gun return initial position parameters and mud gun mud filling parameters;

[0061] S9. The process management unit sends a swing chute return-to-center swing instruction to the swing chute automatic control unit. After receiving the swing chute return-to-center swing instruction, the swing chute automatic control unit sends an action instruction to the blast furnace tapping yard PLC. The blast furnace tapping yard PLC detects through the molten iron tank loading PLC that no molten iron has entered the tank, and then controls the swing chute to automatically swing to its initial position.

[0062] S10, the process management unit sends a tank car exit rail instruction to the rail clamp automatic control unit. After receiving the instruction, the rail clamp automatic control unit sends an action instruction to the molten iron tank feeding PLC. The molten iron tank filling PLC receives that the swing position of the swing chute is not in the current molten iron tank car direction and controls the rail clamp to automatically perform the tank car exit rail action.

[0063] S11. After the process management unit receives the production demand of the molten iron treatment workshop, it plans and calculates the combination of idle locomotives and molten iron ladle cars, the track route and travel distance of the molten iron ladle cars, and the travel time through the process calculation and prediction unit. Before the iron mouth blocking step, it sends a ladle exit instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the blast furnace molten iron ladle car to wait for the ladle car to exit the track. After the step of the ladle car exiting the track is completed, the locomotive is hooked and dragged and the ladle car is automatically covered. After that, the ladle car is automatically dragged to the lifting position of the molten iron treatment workshop. After the positioning and recognition determine that the ladle car has completed its departure, the ladle car is automatically opened.

[0064] S12. The process management unit receives the locomotive status data of the molten iron transportation system, and after detecting that the locomotive is low on power, plans and calculates the locomotive's travel track route, travel distance, and travel time through the process calculation and prediction unit, and sends a locomotive charging standby instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to automatically complete the uncoupling action and then automatically drive to the locomotive charging position for charging, and sends locomotive charging feedback to the process management unit. After charging is completed, the locomotive stays on standby and sends standby status feedback to the process management unit.

[0065] The whole step can be specifically described as:

[0066] S1. The process management unit automatically determines the pre-configured process production control process for the blast furnace tapping plan as the current automatic control process based on the obtained blast furnace molten iron tapping plan, the production plan information of the molten iron treatment workshop, and the usage of the locomotive and molten iron ladle car.

[0067] S2. After receiving the blast furnace tapping plan, the process management system automatically starts the production process control, calculates the standby locomotive and the molten iron ladle car combination, the molten iron ladle car's track route, driving distance and time through the process calculation and prediction unit, and sends a "tank car entering the station" instruction to the molten iron ladle car automatic control unit before the planned tapping time. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the molten iron ladle car, hooks and drags it, and automatically completes the molten iron ladle car capping action. After hooking, the molten iron ladle car is automatically dragged to the molten iron filling position on the blast furnace tapping yard track. After positioning and identifying the molten iron ladle car, the molten iron ladle car is automatically loaded. After entering the station, the molten iron ladle car automatically opens its cover, and the molten iron ladle car automatic control unit feeds back the "molten iron ladle car arrives at the blast furnace" signal to the process flow management unit. Combined with the molten iron ladle car arrival at the molten iron filling position signal fed back by the molten iron filling PLC monitoring, it is judged that the "tank car entering the station" operation is completed, and the S3 operation is continued. At the same time, the molten iron ladle car automatic control unit can control the locomotive to automatically unhook and exit this process control according to the use allocation of the process flow management system and join other process controls for use, or it can wait in place in this process control and wait for the process flow management system to allocate the execution of S11 operation or S12 operation.

[0068] S3. The process management unit sends a "tank car track locking" instruction to the track locking device automatic control unit. After receiving the instruction, the track locking device automatic control unit sends an action instruction to the molten iron filling PLC. The molten iron filling PLC detects that the tank car has arrived at the molten iron filling position and controls the track locking device to automatically perform the track locking action. After the track locking device completes the track locking, the track locking device automatic control unit feeds back a "track locking completed" signal to the process management unit, determines that the "tank car track locking" operation is completed, and continues to execute S4 operation.

[0069] S4. The process management unit sends a "swing chute tank position swing" instruction to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects through the molten iron tank loading PLC that the tank car is in place and ready to receive iron, and then controls the swing chute to automatically swing toward the molten iron tank car. After the swing chute "swing chute tank position swing" is completed, the swing chute automatic control unit feeds back a "swing in place" signal to the process management unit, determines that the "swing chute tank position swing" operation is completed, and continues to execute S5 operation.

[0070] S5. The process management unit sends an "iron mouth opening" instruction to the process calculation and prediction unit. The process calculation and prediction unit calculates the optimal motion control of the tapping machine according to the instruction, such as: drill rod selection, drill clamping, rotation angle, boom height, drilling depth, impact force, air mist purging, lubrication and cooling parameters, and sends the parameters to the tapping machine automatic control system. After receiving the "iron mouth opening" instruction and parameters, the tapping machine automatic control unit automatically controls the tapping machine through the blast furnace iron-making yard PLC to perform the tapping action and controls the tapping machine to automatically return to the initial position after the tapping is opened. After the opening is completed, the tapping machine automatic control unit feeds back an "iron mouth opening completed" signal to the process management unit, determines that the "iron mouth opening" operation is completed, and continues to execute S6 operation.

[0071] S6. The process management unit sends the "molten iron temperature sampling" instruction to the temperature measurement and sampling automatic control unit. After receiving the instruction, the temperature measurement and sampling automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects that the molten iron is being filled through the molten iron filling PLC and controls the temperature measurement and sampling gun to automatically perform the descending, sampling and ascending actions. After the temperature measurement and sampling is completed, the temperature measurement and sampling automatic control unit feeds back the "molten iron temperature sampling completed" signal to the process management unit, determines that the "molten iron temperature sampling" operation is completed, and continues to execute S7 operation.

[0072] S7. The process management unit performs "molten iron filling monitoring" on the molten iron tank car filling process through the molten iron filling PLC. When the molten iron tank filling capacity reaches the set value, the "swing chute tank position reversing swing" instruction is sent to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects through the molten iron filling PLC that the tank car on the other side is in place and ready to receive iron, and then controls the swing chute to automatically swing to the other side. After the swing chute "swing chute tank position reversing swing" is completed, the swing chute automatic control unit feeds back the "swing chute tank position reversing swing in place" signal to the process management unit, and determines that the "swing chute tank position reversing swing" operation is completed, and returns to execute S206 operation. If S7 does not trigger the "swing chute tank position reversing swing", continue to execute S208 operation.

[0073] S8. The process management unit sends a "iron mouth blocking" instruction to the process calculation and prediction unit. The process calculation and prediction unit calculates the optimal action control of the mud gun according to the instruction, such as: mud gun rotation, mud gun pressure gun, mud gun muding, mud gun pressure maintenance, mud gun lifting gun, mud gun returning to the initial position, mud gun adding mud and other parameters, and sends the parameters to the mud gun automatic control system. After receiving the "iron mouth blocking" instruction and parameters, the mud gun automatic control unit automatically controls the mud gun through the blast furnace iron-making yard PLC to perform the iron mouth blocking action and controls the mud gun to automatically return to the initial position to perform mud filling action after the iron mouth is blocked. After the mud gun mud hitting action of the mud gun is completed and the mud gun pressure is maintained, the mud gun automatic control unit feeds back a "mud gun has been blocked" signal to the process management unit. After judging that the "mud gun has been blocked", the S9 operation is continued. At the same time, the mud gun blocking action continues until the mud gun automatically returns to the initial position to complete the mud filling action. The mud gun automatic control unit feeds back a "iron mouth blocking success" signal to the process management unit, and judges that the "iron mouth blocking" operation is completed.

[0074] S9. The process management unit sends a "swinging chute returns to the normal position and swings" instruction to the swinging chute automatic control unit. After receiving the instruction, the swinging chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. After the blast furnace iron-making yard PLC detects that there is no molten iron entering the tank through the molten iron filling PLC, it controls the swinging chute to automatically swing to the initial position of the swinging chute. After the swinging chute "swinging chute returns to the normal position and swings" is completed, the swinging chute automatic control unit feeds back the swinging chute in the initial position signal to the process management unit, determines that the "swinging chute returns to the normal position and swings" operation is completed, and continues to execute S10 operation.

[0075] S10. The process management unit sends a "tank car exits the track" instruction to the track automatic control unit. After receiving the instruction, the track automatic control unit sends an action instruction to the molten iron inlet PLC. After the molten iron filling PLC receives that the swing position of the swing chute is not in the current molten iron tank car direction, it controls the track automatically to perform the "tank car exits the track" action. After the track automatically returns to the initial position, the track automatic control unit feeds back the "tank car exits the track" signal to the process management unit, determines that the "tank car exits the track" operation is completed, and continues to execute S211 operation.

[0076] S11. After the process flow management unit receives the production demand of the molten iron treatment workshop, it plans and calculates the combination of idle locomotives and molten iron ladle cars, the track route and driving distance of the molten iron ladle cars, and the time through the process calculation and prediction unit. Before the S8 "iron mouth blocking" step, it sends a "tank car leaving the station" instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the blast furnace molten iron ladle car and wait for the S11 "tank car exiting the track" step to be completed. It then hooks and drags the molten iron ladle and automatically completes the covering action of the molten iron ladle. After hooking, it drags the molten iron ladle and automatically drives it to the lifting position of the molten iron treatment workshop. After positioning and identification, it determines that the molten iron ladle has completed its leaving the station and automatically completes the opening action of the molten iron ladle. The molten iron ladle automatic control unit feeds back the "molten iron ladle arrives at the molten iron treatment workshop" signal to the process flow management unit, determines that the "tank car leaving the station" operation is completed, and completes the integrated control of blast furnace iron tapping and molten iron transportation. At the same time, the automatic control unit of the molten iron ladle car can control the locomotive to automatically unhook and join other process control use according to the use allocation of the process management system, or it can wait in place or continue to execute S12 operation.

[0077] S12. The process management unit receives the locomotive status data of the molten iron transportation system, and after detecting that the locomotive is low on power, exits the current process control before or after the start of steps S2 and S11 according to the control process step requirements, plans the locomotive's travel track route, travel distance and time through the process calculation and prediction unit, and sends a "locomotive charging standby" instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to automatically complete the unhooking action and then automatically drive to the locomotive charging position. After positioning and identifying that the locomotive has arrived at the charging position, it automatically charges and sends a "locomotive charging" feedback to the process management unit. After charging is completed, it stays on standby and sends a "standby" status feedback to the process management unit.

[0078] In some preferred embodiments, exit, pause, and skip operations are performed on production operation steps based on the status of the locomotive tank car transporting molten iron, the condition of the blast furnace, the needs of the molten iron processing workshop, and the actual needs of the production site. For example, in the process control embodiment, exit, pause, and skip operations can be performed on corresponding steps S1-S12 according to a preset process.

[0079] Specifically, the "exit" of a step refers to the operator clicking the "exit" command on the monitoring terminal operation screen of the process flow management system before the start of the process flow automatic control or during operation. After the "exit" command is confirmed by the operator, the process flow management system sends an "exit" signal to the equipment or system involved in the current step, instructing the equipment or system involved in the current step to stop automatic operation and run the equipment to a safe state. Subsequently, the process flow management system ends the current process flow automatic control and returns to the initial state. For example, in the control process of this embodiment, if the sixth step "temperature measurement and sampling" is currently being carried out. At this time, the operator issues an "exit" command on the monitoring terminal operation screen, and the process flow management system sends an "exit" command to the temperature measurement and sampling automatic control system, ends the current process flow automatic control, and returns to the initial state. At the same time, the temperature measurement and sampling automatic control system that receives the "exit" command controls the temperature measurement and sampling gun to move to a safe position, and then ends the temperature measurement and sampling operation.

[0080] "Pause" in a step refers to the operator marking a subsequent step in the currently selected or executing process as a "pause step" on the control screen of the monitoring terminal before the start of automatic process control or during operation. When the process management system enters the "pause step," the operation defined in the "pause step" is temporarily not executed. Instead, the current process control state is paused and saved, and no instructions or parameters are issued, awaiting further operator input. The subsequent operation at this point can be "continue" or "exit." For example, in the control flow of this embodiment, if the second step "tank car arrival" is currently in progress, the operator can manually mark the subsequent fifth step "casthouse taphole opening" as a "pause step." When the process management system enters the fifth step "casthouse taphole opening," the system immediately pauses and awaits the operator's further "continue" or "exit" operation. If "continue" is selected, the process management system sends the "taphole opening" command to the taphole machine automatic control system according to the operation definition of the "taphole opening" step, and the subsequent automatic control process continues. If you select "Exit", the process management system will immediately end the current process automatic control and return to the initial state.

[0081] "Skipping" a step means that, before the start of automatic process control or during operation, the operator marks a subsequent step in the currently selected or executing process as a "skip step" on the control screen of the monitoring terminal. When the process management system enters the "skip step" setting, the operation defined by the "skip step" is not executed. Instead, the step is directly skipped and the next step is entered. Although the step is skipped, the linkage between it and the subsequent steps remains. For example, in the control flow of this embodiment, if the operator manually marks the sixth step "Temperature Measurement and Sampling" as a "skip step," the system will not execute the "molten iron temperature sampling" step when the process management system enters the sixth step "Temperature Measurement and Sampling." Since there is no pre-linkage between the "Temperature Measurement and Sampling" step and the subsequent steps, the system will directly skip to the next steps "Tank Monitoring" and "Swing Reversing" and continue the automatic control process. If the operator manually marks the eighth step "Tapping Site Iron Mouth Blocking" as a "skip step," the system will not execute the "molten iron temperature sampling" step. When the control of the process management system enters the eighth step "iron-casting yard iron mouth blocking", the system does not execute the operation of the "iron-casting yard iron mouth blocking" step, but the "mud gun has been blocked" of the "iron-casting yard iron mouth blocking" step and the linkage with the subsequent steps will be in the control step of entering the next step "initial position swing". At this time, the control process "skip step" or "iron-casting yard iron mouth blocking" alarm prompt and the "iron mouth blocking end" secondary safety confirmation button will appear on the monitoring terminal operation screen. The operator needs to confirm safety with the site and click the secondary safety confirmation button. The control process skips the linkage and continues the subsequent automatic control process.

[0082] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0083] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated automatic control system for blast furnace iron tapping and molten iron transportation, characterized in that: include: Blast furnace iron removal plant PLC, blast furnace tapping yard HMI, molten iron filling PLC, molten iron transportation system, swing chute automatic control system unit, temperature measurement and sampling automatic control unit, tapping machine automatic control unit, mud gun automatic control unit, rail clamp automatic control unit, molten iron pipe tank car automatic control unit, blast furnace tapping process calculation and prediction unit and process flow management unit; The blast furnace iron-making yard PLC exchanges information with the blast furnace iron-making yard HMI and the molten iron inlet tank PLC at the same time. The blast furnace iron-making yard PLC exchanges information with the process flow management unit through the first bus. Several branches are extended from the first bus, which respectively exchange information with the molten iron sampling automatic control unit, the swing chute automatic control unit, the startup automatic control unit, the mud gun automatic control unit and the integrated process computer prediction unit. The molten iron inlet tank PLC exchanges information with the molten iron transportation system, the rail clamp automatic control unit and the integrated process calculation and prediction unit at the same time. The molten iron transportation system exchanges information with the process flow management unit through the second bus. Several branches are extended from the second bus, which respectively exchange information with the rail clamp automatic control unit, the molten iron tank car automatic control unit and the integrated process calculation and prediction unit.

2. The integrated automatic control system for blast furnace iron tapping and molten iron transportation according to claim 1, characterized in that: The blast furnace iron-making yard PLC also exchanges information with the swing chute operating console / remote control, the molten iron sampling operating console / remote control, the opening machine operating console / remote control and the mud gun operating console / remote control.

3. The integrated automatic control system for blast furnace iron tapping and molten iron transportation according to claim 1, characterized in that: The molten iron feeding PLC also exchanges information with the rail clamping device operating console.

4. The integrated automatic control system for blast furnace iron tapping and molten iron transportation according to claim 1, characterized in that: The molten iron transportation system also exchanges information with the locomotive cab / remote controller.

5. The integrated automatic control system for blast furnace iron tapping and molten iron transportation according to claim 1, characterized in that: The process flow management unit also exchanges information with the centralized control information system.

6. An integrated automatic control method for blast furnace iron tapping and molten iron transportation, characterized in that: For use in the integrated automatic control system for blast furnace iron tapping and molten iron transportation according to any one of claims 1 to 5, the integrated automatic control method for blast furnace iron tapping and molten iron transportation comprises: S1. The process management unit obtains blast furnace tapping plan information, molten iron processing workshop production plan information, molten iron ladle status information, and locomotive status information, and automatically selects the corresponding pre-configured process production control flow; S2. The process calculation and prediction unit plans and calculates the combination of the standby locomotive and the molten iron ladle car, the track route, travel distance, and travel time of the molten iron ladle car, and sends a ladle car entry instruction to the molten iron ladle car automatic control unit before the calculated planned iron tapping time. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the molten iron ladle car and automatically drives the molten iron ladle car to the molten iron loading position; S3. The process management unit sends a tank car rail clamping instruction to the rail clamping device automatic control unit. After receiving the instruction, the rail clamping device automatic control unit sends an action instruction to the molten iron tank inlet PLC. After the molten iron tank inlet PLC detects that the tank car is in place, it controls the rail clamping device to automatically perform the rail clamping action. S4. The process management unit sends a swing chute tank position swing instruction to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects that the tank car is in position and ready to receive iron through the molten iron tank loading PLC, and controls the swing chute to automatically swing toward the molten iron tank car. S5. The process flow management unit sends a taphole opening instruction to the process calculation and prediction unit. The process calculation and prediction unit calculates the optimal motion posture parameters of the taphole opening machine according to the instruction and sends the motion posture parameters to the taphole opening machine automatic control unit. After receiving the taphole opening instruction and the motion posture parameters, the taphole opening machine automatic control unit automatically controls the taphole opening machine through the blast furnace tapping yard PLC to perform the taphole opening action and controls the taphole opening machine to automatically return to the initial position after the taphole opening is successful. S6. The process management unit sends a molten iron temperature sampling instruction to the temperature sampling automatic control unit. After receiving the molten iron temperature sampling instruction, the temperature sampling automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The high-temperature iron-making yard PLC controls the temperature sampling gun to automatically descend / ascend after detecting that the molten iron is being filled through the molten iron filling PLC. S7. After the process management unit monitors the molten iron filling capacity through the molten iron filling PLC and the capacity reaches the set value, it sends a swing chute tank position reversal swing instruction to the swing chute automatic control unit. After receiving the instruction, the swing chute automatic control unit sends an action instruction to the blast furnace iron-making yard PLC. The blast furnace iron-making yard PLC detects that the tank car on the other side is in place and ready to receive iron through the molten iron filling PLC, and controls the swing chute to automatically swing to the other side. S8, the process management unit sends an iron mouth plugging instruction to the process computer prediction unit, the process calculation and prediction unit calculates the optimal motion control parameters of the mud gun according to the instruction, and sends the motion control parameters to the mud gun automatic control unit. After receiving the iron mouth plugging instruction and the motion control parameters, the mud gun automatic control unit automatically controls the mud gun to perform the iron mouth plugging action through the blast furnace iron-making yard PLC, and controls the mud gun to automatically return to the initial position to add mud and fill the action after the iron mouth is plugged; S9. The process management unit sends a swing chute return-to-center swing instruction to the swing chute automatic control unit. After receiving the swing chute return-to-center swing instruction, the swing chute automatic control unit sends an action instruction to the blast furnace tapping yard PLC. The blast furnace tapping yard PLC detects through the molten iron tank loading PLC that no molten iron has entered the tank, and then controls the swing chute to automatically swing to its initial position. S10, the process management unit sends a tank car exit rail instruction to the rail clamp automatic control unit. After receiving the instruction, the rail clamp automatic control unit sends an action instruction to the molten iron tank feeding PLC. The molten iron tank filling PLC receives that the swing position of the swing chute is not in the current molten iron tank car direction and controls the rail clamp to automatically perform the tank car exit rail action. S11. After the process management unit receives the production demand of the molten iron treatment workshop, it plans and calculates the combination of idle locomotives and molten iron ladle cars, the track route and travel distance of the molten iron ladle cars, and the travel time through the process calculation and prediction unit. Before the iron mouth blocking step, it sends a ladle exit instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to drive to the blast furnace molten iron ladle car to wait for the ladle car to exit the track. After the step of the ladle car exiting the track is completed, the locomotive is hooked and dragged and the ladle car is automatically covered. After that, the ladle car is automatically dragged to the lifting position of the molten iron treatment workshop. After the positioning and recognition determine that the ladle car has completed its departure, the ladle car is automatically opened. S12. The process management unit receives the locomotive status data of the molten iron transportation system, and after detecting that the locomotive is low on power, plans and calculates the locomotive's travel track route, travel distance, and travel time through the process calculation and prediction unit, and sends a locomotive charging standby instruction to the molten iron ladle car automatic control unit. After receiving the instruction, the molten iron ladle car automatic control unit controls the locomotive to automatically complete the uncoupling action and then automatically drive to the locomotive charging position for charging, and sends locomotive charging feedback to the process management unit. After charging is completed, the locomotive stays on standby and sends standby status feedback to the process management unit.

7. The integrated automatic control method for blast furnace iron tapping and molten iron transportation according to claim 6, characterized in that: The action posture parameters include drill rod selection parameters, drill clamping parameters, rotation angle parameters, boom height parameters, drilling depth parameters, impact force parameters, aerosol blowing parameters and lubrication and cooling parameters.

8. The integrated automatic control method for blast furnace iron tapping and molten iron transportation according to claim 7, characterized in that: The action control parameters include mud gun rotation parameters, mud gun pressure parameters, mud gun mud striking parameters, mud gun pressure maintaining parameters, mud gun lifting parameters, mud gun returning to the initial position parameters and mud gun adding mud parameters.

Images