A device and method for controlling the running trajectory of a taphole opening machine

Abstract

The present disclosure provides a device and method for controlling the running trajectory of an iron mouth opening machine, and relates to the technical field of iron mouth opening machines. The device includes an anti-deformation module, a motion module, and a fine-tuning module. The anti-deformation module corresponds to the rotating part of the iron mouth opening machine; the motion module matches the connecting rod mechanism of the rotating part in the iron mouth opening machine; the fine-tuning module is embedded in the motion module; the anti-deformation module and the motion module are adapted to the first trajectory segment of the running trajectory of the iron mouth opening machine, and the anti-deformation module and the fine-tuning module are adapted to the second trajectory segment of the running trajectory of the iron mouth opening machine. The method includes: determining the anti-deformation data of the anti-deformation module; adjusting the motion module; determining the basic fine-tuning amount of the fine-tuning module; and determining the final fine-tuning amount. The present disclosure realizes the precise alignment of the iron mouth opening machine with the iron mouth through the mutual cooperation of the anti-deformation module, the motion module, and the fine-tuning module, so as to ensure the normal production of the blast furnace.

Description

Technical Field

[0001] The present disclosure relates to the field of taphole opening machines, and in particular to a device and method for controlling the running trajectory of a taphole opening machine. Background Art

[0002] The iron mouth opening machine is one of the key equipment in front of the iron-making blast furnace. Its function is to open the iron mouth at a certain angle so that the molten iron can flow out of the channel smoothly, realizing modern blast furnace smelting.

[0003] The taphole opening machine is mainly composed of a rotating part and a drilling part. The rotating part sends it from the parking position to the working position, and after opening the taphole, it quickly returns to the parking position. The reliability and performance of the taphole opening machine are directly related to the production efficiency of blast furnace ironmaking.

[0004] The existing taphole opening machine has the phenomenon that the drill rod and the taphole opening are not aligned when the taphole is actually opened. Therefore, it is urgent to make the taphole opening machine drill bit more accurately align with the taphole to complete the taphole opening work. In view of this, a taphole opening machine operation trajectory control device and method have been developed, which has become a difficulty in ensuring blast furnace production. Summary of the invention

[0005] The embodiment of the present invention provides a device and method for controlling the running trajectory of an iron mouth opening machine, which realizes accurate alignment of the iron mouth opening machine with the iron mouth through the cooperation of an anti-deformation module, a motion module and a fine-tuning module, thereby ensuring normal production of a blast furnace.

[0006] To achieve the above object, the embodiments of the present invention adopt the following technical solutions:

[0007] On the one hand, a device for controlling the running trajectory of a taphole opening machine is provided, comprising:

[0008] An anti-deformation module for increasing the moment of inertia, the anti-deformation module corresponding to the rotary part of the taphole opening machine;

[0009] A motion module that provides a motion trajectory to the taphole opening machine, wherein the motion module matches a connecting rod mechanism of a rotating part in the taphole opening machine;

[0010] A fine-tuning module for aligning the drill bit of the taphole opening machine with the taphole, wherein the fine-tuning module is embedded in the motion module;

[0011] The running track of the taphole opening machine includes a first track segment and a second track segment. The anti-deformation module and the motion module are adapted to the first track segment, and the anti-deformation module and the fine-tuning module are adapted to the second track segment.

[0012] Based on one aspect, in a possible implementation, the anti-deformation module includes the material of the rotating part, the thickness of each component in the rotating part, and the heat treatment process of each component in the rotating part.

[0013] Based on one aspect, in a possible implementation, the anti-deformation module also includes the installation method of each component in the rotating part, and the relative angular displacement between the connected components.

[0014] Based on one aspect, in a possible implementation, the motion module includes a dynamic unit and a static unit;

[0015] The dynamic unit corresponds to at least one link of the linkage mechanism and all hinge points of the linkage mechanism;

[0016] The static unit corresponds to the other connecting rods in the linkage mechanism except the connecting rods in the dynamic unit;

[0017] The static unit is connected to and supports the taphole opening machine.

[0018] Based on one aspect, in a possible implementation manner, the dynamic unit of the motion module and the static unit of the motion module are both adapted to the anti-deformation module;

[0019] The anti-deformation module includes the material of the dynamic unit, the relative angular displacement of the dynamic unit and the installation method of the dynamic unit;

[0020] The anti-deformation module also includes the material of the static unit, the heat treatment process of the static unit, the installation method of the static unit and the relative angular displacement of the static unit;

[0021] The fine-tuning module is embedded in the dynamic unit.

[0022] Based on one aspect, in a possible implementation, the first trajectory segment is a motion trajectory of the iron mouth opening machine from a standby position to a point where its drill rod contacts the iron mouth, and the second trajectory segment includes a motion trajectory of the drill rod of the iron mouth opening machine drilling the iron mouth and a motion trajectory of the drill rod of the iron mouth opening machine returning to a working position;

[0023] The fine-tuning module adjusts the motion trajectory of the drill rod in the second trajectory segment to open the iron mouth, and the anti-deformation module adapts to the motion trajectory of the drill rod to open the iron mouth and the motion trajectory of the drill rod returning to the working position;

[0024] The anti-deformation module and the motion module are adapted to the motion trajectory of the iron mouth opening machine from the standby position to the time when its drill rod contacts the iron mouth.

[0025] On the other hand, a method for controlling the running trajectory of a taphole opening machine is provided, comprising:

[0026] Determine the anti-deformation data of the anti-deformation module according to the force analysis and torque conditions of the rotating part of the taphole opening machine;

[0027] Adjust the motion module according to the kinematic relationship of the connecting rod mechanism of the rotating part in the taphole opening machine;

[0028] Determine the basic fine-tuning amount of the fine-tuning module according to the running track of the taphole opening machine and the drill rod deviation of the taphole opening machine over a period of time;

[0029] The final fine-tuning amount is determined based on the basic fine-tuning amount and the use environment and usage time of the taphole opening machine.

[0030] Based on another aspect, in a possible implementation, the running track of the taphole opening machine includes a first track segment and a second track segment;

[0031] The first track segment is the movement track of the taphole opening machine from the standby position to the time when its drill rod contacts the taphole;

[0032] The second track segment includes the motion track of the drill rod of the taphole opening machine when drilling the taphole, and the motion track of the drill rod of the taphole opening machine when returning to the working position;

[0033] The basic fine-tuning amount of the fine-tuning module is determined according to the second trajectory segment and the drill rod deviation of the taphole opening machine within a period of time.

[0034] Based on another aspect, in a possible implementation manner, the fine-tuning module is embedded in the motion module.

[0035] Based on another aspect, in a possible implementation, the motion module includes a dynamic unit and a static unit;

[0036] The dynamic unit corresponds to at least one link of the linkage mechanism and all hinge points of the linkage mechanism;

[0037] The static unit corresponds to the other connecting rods in the linkage mechanism except the connecting rods in the dynamic unit;

[0038] The static unit is connected to and supports the taphole opening machine;

[0039] The fine-tuning module is embedded in the dynamic unit.

[0040] Based on another aspect, in a possible implementation, the anti-deformation module includes the material of the rotating part, the thickness of each component in the rotating part, and the heat treatment process of each component in the rotating part.

[0041] In the present disclosure, there are at least the following technical effects or advantages:

[0042] The embodiment of the present invention realizes the precise alignment of the iron mouth opening machine with the iron mouth through the mutual cooperation of the anti-deformation module, the motion module and the fine-tuning module, thereby solving the problem of misalignment between the drill rod and the iron mouth opening machine when the iron mouth is actually opened. The embodiment of the present invention effectively ensures the normal production of the blast furnace. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments of the present invention or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 It is a principle block diagram of a running trajectory control device of a taphole opening machine provided according to some embodiments of the present disclosure;

[0045] Figure 2 A flow chart of a method for controlling the running trajectory of an iron mouth opening machine according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0046] The present disclosure is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present disclosure, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present disclosure.

[0047] In the description of the embodiments of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the invention.

[0048] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0049] The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0050] See also Figure 1 An embodiment of the present disclosure provides an operation trajectory control device for an iron mouth opening machine, comprising: an anti-deformation module for increasing the moment of inertia, the anti-deformation module corresponds to the rotating part of the iron mouth opening machine; a motion module that provides a motion trajectory to the iron mouth opening machine, the motion module matches the connecting rod mechanism of the rotating part in the iron mouth opening machine; a fine-tuning module for aligning the drill bit of the iron mouth opening machine with the iron mouth, the fine-tuning module is embedded in the motion module; the operation trajectory of the iron mouth opening machine includes a first trajectory segment and a second trajectory segment, the anti-deformation module and the motion module are adapted to the first trajectory segment, and the anti-deformation module and the fine-tuning module are adapted to the second trajectory segment.

[0051] The rotating part of the taphole opening machine is to move the drill rod installed on the taphole opening machine from the parking position to the working position to open the taphole, and then quickly return it to the parking position after the taphole is opened.

[0052] The moment of inertia of the disclosed embodiment refers to the cross-sectional bending resistance of each component of the rotating part. The anti-deformation of the disclosed embodiment includes deformation inspection (bending, torsion, bending and torsion coexisting, double bending, etc.) and deformation amount determination (determining the bending amount and torsion amount of each area of ​​each component of the rotating part) of each component of the rotating part, and determining the anti-deformation area and anti-deformation amount of the component according to the bending, torsion, bending and torsion coexisting, double bending, bending amount and torsion amount. The anti-deformation area and anti-deformation amount correspond to the anti-deformation modules of each component of the rotating part.

[0053] The rotating part of the embodiment of the present disclosure refers to the rotation of the iron mouth opening machine and the movement of the drill rod. The rotation of the iron mouth opening machine depends on the rotating mechanism of the iron mouth opening machine, and the movement of the drill rod of the iron mouth opening machine depends on the connecting rod mechanism. The connecting rod mechanism mainly provides the movement of the drill rod of the iron mouth opening machine.

[0054] The fine-tuning module of the disclosed embodiment is a movable connecting rod in the connecting rod mechanism. Taking the control connecting rod in the connecting rod mechanism as an example, the fine-tuning module is a disc spring buffer mechanism added to the control connecting rod. The disc spring buffer mechanism absorbs the buffer force generated when the drill rod is drilling, and reduces the impact of the drilling process on the connecting rod mechanism and the entire iron mouth opening machine. More specifically, the fine-tuning module (the disc spring buffer mechanism mentioned above) in the control connecting rod is connected to the equipment body through a pin and a spherical bearing. The connecting rod in the control connecting rod is connected to the left connecting rod head by a thread and locked by a nut. The mandrel is installed on the upper right of the connecting rod head, and the guide sleeve, disc spring, and ring are installed on the mandrel in sequence and locked by a nut; the top block, hexagonal nut, and fastening nut are installed on the connecting rod head in sequence. The entire disc spring buffer mechanism is installed in the housing, and the housing and the connecting rod are connected by threads and firmly fixed by a clamping plate, bolts, and washers.

[0055] In practical application, the size of the load borne by the disc spring is preferably related to the compression variable of the disc spring and the number of disc springs. The size of the load borne by the disc spring is calculated according to the weight and operating status of the taphole opening machine, so that the number of disc springs required in the control link and the compression distance can be calculated according to the anti-deformation module. The disc spring buffer mechanism end of the control link is installed at the end of the taphole opening machine with a large relative rotation amount, and is fixedly installed on the head of the rotary mechanism. When the control link is subjected to tension, the left connecting rod head, nut, connecting rod, and housing are stationary, the second guide sleeve is stationary, and the right connecting rod head is pulled to the right by force, driving the entire disc spring buffer mechanism to move to the right, and the guide sleeve 1 compresses the disc spring to the right, and the disc spring can buffer the tension; when the control link is subjected to pressure, the left connecting rod head, nut, connecting rod, and housing are stationary, the first guide sleeve is stationary, and the right connecting rod head is compressed and retracted to the left, driving the entire buffer device to move to the left, and the second guide sleeve compresses the disc spring to the left, and the disc spring can buffer the pressure. The solid control link can absorb the tension and pressure of the equipment to avoid rigid impact. When adjusting the length of the control link, the nut can be loosened and the length of the control link can be adjusted by rotating the link.

[0056] Preferably, the anti-deformation module of the embodiment of the present disclosure includes the material of the rotating part, the thickness of each component in the rotating part, and the heat treatment process of each component in the rotating part.

[0057] It should be noted that the embodiment of the present disclosure only uses the disc spring buffer mechanism in the control link as an example to illustrate the fine-tuning module, that is, the fine-tuning module is not only a disc spring buffer mechanism, but also a telescopic mechanism or any adjustment mechanism. In practical applications, the anti-deformation module of the embodiment of the present disclosure can be selected in various forms such as increasing the size of the component, increasing the chamfer form, increasing the strength of the component, increasing the wall thickness of the component, and improving the processing technology.

[0058] On the basis of the above scheme, the anti-deformation module of the embodiment of the present disclosure also includes the installation method of each component in the rotating part, and the relative angular displacement between the connected components.

[0059] The above-mentioned installation method refers to the installation method of the fine-tuning module and the motion module when the fine-tuning module is embedded in the motion module. For example, the above-mentioned disc spring buffer mechanism is installed on the control connecting rod. When the control connecting rod replaces the disc spring buffer mechanism, you only need to remove the clamping plate. After the connecting rod and the housing are loosened, the disc spring buffer mechanism can be replaced.

[0060] The relative angular displacement between the above-mentioned components, taking the above-mentioned control link as an example, can be the anti-shear capability after the control link is connected to the surrounding links, or can be the relative rotation angle when the control link is hinged to the surrounding links.

[0061] The motion module of the embodiment of the present disclosure includes a dynamic unit and a static unit; the dynamic unit corresponds to at least one connecting rod of the connecting rod mechanism and all the hinge points of the connecting rod mechanism; the static unit corresponds to other connecting rods in the connecting rod mechanism except the connecting rod in the dynamic unit; the static unit connects and supports the iron mouth opening machine.

[0062] It should be noted that the motion module of the embodiment of the present disclosure includes a taphole opening machine rotation mechanism and a drill rod motion mechanism, the drill rod motion mechanism includes a dynamic unit and a static unit, the dynamic unit includes a control connecting rod and a hinge point of the drill rod motion mechanism, and the static unit includes other connecting rods in the drill rod motion mechanism except the control connecting rod. Of course, as another understanding, the static unit of the embodiment of the present disclosure also relatively fixes the drill rod motion mechanism and the taphole opening machine rotation mechanism.

[0063] The dynamic unit in the motion module of the embodiment of the present disclosure and the static unit of the motion module are both adapted to the anti-deformation module; the anti-deformation module includes the material of the dynamic unit, the relative angular displacement of the dynamic unit and the installation method of the dynamic unit; the anti-deformation module also includes the material of the static unit, the heat treatment process of the static unit, the installation method of the static unit and the relative angular displacement of the static unit; the fine-tuning module is embedded in the dynamic unit.

[0064] It should be pointed out that the anti-deformation module can be applied to any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism of the embodiment of the present disclosure. Specifically, the anti-deformation module includes: the material of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, the relative angular displacement of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, the installation method of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, the heat treatment process and processing process of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, and the installation method and relative angular displacement of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism.

[0065] The first trajectory segment of the disclosed embodiment is the motion trajectory of the iron mouth opening machine from the standby position to the time when its drill rod contacts the iron mouth, and the second trajectory segment includes the motion trajectory of the drill rod of the iron mouth opening machine when drilling the iron mouth and the motion trajectory of the drill rod of the iron mouth opening machine when returning to the working position; the fine-tuning module adjusts the motion trajectory of the drill rod in the second trajectory segment when drilling the iron mouth, and the anti-deformation module adapts to the motion trajectory of the drill rod when drilling the iron mouth and the motion trajectory of the drill rod when returning to the working position; the anti-deformation module and the motion module adapt to the motion trajectory of the iron mouth opening machine from the standby position to the time when its drill rod contacts the iron mouth.

[0066] In practical applications, the linkage mechanism uses a four-bar five-hinged mechanism, which includes a first link, a second link, a control link, a third link and a fourth link. The first link and the second link are hinged, the second link and the control link are hinged, the control link and the third link are connected, and the fourth link and the third link are hinged. The center point of the hinge between the first link and the second link is O, the center of the connection between the first link and the third link is A, the center of the connection between the control link and the second link is B, the center of the connection between the third link and the control link is C, and the center of the connection between the third link and the control link is D. When the first link rotates an angle from the initial position, the position of A changes to A', C changes to C', D changes to D', and the position of E changes to E'. The position of the first link becomes OA', the position of the control link becomes BC', and the position of the third link becomes CD'E'. A, C, and D are all floating.

[0067] In addition, see Figure 2 The disclosed embodiment also provides a method for controlling the running trajectory of an iron mouth opening machine, comprising: determining the anti-deformation data of the anti-deformation module according to the force analysis and torque conditions of the rotating part of the iron mouth opening machine; adjusting the motion module according to the kinematic relationship of the connecting rod mechanism of the rotating part of the iron mouth opening machine; determining the basic fine-tuning amount of the fine-tuning module according to the running trajectory of the iron mouth opening machine and the drill rod deviation of the iron mouth opening machine over a period of time; and determining the final fine-tuning amount according to the basic fine-tuning amount and the use environment and use time of the iron mouth opening machine.

[0068] The rotating part of the embodiment of the present disclosure refers to the rotation of the iron mouth opening machine and the movement of the drill rod. The rotation of the iron mouth opening machine depends on the rotating mechanism of the iron mouth opening machine, and the movement of the drill rod of the iron mouth opening machine depends on the connecting rod mechanism. The connecting rod mechanism mainly provides the movement of the drill rod of the iron mouth opening machine.

[0069] The fine-tuning module of the disclosed embodiment is a movable connecting rod in the connecting rod mechanism. Taking the control connecting rod in the connecting rod mechanism as an example, the fine-tuning module is a disc spring buffer mechanism added to the control connecting rod. The disc spring buffer mechanism absorbs the buffer force generated when the drill rod is drilling, and reduces the impact of the drilling process on the connecting rod mechanism and the entire iron mouth opening machine. More specifically, the fine-tuning module (the disc spring buffer mechanism mentioned above) in the control connecting rod is connected to the equipment body through a pin and a spherical bearing. The connecting rod in the control connecting rod is connected to the left connecting rod head by a thread and locked by a nut. The mandrel is installed on the upper right of the connecting rod head, and the guide sleeve, disc spring, and ring are installed on the mandrel in sequence and locked by a nut; the top block, hexagonal nut, and fastening nut are installed on the connecting rod head in sequence. The entire disc spring buffer mechanism is installed in the housing, and the housing and the connecting rod are connected by threads and firmly fixed by a clamping plate, bolts, and washers.

[0070] In practical application, the size of the load borne by the disc spring is preferably related to the compression variable of the disc spring and the number of disc springs. The size of the load borne by the disc spring is calculated according to the weight and operating status of the taphole opening machine, so that the number of disc springs required in the control link and the compression distance can be calculated according to the anti-deformation module. The disc spring buffer mechanism end of the control link is installed at the end of the taphole opening machine with a large relative rotation amount, and is fixedly installed on the head of the rotary mechanism. When the control link is subjected to tension, the left connecting rod head, nut, connecting rod, and housing are stationary, the second guide sleeve is stationary, and the right connecting rod head is pulled to the right by force, driving the entire disc spring buffer mechanism to move to the right, and the guide sleeve 1 compresses the disc spring to the right, and the disc spring can buffer the tension; when the control link is subjected to pressure, the left connecting rod head, nut, connecting rod, and housing are stationary, the first guide sleeve is stationary, and the right connecting rod head is compressed and retracted to the left, driving the entire buffer device to move to the left, and the second guide sleeve compresses the disc spring to the left, and the disc spring can buffer the pressure. The solid control link can absorb the tension and pressure of the equipment to avoid rigid impact. When adjusting the length of the control link, loosen the nut and adjust the length of the control link by rotating the link.

[0071] The fine-tuning module of the disclosed embodiment can be a disc spring buffer mechanism, or a telescopic mechanism or any adjustment mechanism. The anti-deformation module of the disclosed embodiment can be in various forms such as increasing the size of the component, increasing the chamfer form, increasing the strength of the component, increasing the wall thickness of the component, and improving the processing technology in actual application.

[0072] The above-mentioned running trajectory of the iron mouth opening machine includes a first trajectory segment and a second trajectory segment; the first trajectory segment is the movement trajectory of the iron mouth opening machine from the standby position to the time when its drill rod contacts the iron mouth; the second trajectory segment includes the movement trajectory of the drill rod of the iron mouth opening machine drilling the iron mouth and the movement trajectory of the drill rod of the iron mouth opening machine returning to the working position; the basic fine-tuning amount of the fine-tuning module is determined according to the second trajectory segment and the drill rod deviation of the iron mouth opening machine over a period of time.

[0073] Furthermore, the fine-tuning module of the embodiment of the present disclosure is embedded in the motion module. When the fine-tuning module of the embodiment of the present disclosure is embedded in the motion module, the installation method of the fine-tuning module and the motion module, for example, the above-mentioned disc spring buffer mechanism is installed on the control connecting rod, when the control connecting rod replaces the disc spring buffer mechanism, it is only necessary to remove the clamping plate, and the disc spring buffer mechanism can be replaced after the connecting rod and the housing are loosened.

[0074] Based on another aspect, in a possible implementation, the motion module includes a dynamic unit and a static unit; the dynamic unit corresponds to at least one connecting rod of the connecting rod mechanism and all the hinge points of the connecting rod mechanism; the static unit corresponds to other connecting rods in the connecting rod mechanism except the connecting rod in the dynamic unit; the static unit connects and supports the iron mouth opening machine; and the fine-tuning module is embedded in the dynamic unit.

[0075] The motion module of the embodiment of the present disclosure includes a dynamic unit and a static unit; the dynamic unit corresponds to at least one connecting rod of the connecting rod mechanism and all the hinge points of the connecting rod mechanism; the static unit corresponds to other connecting rods in the connecting rod mechanism except the connecting rod in the dynamic unit; the static unit connects and supports the iron mouth opening machine.

[0076] It should be noted that the motion module of the embodiment of the present disclosure includes a taphole opening machine rotation mechanism and a drill rod motion mechanism, the drill rod motion mechanism includes a dynamic unit and a static unit, the dynamic unit includes a control connecting rod and a hinge point of the drill rod motion mechanism, and the static unit includes other connecting rods in the drill rod motion mechanism except the control connecting rod. Of course, as another understanding, the static unit of the embodiment of the present disclosure also relatively fixes the drill rod motion mechanism and the taphole opening machine rotation mechanism.

[0077] The dynamic unit in the motion module of the embodiment of the present disclosure and the static unit of the motion module are both adapted to the anti-deformation module; the anti-deformation module includes the material of the dynamic unit, the relative angular displacement of the dynamic unit and the installation method of the dynamic unit; the anti-deformation module also includes the material of the static unit, the heat treatment process of the static unit, the installation method of the static unit and the relative angular displacement of the static unit; the fine-tuning module is embedded in the dynamic unit.

[0078] It should be pointed out that the anti-deformation module can be applied to any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism of the embodiment of the present disclosure. Specifically, the anti-deformation module includes: the material of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, the relative angular displacement of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, the installation method of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, the heat treatment process and processing process of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism, and the installation method and relative angular displacement of any component of the drill rod movement mechanism and the iron mouth opening machine rotation mechanism.

[0079] The above-mentioned anti-deformation module includes the material of the rotating part, the thickness of each component in the rotating part, and the heat treatment process of each component in the rotating part. The anti-deformation module of the embodiment of the present disclosure can adopt various forms such as increasing the size of the component, increasing the chamfer form, increasing the strength of the component, increasing the wall thickness of the component, and improving the processing technology in practical applications. The anti-deformation of the embodiment of the present disclosure includes deformation inspection (bending, torsion, bending and torsion coexisting, double bending, etc.) and deformation amount determination (determining the bending amount and torsion amount of each area of ​​each component of the rotating part) of each component of the rotating part, and determining the anti-deformation area and anti-deformation amount of the component according to the bending, torsion, bending and torsion coexisting, double bending, bending amount and torsion amount. The anti-deformation area and anti-deformation amount correspond to the anti-deformation modules of each component of the rotating part.

[0080] The embodiment of the present disclosure realizes precise alignment of the iron mouth opening machine with the iron mouth through the mutual cooperation of the anti-deformation module, the motion module and the fine-tuning module, thereby solving the problem of misalignment between the drill rod and the iron mouth opening machine when the iron mouth is actually opened. The embodiment of the present invention effectively ensures the normal production of the blast furnace.

[0081] The series of detailed descriptions listed above are only specific descriptions of feasible implementation methods of the present disclosure. They are not intended to limit the protection scope of the present disclosure. Any equivalent implementation methods or changes that do not deviate from the technical spirit of the present disclosure should be included in the protection scope of the present disclosure.

[0082] It is obvious to those skilled in the art that the present disclosure is not limited to the details of the exemplary embodiments described above, and that the present disclosure can be implemented in other specific forms without departing from the spirit or essential features of the present disclosure. Therefore, the embodiments should be regarded as exemplary and non-restrictive from all points of view, and the scope of the present disclosure is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present disclosure. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0083] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A device for controlling the running trajectory of a taphole opening machine, characterized in that: include: An anti-deformation module for increasing the moment of inertia, the anti-deformation module corresponding to the rotary part of the taphole opening machine; A motion module that provides a motion trajectory to the taphole opening machine, wherein the motion module matches a connecting rod mechanism of a rotating part in the taphole opening machine; The connecting rod mechanism is a four-rod five-hinged mechanism, which includes a first connecting rod, a second connecting rod, a control connecting rod, a third connecting rod and a fourth connecting rod, wherein the first connecting rod and the second connecting rod are hinged, the second connecting rod and the control connecting rod are hinged, the control connecting rod and the third connecting rod are connected, and the fourth connecting rod and the third connecting rod are hinged; a fine-tuning module for aligning the drill bit of the tapping machine with the tapping hole, wherein the fine-tuning module is embedded in the motion module; The fine-tuning module is a disc spring buffer mechanism added to the control connecting rod, which is connected to the equipment body through a pin and a spherical bearing; the connecting rod in the control connecting rod is connected to the left connecting rod head through a threaded connection and locked by a nut; the mandrel is installed on the upper right of the connecting rod head, and the guide sleeve, disc spring, and ring are installed on the mandrel in sequence and locked by a nut; the top block, hexagonal nut, and fastening nut are installed on the connecting rod head in sequence; the entire disc spring buffer mechanism is installed in the housing, and the housing and the connecting rod are connected through a threaded connection and are firmly fixed by a clamping plate, bolts, and washers; the disc spring buffer mechanism end of the control connecting rod is installed at the end with a large relative rotation amount of the iron mouth opening machine, and is fixed on the head of the rotary mechanism; when the control connecting rod is subjected to tension, the connecting rod The left rod head, nut, connecting rod and housing are stationary, the second guide sleeve is stationary, the right connecting rod head is pulled to the right by force, driving the entire disc spring buffer mechanism to move to the right, and the guide sleeve compresses the disc spring to the right, and the disc spring can buffer the tension; when the control connecting rod is under pressure, the left connecting rod head, nut, connecting rod and housing are stationary, the first guide sleeve is stationary, and when the right connecting rod head is compressed and retracted to the left, the entire buffer device is driven to move to the left, and the second guide sleeve compresses the disc spring to the left, and the disc spring can buffer the pressure; the running track of the iron mouth opening machine includes a first track segment and a second track segment, the anti-deformation module and the motion module are adapted to the first track segment, and the anti-deformation module and the fine-tuning module are adapted to the second track segment; Determine the anti-deformation data of the anti-deformation module according to the force analysis and torque conditions of the rotating part of the taphole opening machine; Adjust the motion module according to the kinematic relationship of the connecting rod mechanism of the rotating part in the taphole opening machine; Determine the basic fine-tuning amount of the fine-tuning module according to the running track of the taphole opening machine and the drill rod deviation of the taphole opening machine over a period of time; The final fine-tuning amount is determined based on the basic fine-tuning amount and the use environment and usage time of the taphole opening machine.

2. The running trajectory control device of the taphole opening machine according to claim 1 is characterized in that: The anti-deformation module includes the material of the rotating part, the thickness of each component in the rotating part, and the heat treatment process of each component in the rotating part.

3. The running trajectory control device of the taphole opening machine according to claim 1 is characterized in that: The motion module includes a dynamic unit and a static unit; The dynamic unit corresponds to at least one link of the linkage mechanism and all hinge points of the linkage mechanism; The static unit corresponds to the other connecting rods in the linkage mechanism except the connecting rods in the dynamic unit; The static unit is connected to and supports the taphole opening machine.

4. The running trajectory control device of the taphole opening machine according to claim 1 is characterized in that: The dynamic unit of the motion module and the static unit of the motion module are both adapted to the anti-deformation module; The anti-deformation module includes the material of the dynamic unit, the relative angular displacement of the dynamic unit and the installation method of the dynamic unit; The anti-deformation module also includes the material of the static unit, the heat treatment process of the static unit, the installation method of the static unit and the relative angular displacement of the static unit; The fine-tuning module is embedded in the dynamic unit.

5. The running track control device of the taphole opening machine according to claim 1, characterized in that: The first track segment is the motion track of the taphole opening machine from the standby position to the time when its drill rod contacts the taphole, and the second track segment includes the motion track of the taphole opening machine's drill rod drilling the taphole and the motion track of the taphole opening machine's drill rod returning to the working position; The fine-tuning module adjusts the motion trajectory of the drill rod in the second trajectory segment to open the iron mouth, and the anti-deformation module adapts to the motion trajectory of the drill rod to open the iron mouth and the motion trajectory of the drill rod returning to the working position; The anti-deformation module and the motion module are adapted to the motion trajectory of the iron mouth opening machine from the standby position to the time when its drill rod contacts the iron mouth.

6. A method for controlling the running trajectory of a taphole opening machine, characterized in that: Using the taphole opening machine running trajectory control device according to any one of claims 1 to 5, the method comprises: Determine the anti-deformation data of the anti-deformation module according to the force analysis and torque conditions of the rotating part of the taphole opening machine; Adjust the motion module according to the kinematic relationship of the connecting rod mechanism of the rotating part in the taphole opening machine; Determine the basic fine-tuning amount of the fine-tuning module according to the running track of the taphole opening machine and the drill rod deviation of the taphole opening machine over a period of time; The final fine-tuning amount is determined based on the basic fine-tuning amount and the use environment and usage time of the taphole opening machine.

7. The method for controlling the running trajectory of the taphole opening machine according to claim 6, characterized in that: The running track of the taphole opening machine includes a first track segment and a second track segment; The first track segment is the movement track of the taphole opening machine from the standby position to the time when its drill rod contacts the taphole; The second track segment includes the motion track of the drill rod of the taphole opening machine when drilling the taphole, and the motion track of the drill rod of the taphole opening machine when returning to the working position; The basic fine-tuning amount of the fine-tuning module is determined according to the second trajectory segment and the drill rod deviation of the taphole opening machine within a period of time.

8. The method for controlling the running trajectory of the taphole opening machine according to claim 6, characterized in that: The fine-tuning module is embedded in the motion module.

9. The method for controlling the running trajectory of the taphole opening machine according to claim 8, characterized in that: The motion module includes a dynamic unit and a static unit; The dynamic unit corresponds to at least one link of the linkage mechanism and all hinge points of the linkage mechanism; The static unit corresponds to the other connecting rods in the linkage mechanism except the connecting rods in the dynamic unit; The static unit is connected to and supports the taphole opening machine; The fine-tuning module is embedded in the dynamic unit.

10. The method for controlling the running trajectory of the taphole opening machine according to claim 6, characterized in that: The anti-deformation module includes the material of the rotating part, the thickness of each component in the rotating part, and the heat treatment process of each component in the rotating part.

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