JP4751082B2 - Control method for tap opening hydraulic opening machine - Google Patents
Control method for tap opening hydraulic opening machine Download PDFInfo
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- JP4751082B2 JP4751082B2 JP2005071827A JP2005071827A JP4751082B2 JP 4751082 B2 JP4751082 B2 JP 4751082B2 JP 2005071827 A JP2005071827 A JP 2005071827A JP 2005071827 A JP2005071827 A JP 2005071827A JP 4751082 B2 JP4751082 B2 JP 4751082B2
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- 238000000034 method Methods 0.000 title claims description 26
- 239000002184 metal Substances 0.000 claims description 13
- 229910052751 metal Inorganic materials 0.000 claims description 13
- 230000003247 decreasing effect Effects 0.000 claims description 9
- 230000002265 prevention Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 12
- 230000035515 penetration Effects 0.000 description 10
- 239000000463 material Substances 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 239000008393 encapsulating agent Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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- Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)
Description
本発明は、出銑口の開孔作業において開孔検知精度を向上させる出銑口油圧開孔機の制御方法に関する。 The present invention relates to a control method for a tap opening hydraulic opening machine that improves the hole detection accuracy in the tap opening operation.
高炉出銑口等の溶融物の出湯口の開孔作業に油圧式削岩機が使用されている。この油圧式削岩機は先端にビットを装着したロッドからなるドリルを有しており、ロッドに打撃力、回転力、ロッドを軸線方向に移動させるフィード力を付与して出湯口の開孔作業を行っている。 Hydraulic rock drills are used to open the melt outlets such as blast furnace outlets. This hydraulic rock drill has a drill consisting of a rod with a bit attached to the tip, and provides the striking force, rotational force, and feed force to move the rod in the axial direction to open the tap. It is carried out.
通常、作業者が、ロッドの打撃操作、回転操作、フィード操作を適切に組み合わせ、且つこれらの強さやタイミング等を調整しながら開孔作業を行っている。但し、前回開孔時の封鎖封入材(マッド材)の固化状態や厚み等が異なるため、前回と同じ要領で開孔作業することは困難であり、また、作業者の熟練度合いによっても、作業時間及び開孔状態も異なってくる。 Usually, an operator performs an opening operation while appropriately combining rod striking operation, rotation operation, and feed operation, and adjusting the strength and timing thereof. However, since the solidification state and thickness of the sealing encapsulant (mud material) at the time of the previous opening are different, it is difficult to open the hole in the same manner as the previous time, and depending on the skill level of the operator The time and open state will also vary.
このような専ら作業者に頼る開孔作業の問題を解決するため、開孔作業状況の変化に対応して、自動的に打撃、回転、フィードの各操作を適切に組み合わせて開孔作業を行う方法が特許文献1に開示されている。この方法により、作業者にそれほどの熟練を要せず、作業状況の変化に対応して自動的に好ましい条件を選択して空打ち防止制御、ジャミング防止制御、フィード速度自動制御、回転数自動制御、フィード方向制御を組み合わせた開孔作業を行うことができ、作業者の負荷も軽減される。 In order to solve the problem of opening work that relies exclusively on such workers, the opening work is automatically performed by appropriately combining the operations of hammering, rotation, and feed in response to changes in the opening work situation. A method is disclosed in Patent Document 1. This method requires less skill for the operator and automatically selects the preferred conditions in response to changes in the work situation to prevent idling control, jamming prevention control, automatic feed speed control, and automatic rotation speed control. Further, it is possible to perform a hole opening operation combined with feed direction control, and the burden on the operator is reduced.
また、前記自動的な開孔作業を補足する手段としての開孔検知方法について特許文献2に開示されている。本方法は、貫通時のフィード速度変化に基づいて、開孔を検知し、ロッドの自動退避を行うものである。 Further, Patent Literature 2 discloses a hole detection method as a means for supplementing the automatic hole opening operation. In this method, a hole is detected based on a change in feed speed during penetration, and the rod is automatically retracted.
また、同じく開孔検知方法について特許文献3には、ロッド寿命向上も念頭に起き、フィード流量変化に基づいて、出湯口の開孔直前状態を予測し、この検出時点から所定距離だけロッドを前進させた後、開孔したと判断し、ロッドの自動退避を行うことが開示されている。
開孔検知方法について、フィード速度の変化量だけで開孔を検知する特許文献2の方法では、開孔対象(炉壁内面の固化状物)に接触してない場合やマッド内の柔軟部を貫通している場合に誤判断が発生するおそれがある。 With respect to the hole detection method, in the method of Patent Document 2 in which the hole is detected only by the amount of change in the feed speed, the flexible part in the mud is not contacted with the object to be opened (solidified material on the inner surface of the furnace wall). There is a risk of misjudgment when penetrating.
また、特許文献3の方法では、マッド材の固化状態や厚みにより、開孔直前状態におけるフィード流量の変化量が異なる場合があるので、開孔直前状態を正確に予測できない。また、マッド材の固化状態や厚みにより、所要前進距離も異なる。さらに、前述のことから、最終的な開孔完了確認は、作業者の判断に委ねることになり、且つ出湯途中の孔閉塞防止のために、ロッド先端を溶融炉内に確実に突入させて孔掃除を行う必要があるため、予測方式は、実態にそぐわない。 Further, in the method of Patent Document 3, the amount of change in the feed flow rate in the state immediately before opening may vary depending on the solidified state and thickness of the mud material, and therefore the state immediately before opening cannot be accurately predicted. Further, the required forward distance varies depending on the solidified state and thickness of the mud material. Furthermore, from the foregoing, the final confirmation of completion of the opening is left to the operator's judgment, and the rod tip is surely inserted into the melting furnace in order to prevent the hole from being clogged in the middle of the hot water. Since it is necessary to perform cleaning, the prediction method is not suitable for the actual situation.
そのため、作業者は、相変わらす高雰囲気温度、塵埃等の苛酷な環境で作業しなくてはならない等の問題がある。 For this reason, there is a problem that the worker has to work in a severe environment such as high atmospheric temperature and dust.
そこで、本発明は、高炉の出銑口の開孔を確実に検知することができる出銑口油圧開孔機の制御方法を提供するものである。 Therefore, the present invention provides a control method for a tap hole hydraulic opening machine that can reliably detect the opening of the tap port of a blast furnace.
本発明は、ロッドの打撃と回転とフィードの組み合わせによって出銑口の開孔を行う油圧開孔機の制御方法において、前記ロッドのフィード前進速度が所定の速度に上昇したこと、前記ロッドのフィード前進流量が所定の流量に上昇したこと、前記ロッドのフィード圧力が所定の圧力迄低下したこと、前記ロッドの開孔深度が所定の距離以上になること、前記ロッドのドリフター回転圧が所定の圧力迄低下したこと、前記ロッドのドリフター回転数が所定の回転数以上になることあるいは前記ロッドのドリフターチェーン張力が所定の張力迄低下したことのいずれかもしくはいずれかを組合わせて検出することにより前記ロッドの溶銑への突入開始を検出した後にロッドを所定時間さらにフィード前進させ、その後ロッドを引き抜いて出銑口から流出する溶銑の熱エネルギーが所定レベルに達すれば、出銑口の開孔が正常に完了したと判断することを特徴とする。 The present invention relates to a control method of a hydraulic opening machine that opens a spout opening by a combination of hammering, rotation and feed of a rod , wherein the feed advance speed of the rod is increased to a predetermined speed, the feed of the rod The forward flow rate has increased to a predetermined flow rate, the feed pressure of the rod has dropped to a predetermined pressure, the opening depth of the rod has exceeded a predetermined distance, and the drifter rotational pressure of the rod has a predetermined pressure By detecting whether the rod drifter rotational speed has exceeded a predetermined rotational speed, or the rod drifter chain tension has decreased to a predetermined tension, or a combination thereof. the rod after detecting the inrush starting to hot metal rod for a predetermined time further feed forward, taphole then pulling out the rod Once it reaches the thermal energy of the hot metal to al outflow to a predetermined level, the opening of the taphole to and determines that completed successfully.
図3は本発明による制御方法におけるフィード圧力及びフィード速度と時間の関係を示すグラフである。 FIG. 3 is a graph showing the relationship between feed pressure and feed speed and time in the control method according to the present invention.
図3に示すように、鉄皮接触までロッド前進時は、フィード圧力は規定範囲内の圧力で一定であり、その後、実際の開孔開始タイミングでマッドに当たってフィード圧力が上昇し、ある設定圧近辺でジャミング制御域に到達し、ロッドは前進・後進を繰り返す。 As shown in FIG. 3, when the rod advances to the iron skin contact, the feed pressure is constant within the specified range, and then the feed pressure rises by hitting the mud at the actual opening start timing. To reach the jamming control area, and the rod repeats forward and reverse.
ジャミング制御域において、フィード速度、フィード流量、フィード圧力、開孔深度、ドリフター回転圧、ドリフター回転数あるいはドリフターチェーン張力は、貫通前後で大きく異なる特性(ロッドは貫通後に溶銑に突入して貫通抵抗が小さくなってフィード速度は上昇、フィード流量は上昇、フィード圧力は低下、開孔深度は所定距離に到達、ドリフター回転圧は低下、ドリフター回転数は上昇、ドリフターチェーン張力は低下)を持っているため、事前に設定した貫通判断値(しきい値)を越えた場合、貫通して開孔が完了したと判断する。 In the jamming control area, the feed speed, feed flow rate, feed pressure, hole opening depth, drifter rotation pressure, drifter rotation speed, or drifter chain tension vary greatly before and after penetration (the rod enters the hot metal after penetration and the penetration resistance is reduced). Since the feed speed is increased, the feed flow rate is increased, the feed pressure is decreased, the opening depth reaches a predetermined distance, the drifter rotation pressure is decreased, the drifter rotation speed is increased, and the drifter chain tension is decreased) When the penetration determination value (threshold value) set in advance is exceeded, it is determined that the penetration has been completed.
前記の開孔が完了したと判断した後においても、孔状態が不完全なために出湯中に閉塞しないよう、孔掃除も兼ねて所定時間フィード前進させる。設定タイマー経過後、ロッド引き抜きに移行する。 Even after it is determined that the opening has been completed, the feed is advanced for a predetermined time while also cleaning the hole so that the hole is not closed because the hole is incomplete. After the set timer elapses, the process moves to rod withdrawal.
ロッド引抜後、開孔された箇所から溶銑が出てくる。この溶銑は、高温で熱エネルギーを放射しているため、この熱エネルギーを輝度計や温度計等により測定し、しきい値以上であれば正常に出銑しているので、開孔検知判定が正常であると認識し、旋回部を含めた開孔機を自動退避し、出湯からの飛散に備える。 After pulling out the rod, hot metal comes out from the hole. Since this hot metal radiates thermal energy at a high temperature, the thermal energy is measured with a luminance meter, thermometer, etc. Recognize that it is normal, and automatically retract the opening machine including the swivel to prepare for splashing from the hot water.
但し、熱エネルギーがしきい値以下であれば、再度、開孔検知判定が正常であると認識されるまで、前記の工程を繰り返して開孔作業を行う。 However, if the thermal energy is less than or equal to the threshold value, the above steps are repeated until the hole detection determination is recognized as normal, and the hole opening operation is performed.
本発明は、溶銑の熱エネルギーを測定して出銑口の開孔の最終判定を行うので、開孔の検知が確実である。 In the present invention, since the final determination of the opening of the spout opening is performed by measuring the thermal energy of the hot metal, the detection of the opening is reliable.
また、ロッド先端を溶融炉内に確実に突入させる出銑口の清掃を行うことで、出湯途中の孔の閉塞を防止することができる。 In addition, by performing cleaning of the tap hole that reliably inserts the rod tip into the melting furnace, blockage of the hole in the middle of the hot water can be prevented.
また、開孔作業が自動化されるので、高雰囲気温度・塵埃等の苛酷な環境での作業者の立会作業がなくなり、省力化できる。 Further, since the hole opening operation is automated, the worker's witness operation in a harsh environment such as a high ambient temperature and dust can be eliminated, thereby saving labor.
図1は本発明の制御方法を適用する出銑口油圧開孔機の一例を示す図である。開孔機1は、錐ロッド2を備えるとともに、ガイドセル3上に設けられ且つ油圧ユニット4からの油圧で駆動されるフィードモータ5により開孔機1を進退駆動して高炉出銑口6を開孔する。フィードモータ5の回転軸にはパルスジェネレータ7が連結され、出銑開始信号によりパルスジェネレータ7の出力を積算する演算装置8を備えており、パルスジェネレータ7で開孔機1の移動量がパルス数としてカウントされ、開孔作業中のフィード圧力が圧力検出計8aで測定される。出銑口近傍に溶銑の熱エネルギーを測定する輝度計あるいは温度計等の熱エネルギー検出計9が配置される。
FIG. 1 is a view showing an example of a sprue opening hydraulic opening machine to which the control method of the present invention is applied. The hole opening machine 1 includes a conical rod 2 and is driven on the blast furnace outlet 6 by driving the hole opening machine 1 back and forth by a feed motor 5 provided on the guide cell 3 and driven by the hydraulic pressure from the
開孔機1は、フィードモータ5によりロッド2に軸線方向に移動させるフィード力が付与され、さらに回転力、打撃力が付与され、フィード、回転あるいは打撃を組み合わせて開孔作業する。 The hole opening machine 1 is provided with a feed force for moving the rod 2 in the axial direction by the feed motor 5, and further with a rotational force and a striking force, and performs a hole opening operation by combining feed, rotation or striking.
図2は本発明の制御方法のフローチャートである。 FIG. 2 is a flowchart of the control method of the present invention.
(1)ロッドの送りがスタートすると、圧力計の検出信号、パルスジェネレータの検出信号、熱エネルギー検出計の熱エネルギの検出信号がそれぞれ演算回路に入力され、フィード圧力、フィード速度、熱エネルギーの演算が開始されるとともに、フィード前進を開始する(ステップS1)。 (1) When rod feed starts, the pressure gauge detection signal, pulse generator detection signal, and thermal energy detection signal thermal energy detection signal are respectively input to the arithmetic circuit to calculate feed pressure, feed speed, and thermal energy. Is started and feed forward is started (step S1).
(2)フィード前進してロッドがマッド材に当たると、図3に示されるようにフィード圧力が上昇し、演算装置ではフィード圧力Pが設定値P3以上(P≧P3)であるか否かが判定される(ステップS2)。 (2) When the feed advances and the rod hits the mud material, the feed pressure increases as shown in FIG. 3, and the arithmetic unit determines whether or not the feed pressure P is equal to or higher than the set value P3 (P ≧ P3). (Step S2).
このステップS2では、ロッド先端のフィード前進にしたがって貫通抵抗が大きくなってフィード圧力が増加するので、P>P3であれば次のステップS3へ進む。フィード圧力Pが設定値P3を超えない場合は、ステップS1のフィード前進に戻ってフィード前進させる。 In this step S2, since the penetration resistance increases and the feed pressure increases as the rod tip feeds forward, if P> P3, the process proceeds to the next step S3. If the feed pressure P does not exceed the set value P3, the feed advances by returning to the feed advance in step S1.
(3)フィード前進中に、ジャミング防止のためにフィード圧力Pが送りの上限設定値P1未満(P<P1)であるか否かが演算装置で判定される(ステップS3)。上限設定値P1はロッドが座屈するおそれのあるフィード圧力である。なお、送りの上限設定値P1は後述の設定値P2及びP3より大きい。 (3) While the feed is moving forward, the arithmetic unit determines whether or not the feed pressure P is less than the upper limit set value P1 (P <P1) for preventing jamming (step S3). The upper limit set value P1 is a feed pressure at which the rod may buckle. The upper limit set value P1 for feeding is larger than set values P2 and P3 described later.
ステップS3においてフィード圧力Pが上限設定値P1未満(P<P1)であれば、座屈が発生するおそれのある送り負荷に達していないので、ロッドはそのままフィード前進する。 If the feed pressure P is less than the upper limit set value P1 in step S3 (P <P1), the feed load that may cause buckling has not been reached, and the rod advances as it is.
(4)ステップS3において、フィード圧力Pが上限設定値P1以上(P≧P1)であれば、座屈の発生するおそれがある送り負荷以上なので、ロッドを後退させる(ステップS4)。 (4) If the feed pressure P is greater than or equal to the upper limit set value P1 (P ≧ P1) in step S3, the rod is retracted because it is greater than the feed load that may cause buckling (step S4).
(5)ステップS4の後退によりフィード圧力Pが、ロッドの座屈のおそれのないフィード圧力である設定値P2以下(P≦P2)であるか否かが判定される(ステップS5)。 (5) It is determined whether or not the feed pressure P is equal to or less than a set value P2 (P ≦ P2), which is a feed pressure at which there is no risk of buckling of the rod, by the retreat of step S4 (step S5).
ステップS4でロッドの先端を未開孔部分のマッド材から離すように後退させれば、フィード圧力は低下するので、このステップS5によりフィード圧が低下していることを確認する。このステップS5でフィード圧力Pが設定値P2以下(P≦P2)になれば、ロッドの座屈のおそれがなくなるので、ステップS1に戻りフィード前進の信号を受けてフィード前進する。ステップS5でフィード圧力Pが設定値P2を超えている場合(P>P2)には、フィード圧力の低下が確認されるまでフィード後進する。 If the tip of the rod is retracted so as to be separated from the mud material at the unopened portion in step S4, the feed pressure is lowered. Therefore, it is confirmed in this step S5 that the feed pressure is lowered. If the feed pressure P becomes equal to or less than the set value P2 (P ≦ P2) in step S5, there is no risk of buckling of the rod, so the process returns to step S1 and feeds forward in response to a feed advance signal. If the feed pressure P exceeds the set value P2 in step S5 (P> P2), the feed is moved backward until a decrease in the feed pressure is confirmed.
このステップS4及びステップS5によりロッドの前進・後退のジャミング制御を行ってロッドの座屈を防止することができる。 By this step S4 and step S5, the rod can be prevented from buckling by performing the jamming control of the forward / backward movement of the rod.
(6)さらに、ロッドの先端が貫通するとフィード速度が上昇する特性から、フィード速度Vが貫通直後の設定速度V1以上(V≧V1)であるか否かが判定される(ステップS6)。このステップS6のV≧V1によりロッドの貫通が確認される。また、フィード速度の上昇にかえてフィード流量の上昇、フィード圧力の低下、開孔深度の所定距離への到達、 ドリフター回転圧の低下、ドリフター回転数の上昇あるいはドリフターチェーン張力の低下のいずれかあるいはいずれかを組み合わせてロッドの溶銑への突入開始を確認してもよい。 (6) Furthermore, it is determined whether the feed speed V is equal to or higher than the set speed V1 immediately after the penetration (V ≧ V1) from the characteristic that the feed speed increases when the tip of the rod penetrates (step S6). The penetration of the rod is confirmed by V ≧ V1 in step S6. Also, instead of increasing the feed speed, the feed flow rate is increased, the feed pressure is decreased, the opening depth is reached to a predetermined distance, the drifter rotational pressure is decreased, the drifter rotational speed is increased, or the drifter chain tension is decreased, or Any of these may be combined to confirm the start of entry of the rod into the hot metal.
なお、フィード速度Vが設定速度V1未満(V<V1)であれば、V≧V1となるまでステップS1に戻ってフィード前進を継続する。 If the feed speed V is less than the set speed V1 (V <V1), the process returns to step S1 to continue the feed forward until V ≧ V1.
(7)ステップS6により貫通が確認されると、ロッドを炉内へ所定時間さらにフィード前進させて孔を清掃するため、フィード前進時間Tが所定時間T1以上(T≧T1)になったか否かでさらなるロッドの前進を判定する(ステップS7)。ロッドの前進は所定時間前進するまで継続する。 (7) When the penetration is confirmed in step S6, the feed advance time T is equal to or greater than the predetermined time T1 (T ≧ T1) in order to clean the hole by feeding the rod further into the furnace for a predetermined time. Then, further advancement of the rod is determined (step S7). The forward movement of the rod continues until it moves forward for a predetermined time.
(8)ロッドが所定時間前進してT≧T1となれば、フィード後進させてロッドを出銑口から引き抜く(ステップS8)。 (8) When the rod moves forward for a predetermined time and T ≧ T1, the feed is moved backward and the rod is pulled out from the outlet (step S8).
(9)ロッドが出銑口から引き抜かれて溶銑が出てくると、溶銑は高温で熱エネルギーを放射しているため、この熱エネルギーEを輝度計や温度計等により測定し、熱エネルギーEがしきい値E1以上(E>E1)であるか否かを判定する(ステップS9)。 (9) When the rod is pulled out from the spout and the hot metal comes out, the hot metal radiates thermal energy at a high temperature. Therefore, this thermal energy E is measured with a luminance meter, a thermometer, etc. Is greater than or equal to the threshold value E1 (E> E1) (step S9).
しきい値以上であれば正常に出銑しているので、開孔検知判定が正常であると認識し、開孔機を自動退避させ、出湯からの飛散に備える。 If it is equal to or greater than the threshold value, it has been discharged normally, so it is recognized that the hole detection determination is normal, and the hole opening machine is automatically retracted to prepare for splashing from the hot water.
しきい値以上でなければ、開孔が正常でないと認識して、ステップS1のフィード前進に戻り、以降のステップを繰り返して、E>E1となるまで再度開孔作業を行う。 If it is not equal to or greater than the threshold value, it is recognized that the opening is not normal, the process returns to the feed forward in step S1, and the subsequent steps are repeated, and the opening operation is performed again until E> E1.
1:出銑口油圧開孔機
2:ロッド
3:ガイドセル
4:油圧ユニット
5:アクチュエータ(フィードモータ)
6:高炉出銑口
7:パルスジェネレータ
8:演算装置
8a:圧力検出計
9:熱エネルギー検出計
1: Tap opening hydraulic opening machine 2: Rod 3: Guide cell 4: Hydraulic unit 5: Actuator (feed motor)
6: Blast furnace outlet 7: Pulse generator 8:
Claims (3)
前記ロッドのフィード前進速度が所定の速度に上昇したこと、前記ロッドのフィード前進流量が所定の流量に上昇したこと、前記ロッドのフィード圧力が所定の圧力迄低下したこと、前記ロッドの開孔深度が所定の距離以上になること、前記ロッドのドリフター回転圧が所定の圧力迄低下したこと、前記ロッドのドリフター回転数が所定の回転数以上になることあるいは前記ロッドのドリフターチェーン張力が所定の張力迄低下したことのいずれかもしくはいずれかを組合わせて検出することにより前記ロッドの溶銑への突入開始を検出した後にロッドを所定時間さらにフィード前進させ、その後ロッドを引き抜いて出銑口から流出する溶銑の熱エネルギーが所定レベルに達すれば、出銑口の開孔が正常に完了したと判断することを特徴とする出銑口油圧開孔機の制御方法。 In a control method of a hydraulic hole opening machine that opens a tap hole by a combination of rod hitting, rotation and feed,
The rod feed advance speed has increased to a predetermined speed, the rod feed advance flow rate has increased to a predetermined flow rate, the rod feed pressure has decreased to a predetermined pressure, the rod opening depth That the rod drifter rotational pressure has decreased to a predetermined pressure, the rod drifter rotational speed exceeds a predetermined rotational speed, or the rod drifter chain tension is a predetermined tension. The rod is further fed forward for a predetermined time after detecting the start of entry of the rod into the hot metal by detecting either or a combination of either of them, and then the rod is pulled out and flows out from the spout It is characterized in that when the thermal energy of the hot metal reaches a predetermined level, it is judged that the opening of the tap hole has been completed normally. The method of taphole hydraulic perforator.
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