EP3715000B1 - Prevention of waves in the rolling of metal strips - Google Patents
Prevention of waves in the rolling of metal strips Download PDFInfo
- Publication number
- EP3715000B1 EP3715000B1 EP19165536.4A EP19165536A EP3715000B1 EP 3715000 B1 EP3715000 B1 EP 3715000B1 EP 19165536 A EP19165536 A EP 19165536A EP 3715000 B1 EP3715000 B1 EP 3715000B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- metal strip
- control device
- strip
- roll stand
- stand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 229910052751 metal Inorganic materials 0.000 title claims description 128
- 239000002184 metal Substances 0.000 title claims description 128
- 238000005096 rolling process Methods 0.000 title claims description 58
- 230000002265 prevention Effects 0.000 title 1
- 238000000034 method Methods 0.000 claims description 40
- 238000005259 measurement Methods 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 10
- 238000011156 evaluation Methods 0.000 description 7
- 238000013528 artificial neural network Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000002829 reductive effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000005098 hot rolling Methods 0.000 description 2
- 238000010801 machine learning Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004816 latex Substances 0.000 description 1
- 229920000126 latex Polymers 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/68—Camber or steering control for strip, sheets or plates, e.g. preventing meandering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
- B21B37/30—Control of flatness or profile during rolling of strip, sheets or plates using roll camber control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/58—Roll-force control; Roll-gap control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/02—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring flatness or profile of strips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2263/00—Shape of product
- B21B2263/04—Flatness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2263/00—Shape of product
- B21B2263/04—Flatness
- B21B2263/06—Edge waves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2271/00—Mill stand parameters
- B21B2271/02—Roll gap, screw-down position, draft position
- B21B2271/025—Tapered roll gap
Definitions
- the present invention is also based on a control program, the control program including machine code that can be processed by a control device for a roll stand, the processing of the machine code by the control device causing the control device to execute such a control method.
- the present invention is also based on a control device for a roll stand, the control device being programmed with such a control program so that the control device executes such a control method during operation.
- the present invention is also based on a rolling unit, the rolling unit having a rolling stand in which a metal strip is rolled, the rolling unit having such a control device, the rolling stand being controlled by the control device.
- the present invention is also based on a rolling train, the rolling train having a plurality of rolling stands, the rolling stands being arranged one behind the other, viewed in a rolling direction, so that the same section of the metal strip runs through them one after the other, with at least one of the rolling stands being designed as such a rolling unit is.
- lateral position of the metal strip When rolling a metal strip in a roll stand, the lateral position of the metal strip is an important process variable.
- the lateral position of the metal strip is important when rolling the head of the metal strip, so that the metal strip enters a downstream device, for example the downstream rolling stand or a coil box, as centrally as possible. Deviations in the lateral position from a target position can lead to disruptions, and in extreme cases to an upward movement.
- a wave can also form in the rolled metal strip. In some cases this happens despite an attempt to bring the lateral position of the metal strip closer to the desired position, in other cases precisely because of the attempt to bring the lateral position of the metal strip closer to the desired position.
- the wave can occur in the area of the edge of the metal strip facing the drive side of the roll stand or in the area of the edge of the metal strip facing the operating side of the roll stand. Waves of this type make it difficult at least to feed the metal strip to the downstream device, for example threading the metal strip into a downstream stand.
- the waves can lead to a so-called strip doubler (i.e.
- the cause of the waves in the rolled metal strip can be, in particular, an asymmetrical adjustment of the roll stand that is unsuitable for the specific rolled metal strip.
- measurable and known variables are, for example, the strip thickness, the strip width, the temperature, the roll grind, the roll adjustment and others.
- the non-measurable and also not otherwise known variables are, for example, a thickness wedge present in the still unrolled metal strip or a temperature wedge present in the still unrolled metal strip and also a deviation of an actual setting of the roll stand from a target setting - related to this roll stand.
- the object of the present invention is to provide options for avoiding waves in the rolled metal strip as far as possible.
- control method with the features of claim 1.
- Advantageous configurations of the control method are the subject matter of dependent claims 2 to 11.
- control device varies the parameter in such a way that the formation of the wave is counteracted or an extent to which the wave forms is limited to a predetermined extent.
- the parameter can be determined as needed.
- the parameter can be a maximum value or a minimum value for the pan value.
- the limit value there if such a limit value exists) is retained unchanged.
- the parameter in such a way that it does not yet have any influence on the swing value currently output by the tower controller. This can be useful in particular when the sensitivity in detecting a wave is very high, so that even a very small wave can be detected. In this case, it may be sufficient to set the limit value to a value slightly above or below the current value, depending on the panning direction. As a rule, however, the control device will define the limit value in such a way that the scaffold controller has to reduce the amount of the current pivoting value due to the variation of the parameter.
- control device maintains the varied parameter until either the control device varies the parameter again due to renewed formation of a wave in the metal strip, or the tension state of the metal strip changes, or the metal strip is fully rolled in the roll stand.
- the tension state determines whether the metal strip is rolled under tension or without tension.
- an outlet-side detection of the strip position and evaluation of a wave is the the area adjacent to the strip head is rolled without tension until the strip head enters a subsequent device, for example is threaded into the subsequent rolling stand.
- the area adjacent to the strip foot is rolled without tension from the moment when the strip foot has run out of a preceding device, for example is unthreaded from the preceding rolling stand.
- the remaining area of the metal strip can be rolled under tension (this is the norm) or without tension, as required.
- the control device preferably feeds the varied parameter to a database with assignment to data characteristic of the rolled metal strip, so that the varied parameter is available as an initial value for the parameter when rolling another metal strip with the same or sufficiently similar characteristic data.
- the parameters of the stand controller can be set from the outset in such a way that a wave is avoided or the extent of a wave is limited to a predetermined level. In particular, this prevents a wave from occurring again during the rolling of a subsequent similar or at least comparable metal strip.
- the control device can receive, in particular, groups of images of the metal strip as measurement data for the lateral position of the metal strip, which show the metal strip as it leaves the roll stand and/or as it enters the roll stand, with the images of the groups each being based on a uniform image for the respective group Date of acquisition are related.
- the capturing of such images by cameras and similar optical capturing devices is generally known, as already explained above.
- the groups in individual cases only include a single image. Even in this case, a very reliable evaluation is possible. Furthermore, it is possible that the groups of images are determined in such a way that they enable a three-dimensional determination of the surface of the metal strip. This further improves the evaluation.
- the groups of images can include at least one depth image.
- depth image has a fixed meaning. It is a two-dimensional image, with each pixel also being assigned distance information in addition to its arrangement of the associated object determined by the arrangement of the pixel in the image, so that the associated object is unambiguously localized in three-dimensional space.
- the groups of images can comprise a plurality of two-dimensional images. In this case, a stereoscopic image, ie a three-dimensional image, can be generated using the multiple images of the respective group.
- control device uses the groups of images of the metal strip to determine the at least one variable from which it can be seen for both strip edges of the metal strip whether the metal strip forms a wave in the region of the respective strip edge.
- An algorithm for determining the waves in the images does not have to be created explicitly as such. Rather, it is possible to use so-called machine learning algorithms during a learning phase. For example, neural networks can be trained accordingly.
- machine learning algorithms For example, neural networks can be trained accordingly.
- other procedures are also possible without further ado.
- control device makes a simple binary decision as to whether a wave forms at one band edge or at the other band edge.
- This variant is relatively easy to implement.
- control device can determine the quantified values, for example, in the form of I-units (also known in German as the flatness index). I-units are known and familiar to those skilled in the art.
- the control method according to the invention is carried out in particular during a period of time during which the metal strip is in a stress-free state in front of and/or behind the roll stand--ie that roll stand on which the stand controller acts.
- control program with the features of claim 12.
- processing of the machine code by the control device causes the control device to execute a control method according to the invention.
- control device having the features of claim 13.
- the control device is programmed with a control program according to the invention, so that the control device executes a control method according to the invention during operation.
- the rolling unit has a control device according to the invention as a control device.
- At least one of the rolling stands is designed as a rolling unit according to the invention.
- a rolling train has several roll stands 1 . From the roll stands 1 are in FIG 1 only the work rolls shown. As a rule, however, the roll stands 1 additionally have at least back-up rolls, and in some cases also additional rolls beyond the back-up rolls. For example, intermediate rolls can be arranged between the work rolls and the back-up rolls.
- a metal strip 2 is rolled in the rolling train.
- the roll stands 1 are controlled by a respective stand controller 3a.
- the stand controllers 3a are part of a respective control device 3b for the respective roll stand 1.
- the control devices 3b can be coordinated by a higher-level coordination device 3c. However, this is not absolutely necessary.
- the roll stands 1 are arranged one behind the other as viewed in a rolling direction x.
- the same section of the metal strip 2 therefore passes through the roll stands 1 in succession.
- the metal strip 2 can be made of steel or aluminum, for example.
- the rolling can be hot rolling, for example, in particular in a multi-stand finishing train of a hot rolling mill.
- FIG 2 shows a single roll stand 1.
- the roll stand 1 can be one of the roll stands 1 of the rolling train from FIG 1 Act.
- an additional roll stand 1 of the rolling mill is also drawn.
- this further roll stand 1 is only shown in dashed lines, since it is part of FIG 2 and the other figures, only the roll stand 1 shown in solid lines is important.
- the following explanations therefore relate to this roll stand 1 .
- it can be a reversing stand in which the metal strip 2 is rolled in reverse.
- the roll stand 1 can be the only one Be roll stand in which the metal strip 2 is rolled.
- the roll stand 1 is - just like the roll stands 1 of FIG 1 - Controlled by a control device 3b with a stand controller 3a, wherein the control device 3b can be superordinated by a coordination device 3c.
- the control devices 3b are each programmed with a control program 4 . This is shown in 1 and 2 only for one of the control devices 3b.
- the control program 4 includes machine code 5, which can be processed by the control device 3b.
- the processing of the machine code 5 by the control device 3b causes the control device 3b to control the roll stand 1 according to a control method which will be explained in more detail below.
- a control method which will be explained in more detail below.
- the control device 3b takes from a detection device 6 - see also a step S1 in 3 - Measurement data M contrary.
- the measurement data M are received during the rolling of the metal strip 2 in the roll stand 1.
- the measurement data M are for a corresponding to the representation in FIG 4 characteristic of a lateral position y of the metal strip 2 on the exit side of the roll stand 1 .
- the control device 3b therefore determines the lateral position y of the metal strip 2 from the measurement data M in a step S2.
- it determines a swivel value ⁇ s for the roll stand 1 in a step S3.
- the determination takes place from the start in such a way that the lateral position y of the metal strip 2 is approximated to the desired position y*.
- the stand controller 3a controls the roll stand 1 in accordance with the ascertained swivel value ⁇ s.
- the scaffold controller 3a When determining the swivel value ⁇ s, the scaffold controller 3a not only takes into account the deviation of the lateral position y from a target position y*, but also at least one parameter P, usually several parameters P.
- Parameter P are different than variables.
- a variable is a quantity that changes every cycle of the stand controller 3a.
- Typical variables are the setpoint y*, the actual value y and the manipulated variable ⁇ s.
- Parameters P are values which are generally specified only once for the stand controller 3a and are then kept constant during the entire control process—ie over a large number of cycles.
- the parameter P can be a proportional gain or an integration time constant.
- the parameters P can be specified, for example, by a maximum permissible value for the pivoting value ⁇ s or a maximum value for the change in the pivoting value ⁇ s from cycle to cycle of the stand controller 3a.
- the maximum permissible value for the swiveling value ⁇ s can, if necessary, be specified separately for the two swiveling directions.
- control device 3b corresponds to a normal strip position control, as is generally known and also in detail, for example, in EP 3 202 502 A1 is explained.
- the present invention is based on this procedure.
- the control device 3b determines in a step S5 at least one variable V1, V2, Q1, Q2, from which for both strip edges 7, 8 of the metal strip 2 (see FIG 4 ) shows whether the metal strip 2 has a wave 9 in the area of the respective strip edge 7, 8 (see 5 ) trains.
- the control device 3b uses the at least one variable V1, V2, Q1, Q2 to check whether and, if so, at which strip edge 7, 8 the metal strip 2 forms a wave 9.
- step S6 If the check in step S6 is negative, ie no shaft 9 is detected, step S7 is skipped. If, on the other hand, the check of step S6 is positive, ie a wave 9 is detected, the control device 3b goes to step S7. In step S7, the control device 3b varies at least one of the parameters P of the stand controller 3a. From this point in time, i.e. from the point at which the at least one parameter P varies, the stand controller 3a determines the swivel value ⁇ s, taking into account the varied parameter P.
- the control device 3b varies the parameter P in such a way that the formation of the wave 9 is counteracted or an extent h to which the wave 9 forms is limited to a predetermined extent.
- the control device 3b can vary that parameter P which defines the maximum permissible value for the swiveling value ⁇ s. In particular, this value can be reduced in terms of amount, starting from its currently valid value.
- the variation can be carried out for both pivoting directions or only for that pivoting direction which is responsible for the wave 9 which has occurred.
- the determination of the pivot value ⁇ s within the scope of the present invention takes into account the fact whether the metal strip 2 in the area of one of its strip edges 7, 8 has a wave 9 trains.
- the control device 3b retains the varied parameter P in the further course until a special event occurs, as a result of which the value of the corresponding parameter P is varied again.
- a special event is that despite the just mentioned variation of the parameter P, a wave 9 is again detected at one of the strip edges 7, 8.
- a special event consists in the fact that despite the variation just mentioned of the parameter P at the same band edge 7, 8 as before, a wave 9 is again detected.
- Other special events include a change in the rolling process.
- the control device 3b checks in a step S11 whether the tensile state Z of the metal strip 2 has changed.
- the tension state Z changes in particular when there is a transition from rolling the metal strip 2 under tension to rolling the metal strip 2 without tension or, conversely, there is a transition from rolling the metal strip 2 without tension to rolling the metal strip 2 under tension.
- a change from rolling the metal strip 2 without tension to rolling the metal strip 2 under tension usually occurs in particular when a strip head 11 of the metal strip 2 enters a downstream device, for example in a multi-stand rolling train is threaded into the downstream roll stand 1 .
- control device 3b can check in a step S12 whether the metal strip 2 has been completely rolled in the roll stand 1 .
- the parameters P can be redefined in a step S13.
- Step S21 is executed if the control device 3b varies the at least one parameter P.
- the control device 3b carries the varied parameter P, with assignment to data D characteristic of the rolled metal strip 2, to a database DB (see FIG 2 ) to.
- a database DB see FIG 2
- the control device 3b before rolling a respective metal strip 2, in step S22 to use characteristic data D for the metal strip 2 to be newly rolled to check whether there is data in the database DB for such a metal strip 2 or a metal strip 2 with sufficiently similar characteristic data D parameters P are already stored. If such parameters P are stored, the control device 3b can call up these parameters P as initial values from the database DB in step S23. Otherwise, the control device 3b can set standard values for the parameters P in step S24.
- the measurement data M can be determined as needed.
- the detection device 6 is also designed accordingly.
- the detection device 6 is a single camera 7 or - see FIG 4 - Be designed as a group of cameras 10.
- the measurement data M are images B or groups of images B.
- the groups of images B only include a single image B each.
- the respective image B relates to a respective acquisition time.
- the detection device 6 can also be designed as a group of cameras 10 .
- the cameras 10 each capture their own image B.
- the individual cameras 10 each capture their respective image B at a uniform capture time.
- the images B of the respective group are related to a respective uniform capture time.
- the control device 3b preferably evaluates the groups of images B not only as part of step S2, i.e. as part of the determination of the lateral position y of the metal strip 2. Rather, the control device 3b preferably also evaluates the groups of images B as part of step S5 for the determination the at least one variable V1, V2, Q1, Q2, which shows for both strip edges 7, 8 of the metal strip 2 whether the metal strip 2 forms a wave 9 in the region of the respective strip edge 7, 8.
- the groups of images B can each include more than one image B.
- the control device 3b can preprocess the images B recorded at a uniform recording time in such a way that it determines the three-dimensional surface of the metal strip 2 .
- the control device 3b evaluates the determined three-dimensional surface of the metal strip 2 in step S5.
- the corresponding image B is a so-called depth image.
- the control device 3b evaluates the three-dimensional surface of the metal strip 2 in step S5.
- step S5 i.e. to determine the at least one variable V1, V2, Q1, Q2, from which it can be seen for both strip edges 7, 8 of the metal strip 2 whether the metal strip 2 forms a wave 9 in the region of the respective strip edge 7, 8
- the control device 3b can be activated as shown in FIG 8 in a step S31, as part of the evaluation of the respective group of images B for one strip edge 7, 8 of the metal strip 2, determine the extent of a wave 9, in which the metal strip 2 forms the wave 9 in the region of the strip edge 7, 8.
- the control device 3b can determine the height h of the shaft 9 .
- the control device 3b executes an algorithm in a broader sense.
- the control device 3b with a learning algorithm can be programmed, the learning algorithm in a learning phase in advance - so before Execution of the tax procedure of 3 -
- the associated extent for example the height h of the shaft 9, is communicated so that the control device 3b could "learn" the correct evaluation.
- Boolean information derived from the extent can also be supplied to the control device 3b.
- the control device 3b uses the learning algorithm to determine the associated extent or the Boolean information derived therefrom.
- other information can also be supplied to the control device 3b as part of the learning process, for example control interventions by operators when rolling the metal strip 2.
- a step S32 the control device 3b checks whether the determined extent exceeds a predetermined threshold value SW. If this is the case, the control device 3b sets a Boolean variable V1 to the value TRUE in a step S33. Otherwise, in a step S34, the control device 3b sets the Boolean variable V1 to the value FALSE.
- control device 3b determines the value of a Boolean variable V2 for the other band edge 8 in a completely analogous manner.
- the Boolean variables V1, V2 are the at least one variable that indicates whether the metal strip 2 is in the range of the respective Band edge 7, 8 forms a wave 9.
- a variable with at least three values could of course also be used. For example, the value +1 could be used for a wave 9 at one band edge 7, the value -1 for a wave 9 at the other band edge 8, and the value 0 for no wave 9.
- step S41 the control device 3b determines a quantified value Q1 for the extent determined in step S31.
- the control device 3b accepts the extent determined in step S31.
- the control device 3b preferably determines the associated I-unit of the metal strip 2 in the region of the strip edge 7, 8 as a quantified value Q1 on the basis of the extent determined in step S31.
- control device 3b determines in step S42 a quantified value Q2 for the extent determined in step S35.
- the quantified values Q1, Q2 therefore represent the at least one variable from which it can be seen whether the metal strip 2 forms a wave 9 in the region of the respective strip edge 7, 8.
- a uniform variable could of course also be used which, for example, in the case of a positive value, indicates the height h of the wave 9 at one band edge 7 and, in the case of a negative value, the height h of the wave 9 at the other band edge 8 indicates.
- FIG 4 Figures B show the metal strip 2 on the outlet side of the roll stand 1 in a stress-free state.
- the roll stand 1 is configured purely as a reversing stand, this is the case anyway.
- the roll stand 1 as part the multi-stand rolling mill from FIG 1 this results for the time range in which the strip head 11 of the metal strip 2 has already passed through the roll stand 1, but has not yet reached the further roll stand 1 shown in dashed lines.
- coil boxes or similar devices are arranged upstream and downstream of the roll stand 1, this applies in each case up to the point in time at which the strip head 11 reaches the respective coil box.
- the same explanations apply to the tape foot.
- the present invention was explained above in connection with a detection of the lateral position y on the outlet side of the roll stand 1 . This represents the normal case of the present invention. Alternatively or additionally, however, it is also possible to carry out the procedure with regard to the entry side of the roll stand 1 .
- the present invention has many advantages.
- the procedure according to the invention allows not only an error in the running of the strip to be identified and corrected, but also an error when throwing a wave 9 .
- the detection of waves 9 as such in the captured images B can be implemented without any problems.
- the procedure according to the invention can be used in particular for the automated optimization of operation when threading the metal strip 2 into a subsequent roll stand 1 or generally when the metal strip 2 enters a subsequent device.
- the necessary hardware for capturing and processing the images B is usually available anyway, so that only the costs for the associated software are incurred.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Metal Rolling (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Metal Rolling (AREA)
Description
Die vorliegende Erfindung geht aus von einem Steuerverfahren für ein Walzgerüst,
- wobei eine Steuereinrichtung für das Walzgerüst während des Walzens eines Metallbandes in dem Walzgerüst Messdaten für eine einlaufseitig und/oder auslaufseitig des Walzgerüsts bestehende seitliche Lage des Metallbandes entgegennimmt,
- wobei ein Gerüstregler der Steuereinrichtung unter Berücksichtigung von Parametern des Gerüstreglers in Abhängigkeit der Abweichung der seitlichen Lage von einer Solllage einen Schwenkwert für das Walzgerüst ermittelt und das Walzgerüst entsprechend ansteuert.
- wherein a control device for the roll stand receives measurement data for a lateral position of the metal strip on the inlet side and/or outlet side of the roll stand during the rolling of a metal strip in the roll stand,
- a stand controller of the control device, taking into account parameters of the stand controller, determines a swivel value for the roll stand as a function of the deviation of the lateral position from a target position and controls the roll stand accordingly.
Die vorliegende Erfindung geht weiterhin aus von einem Steuerprogramm, wobei das Steuerprogramm Maschinencode umfasst, der von einer Steuereinrichtung für ein Walzgerüst abarbeitbar ist, wobei die Abarbeitung des Maschinencodes durch die Steuereinrichtung bewirkt, dass die Steuereinrichtung ein derartiges Steuerverfahren ausführt.The present invention is also based on a control program, the control program including machine code that can be processed by a control device for a roll stand, the processing of the machine code by the control device causing the control device to execute such a control method.
Die vorliegende Erfindung geht weiterhin aus von einer Steuereinrichtung für ein Walzgerüst, wobei die Steuereinrichtung mit einem derartigen Steuerprogramm programmiert ist, so dass die Steuereinrichtung im Betrieb ein derartiges Steuerverfahren ausführt.The present invention is also based on a control device for a roll stand, the control device being programmed with such a control program so that the control device executes such a control method during operation.
Die vorliegende Erfindung geht weiterhin aus von einer Walzeinheit, wobei die Walzeinheit ein Walzgerüst aufweist, in dem ein Metallband gewalzt wird, wobei die Walzeinheit eine derartige Steuereinrichtung aufweist, wobei das Walzgerüst von der Steuereinrichtung gesteuert wird.The present invention is also based on a rolling unit, the rolling unit having a rolling stand in which a metal strip is rolled, the rolling unit having such a control device, the rolling stand being controlled by the control device.
Die vorliegende Erfindung geht weiterhin aus von einer Walzstraße, wobei die Walzstraße mehrere Walzgerüste aufweist, wobei die Walzgerüste in einer Walzrichtung gesehen hintereinander angeordnet sind, so dass sie von dem gleichen Abschnitt des Metallbandes nacheinander durchlaufen werden, wobei mindestens eines der Walzgerüste als derartige Walzeinheit ausgebildet ist.The present invention is also based on a rolling train, the rolling train having a plurality of rolling stands, the rolling stands being arranged one behind the other, viewed in a rolling direction, so that the same section of the metal strip runs through them one after the other, with at least one of the rolling stands being designed as such a rolling unit is.
Beim Walzen eines Metallbandes in einem Walzgerüst ist die seitliche Lage des Metallbandes eine wichtige Prozessgröße. Mit dem Begriff "seitliche Lage des Metallbandes" kann - dies gilt nicht nur im Stand der Technik, sondern auch im Rahmen der vorliegenden Erfindung - die durchschnittliche seitliche Lage (= Querposition) des Metallbandes in einer eingerüstigten oder mehrgerüstigen Walzstraße gemeint sein. Es ist im Rahmen der vorliegenden Erfindung jedoch ebenso möglich, mit diesem Begriff die Querposition eines längeren oder kürzeren Abschnitts des Metallbandes zu bezeichnen, im Extremfall die Querposition eines bestimmten Bandpunktes, insbesondere des Bandkopfes oder des Bandfußes. Insbesondere ist die seitliche Lage des Metallbandes beim Walzen des Kopfes des Metallbandes von Bedeutung, damit das Metallband in eine nachfolgende Einrichtung - beispielsweise das nachfolgende Walzgerüst oder eine Coilbox - möglichst mittig einläuft. Abweichungen der seitlichen Lage von einer Solllage können zu Störungen führen, im Extremfall zu einem Hochgeher.When rolling a metal strip in a roll stand, the lateral position of the metal strip is an important process variable. The term “lateral position of the metal strip” can mean—this applies not only to the prior art but also to the present invention—the average lateral position (=transverse position) of the metal strip in a single-stand or multi-stand rolling train. However, within the scope of the present invention it is also possible to use this term to designate the transverse position of a longer or shorter section of the metal strip, in extreme cases the transverse position of a specific strip point, in particular the strip head or the strip foot. In particular, the lateral position of the metal strip is important when rolling the head of the metal strip, so that the metal strip enters a downstream device, for example the downstream rolling stand or a coil box, as centrally as possible. Deviations in the lateral position from a target position can lead to disruptions, and in extreme cases to an upward movement.
Zur Vermeidung derartiger Störungen ist bekannt, die seitliche Lage des Metallbandes zu erfassen und die Walzen des Walzgerüsts entsprechend zu verschwenken, um die seitliche Lage des Metallbandes entsprechend einzustellen und nachzuführen. Rein beispielhaft kann auf die
Beim Walzen eines Metallbandes kann es aber auch zur Ausbildung einer Welle in dem gewalzten Metallband kommen. In manchen Fällen geschieht dies trotz des Versuchs, die seitliche Lage des Metallbandes der Solllage anzunähern, in anderen Fällen gerade wegen des Versuchs, die seitliche Lage des Metallbandes der Solllage anzunähern. Die Welle kann - je nach Lage des Einzelfalls - im Bereich der der Antriebseite des Walzgerüsts zugewandten Bandkante des Metallbandes oder im Bereich der der Bedienseite des Walzgerüsts zugewandten Bandkante des Metallbandes auftreten. Derartige Wellen erschweren zumindest das Zuführen des Metallbandes zur nachfolgenden Einrichtung, beispielsweise das Einfädeln des Metallbandes in einem nachfolgenden Gerüst. Weiterhin können die Wellen zu einem sogenannten Banddoppler (d.h. einer doppelten Lage des Metallbandes) und damit zu einer Störung im Betrieb des Walzgerüsts führen. Im schlimmsten Fall kann sogar ein sogenannter Hochgeher auftreten. Ursache der Wellen in dem gewalzten Metallband kann insbesondere eine für das konkret gewalzte Metallband ungeeignete asymmetrische Anstellung des Walzgerüsts sein.When rolling a metal strip, however, a wave can also form in the rolled metal strip. In some cases this happens despite an attempt to bring the lateral position of the metal strip closer to the desired position, in other cases precisely because of the attempt to bring the lateral position of the metal strip closer to the desired position. Depending on the individual case, the wave can occur in the area of the edge of the metal strip facing the drive side of the roll stand or in the area of the edge of the metal strip facing the operating side of the roll stand. Waves of this type make it difficult at least to feed the metal strip to the downstream device, for example threading the metal strip into a downstream stand. Furthermore, the waves can lead to a so-called strip doubler (i.e. a double layer of the metal strip) and thus to a disturbance in the operation of the rolling stand. In the worst case, a so-called high-speed can even occur. The cause of the waves in the rolled metal strip can be, in particular, an asymmetrical adjustment of the roll stand that is unsuitable for the specific rolled metal strip.
Ob und gegebenenfalls in welchem Ausmaß derartige Wellen auftreten, kann im aktuellen Stand der Technik anhand von Anlagen-, Betriebs- und Messdaten nicht vorab bestimmt werden. Der Grund hierfür ist, dass neben messbaren und bekannten Größen auch andere, nicht messbare und auch nicht anderweitig bekannte Größen einen bedeutenden Einfluss haben. Die messbaren und bekannten Größen sind beispielsweise die Banddicke, die Bandbreite, die Temperatur, der Walzenschliff, die Walzenanstellung und andere mehr. Die nicht messbaren und auch nicht anderweitig bekannten Größen sind beispielsweise ein - bezogen auf dieses Walzgerüst - im noch ungewalzten Metallband vorhandener Dickenkeil oder im noch ungewalzten Metallband vorhandener Temperaturkeil und auch eine Abweichung einer tatsächlichen Einstellung des Walzgerüsts von einer Solleinstellung.Whether and, if so, to what extent such waves will occur cannot be determined in advance with the current state of the art based on system, operating and measurement data. The reason for this is that in addition to measurable and known variables, other non-measurable and also not otherwise known variables also have a significant influence. The measurable and known variables are, for example, the strip thickness, the strip width, the temperature, the roll grind, the roll adjustment and others. The non-measurable and also not otherwise known variables are, for example, a thickness wedge present in the still unrolled metal strip or a temperature wedge present in the still unrolled metal strip and also a deviation of an actual setting of the roll stand from a target setting - related to this roll stand.
Im Stand der Technik ist bekannt, mittels einer entsprechenden Kameraeinrichtung auslaufseitig des Walzgerüsts Bilder des gewalzten Metallbandes zu erfassen und die Bilder auszuwerten. Im Stand der Technik erfolgt die Auswertung jedoch lediglich zur Erfassung und Ermittlung der Lage der Bandkanten oder allgemein der seitlichen Lage des Metallbandes, insbesondere zur Ermittlung eines Bandsäbels. Rein beispielhaft kann auf die bereits genannte
Die Aufgabe der vorliegenden Erfindung besteht darin, Möglichkeiten zu schaffen, Wellen in dem gewalzten Metallband nach Möglichkeit zu vermeiden.The object of the present invention is to provide options for avoiding waves in the rolled metal strip as far as possible.
Die Aufgabe wird durch ein Steuerverfahren mit den Merkmalen des Anspruchs 1 gelöst. Vorteilhafte Ausgestaltungen des Steuerverfahrens sind Gegenstand der abhängigen Ansprüche 2 bis 11.The object is achieved by a control method with the features of
Erfindungsgemäß wird ein Steuerverfahren der eingangs genannten Art dadurch ausgestaltet,
- dass die Steuereinrichtung mindestens eine Größe ermittelt, aus der für beide Bandkanten des Metallbandes hervorgeht, ob das Metallband im Bereich der jeweiligen Bandkante eine Welle ausbildet, und
- dass die Steuereinrichtung, sobald das Metallband im Bereich einer der Bandkanten eine Welle ausbildet, mindestens einen der Parameter des Gerüstreglers variiert, so dass der Gerüstregler den Schwenkwert ab dem Variieren des mindestens einen Parameters unter Berücksichtigung des geänderten Parameters ermittelt.
- that the control device determines at least one variable from which it can be seen for both strip edges of the metal strip whether the metal strip forms a wave in the area of the respective strip edge, and
- that the control device varies at least one of the parameters of the stand controller as soon as the metal strip forms a wave in the region of one of the strip edges, so that the stand controller determines the swivel value from the point at which the at least one parameter varies, taking into account the changed parameter.
Insbesondere variiert die Steuereinrichtung den Parameter derart, dass der Ausbildung der Welle entgegengewirkt wird oder ein Ausmaß, in dem die Welle sich ausbildet, auf ein vorbestimmtes Maß begrenzt wird.In particular, the control device varies the parameter in such a way that the formation of the wave is counteracted or an extent to which the wave forms is limited to a predetermined extent.
Der Parameter kann nach Bedarf bestimmt sein. Insbesondere kann es sich bei dem Parameter um einen Maximalwert oder einen Minimalwert für den Schwenkwert handeln. Es ist beispielsweise möglich, einen Grenzwert für die Keilanstellung des Walzgerüsts in derjenigen Richtung festzulegen, an deren Bandkante die Welle aufgetreten ist. Für die andere Richtung ist es möglich, dass der dortige Grenzwert (sofern ein derartiger Grenzwert vorhanden ist) unverändert beibehalten wird. Alternativ ist es möglich, für beide Schwenkrichtungen einen gemeinsamen absoluten Grenzwert für die Keilanstellung des Walzgerüsts festzulegen.The parameter can be determined as needed. In particular, the parameter can be a maximum value or a minimum value for the pan value. For example, it is possible to set a limit value for the wedge adjustment of the roll stand in that direction at the strip edge of which the wave occurred. For the other direction it is possible that the limit value there (if such a limit value exists) is retained unchanged. Alternatively, it is possible to define a common absolute limit value for the wedge adjustment of the roll stand for both pivoting directions.
Es ist im Einzelfall möglich, den Parameter so zu bestimmen, dass er noch keinen Einfluss auf den momentan vom Gerüstregler ausgegebenen Schwenkwert hat. Dies kann insbesondere dann sinnvoll sein, wenn die Sensitivität bei der Erkennung einer Welle sehr hoch ist, so dass bereits eine sehr kleine Welle erkannt werden kann. In diesem Fall kann es unter Umständen ausreichen, den Grenzwert - je nach Schwenkrichtung auf einen Wert geringfügig oberhalb bzw. unterhalb des aktuellen Wertes festzulegen. In der Regel wird die Steuereinrichtung den Grenzwert aber derart festlegen, dass der Gerüstregler den aktuellen Schwenkwert aufgrund des Variierens des Parameters betragsmäßig reduzieren muss.In individual cases it is possible to determine the parameter in such a way that it does not yet have any influence on the swing value currently output by the tower controller. This can be useful in particular when the sensitivity in detecting a wave is very high, so that even a very small wave can be detected. In this case, it may be sufficient to set the limit value to a value slightly above or below the current value, depending on the panning direction. As a rule, however, the control device will define the limit value in such a way that the scaffold controller has to reduce the amount of the current pivoting value due to the variation of the parameter.
Vorzugsweise behält die Steuereinrichtung den variierten Parameter bei, bis entweder die Steuereinrichtung den Parameter aufgrund einer erneuten Ausbildung einer Welle in dem Metallband erneut variiert oder sich der Zugzustand des Metallbandes ändert oder das Metallband vollständig in dem Walzgerüst gewalzt ist.Preferably, the control device maintains the varied parameter until either the control device varies the parameter again due to renewed formation of a wave in the metal strip, or the tension state of the metal strip changes, or the metal strip is fully rolled in the roll stand.
Der Zugzustand legt fest, ob das Metallband unter Zug gewalzt wird oder zugfrei gewalzt wird. Bei einer auslaufseitigen Erfassung der Bandlage und Auswertung auf eine Welle wird der an den Bandkopf angrenzende Bereich zugfrei gewalzt, bis der Bandkopf in eine nachfolgende Einrichtung einläuft, beispielsweise in das nachfolgende Walzgerüst eingefädelt wird. Ebenso wird im Falle einer einlaufseitigen Erfassung der Bandlage und Auswertung auf eine Welle der an den Bandfuß angrenzende Bereich ab dem Moment zugfrei gewalzt, zu dem der Bandfuß aus einer vorausgehenden Einrichtung ausgelaufen ist, beispielsweise aus dem vorausgehenden Walzgerüst ausgefädelt wird. Der verbleibende Bereich des Metallbandes kann nach Bedarf unter Zug (dies stellt den Regelfall dar) oder zugfrei gewalzt werden.The tension state determines whether the metal strip is rolled under tension or without tension. With an outlet-side detection of the strip position and evaluation of a wave is the the area adjacent to the strip head is rolled without tension until the strip head enters a subsequent device, for example is threaded into the subsequent rolling stand. Likewise, in the case of an entry-side detection of the strip position and evaluation of a shaft, the area adjacent to the strip foot is rolled without tension from the moment when the strip foot has run out of a preceding device, for example is unthreaded from the preceding rolling stand. The remaining area of the metal strip can be rolled under tension (this is the norm) or without tension, as required.
Vorzugsweise führt die Steuereinrichtung den variierten Parameter unter Zuordnung zu für das gewalzte Metallband charakteristischen Daten einer Datenbank zu, so dass der variierte Parameter beim Walzen eines weiteren Metallbandes mit denselben oder hinreichend ähnlichen charakteristischen Daten als Anfangswert für den Parameter zur Verfügung steht. Dadurch kann erreicht werden, dass beim Walzen eines weiteren Metallbandes mit denselben oder hinreichend ähnlichen charakteristischen Daten die Parameter des Gerüstreglers von vornherein derart eingestellt werden, dass eine Welle vermieden wird bzw. das Ausmaß einer Welle auf ein vorbestimmtes Maß begrenzt wird. Insbesondere wird dadurch also vermieden, dass beim Walzen eines nachfolgenden gleichartigen oder zumindest vergleichbaren Metallbandes erneut eine Welle auftritt.The control device preferably feeds the varied parameter to a database with assignment to data characteristic of the rolled metal strip, so that the varied parameter is available as an initial value for the parameter when rolling another metal strip with the same or sufficiently similar characteristic data. As a result, when rolling another metal strip with the same or sufficiently similar characteristic data, the parameters of the stand controller can be set from the outset in such a way that a wave is avoided or the extent of a wave is limited to a predetermined level. In particular, this prevents a wave from occurring again during the rolling of a subsequent similar or at least comparable metal strip.
Als Messdaten für die seitliche Lage des Metallbandes kann die Steuereinrichtung insbesondere Gruppen von Bildern des Metallbandes entgegennehmen, die das Metallband beim Auslaufen aus dem Walzgerüst und/oder beim Einlaufen in das Walzgerüst zeigen, wobei die Bilder der Gruppen jeweils auf einen für die jeweilige Gruppe einheitlichen Erfassungszeitpunkt bezogen sind. Die Erfassung derartiger Bilder durch Kameras und ähnliche optische Erfassungseinrichtungen ist, wie oben stehend bereits ausgeführt, allgemein bekannt.The control device can receive, in particular, groups of images of the metal strip as measurement data for the lateral position of the metal strip, which show the metal strip as it leaves the roll stand and/or as it enters the roll stand, with the images of the groups each being based on a uniform image for the respective group Date of acquisition are related. The capturing of such images by cameras and similar optical capturing devices is generally known, as already explained above.
Es ist möglich, dass die Gruppen im Einzelfall jeweils nur ein einzelnes Bild umfassen. Bereits in diesem Fall ist eine Auswertung sehr zuverlässig möglich. Weiterhin ist es möglich, dass die Gruppen von Bildern derart bestimmt sind, dass sie eine dreidimensionale Bestimmung der Oberfläche des Metallbandes ermöglichen. Dadurch wird die Auswertung noch weiter verbessert.It is possible that the groups in individual cases only include a single image. Even in this case, a very reliable evaluation is possible. Furthermore, it is possible that the groups of images are determined in such a way that they enable a three-dimensional determination of the surface of the metal strip. This further improves the evaluation.
Beispielsweise können die Gruppen von Bildern mindestens ein Tiefenbild umfassen. Der Begriff "Tiefenbild" hat eine feste Bedeutung. Es handelt sich um ein zweidimensionales Bild, wobei jedem Bildpunkt zusätzlich zu seiner durch die Anordnung des Bildpunktes in dem Bild bestimmten Anordnung des zugehörigen Objekts auch eine Entfernungsinformation zugeordnet ist, so dass das zugehörige Objekt im dreidimensionalen Raum eindeutig lokalisiert ist. In der Regel alternativ, prinzipiell aber auch zusätzlich ist es möglich, dass die Gruppen von Bildern mehrere zweidimensionale Bilder umfassen. In diesem Fall kann anhand der mehreren Bilder der jeweiligen Gruppe ein stereoskopisches Bild, also ein räumliches Bild, generiert werden.For example, the groups of images can include at least one depth image. The term "depth image" has a fixed meaning. It is a two-dimensional image, with each pixel also being assigned distance information in addition to its arrangement of the associated object determined by the arrangement of the pixel in the image, so that the associated object is unambiguously localized in three-dimensional space. As an alternative, as a rule, but in principle also in addition, it is possible for the groups of images to comprise a plurality of two-dimensional images. In this case, a stereoscopic image, ie a three-dimensional image, can be generated using the multiple images of the respective group.
In einer besonders bevorzugten Ausgestaltung des Steuerverfahrens ist vorgesehen, dass die Steuereinrichtung die mindestens eine Größe, aus der für beide Bandkanten des Metallbandes hervorgeht, ob das Metallband im Bereich der jeweiligen Bandkante eine Welle ausbildet, anhand der Gruppen von Bildern des Metallbandes ermittelt.In a particularly preferred embodiment of the control method, it is provided that the control device uses the groups of images of the metal strip to determine the at least one variable from which it can be seen for both strip edges of the metal strip whether the metal strip forms a wave in the region of the respective strip edge.
Ein Algorithmus zur Ermittlung der Wellen in den Bildern muss als solcher nicht explizit erstellt werden. Vielmehr ist es möglich, im Rahmen einer Lernphase sogenannte Machine Learning Algorithmen anzuwenden. Beispielsweise können neuronale Netze entsprechend trainiert werden. Rein beispielhaft kann in diesem Zusammenhang auf den Fachaufsatz "
Im einfachsten Fall ist es möglich, dass die Steuereinrichtung
- anhand der jeweiligen Gruppe von Bildern jeweils ein Ausmaß ermittelt, in dem das Metallband im Bereich der jeweiligen Bandkante die Welle ausbildet,
- das jeweils ermittelte Ausmaß mit einem Schwellenwert vergleicht und
- die mindestens eine Größe in Abhängigkeit von dem jeweiligen Vergleich als jeweilige Boolesche Variable ermittelt.
- based on the respective group of images, determine the extent to which the metal strip forms the wave in the area of the respective strip edge,
- compares the extent determined in each case with a threshold value and
- which determines at least one variable as a function of the respective comparison as the respective Boolean variable.
In diesem Fall trifft die Steuereinrichtung also eine einfache binäre Entscheidung, ob sich an der einen Bandkante oder an der anderen Bandkante eine Welle ausbildet. Diese Variante ist relativ einfach zu realisieren.In this case, the control device makes a simple binary decision as to whether a wave forms at one band edge or at the other band edge. This variant is relatively easy to implement.
Besser ist es jedoch, wenn die Steuereinrichtung
- anhand der jeweiligen Gruppe von Bildern quantitativ jeweils ein Ausmaß ermittelt, in dem das Metallband im Bereich der jeweiligen Bandkante die Welle ausbildet, und
- als mindestens eine Größe die quantifizierten Werte verwertet.
- using the respective group of images, quantitatively determine an extent to which the metal strip forms the wave in the region of the respective strip edge, and
- uses the quantified values as at least one variable.
In diesem Fall steht also nicht nur eine binäre Aussage, sondern eine quantifizierte Aussage über die Ausbildung einer Welle zur Verfügung. Die quantifizierten Werte kann die Steuereinrichtung beispielsweise in Form von I-Einheiten (engl. I-units, im Deutschen auch als Ebenheitsindex bekannt) ermitteln. I-Einheiten sind dem Fachmann bekannt und vertraut.In this case, not only a binary statement is available, but a quantified statement about the formation of a wave. The control device can determine the quantified values, for example, in the form of I-units (also known in German as the flatness index). I-units are known and familiar to those skilled in the art.
Das erfindungsgemäße Steuerverfahren wird insbesondere während eines Zeitraums ausgeführt, während dessen das Metallband sich vor und/oder hinter dem Walzgerüst - also demjenigen Walzgerüst, auf den der Gerüstregler wirkt - in einem spannungsfreien Zustand befindet.The control method according to the invention is carried out in particular during a period of time during which the metal strip is in a stress-free state in front of and/or behind the roll stand--ie that roll stand on which the stand controller acts.
Die Aufgabe wird weiterhin durch ein Steuerprogramm mit den Merkmalen des Anspruchs 12 gelöst. Erfindungsgemäß bewirkt die Abarbeitung des Maschinencodes durch die Steuereinrichtung, dass die Steuereinrichtung ein erfindungsgemäßes Steuerverfahren ausführt.The object is also achieved by a control program with the features of claim 12. According to the invention, the processing of the machine code by the control device causes the control device to execute a control method according to the invention.
Die Aufgabe wird weiterhin durch eine Steuereinrichtung mit den Merkmalen des Anspruchs 13 gelöst. Erfindungsgemäß ist die Steuereinrichtung mit einem erfindungsgemäßen Steuerprogramm programmiert, so dass die Steuereinrichtung im Betrieb ein erfindungsgemäßes Steuerverfahren ausführt.The object is also achieved by a control device having the features of claim 13. According to the invention, the control device is programmed with a control program according to the invention, so that the control device executes a control method according to the invention during operation.
Die Aufgabe wird weiterhin durch eine Walzeinheit mit den Merkmalen des Anspruchs 14 gelöst. Erfindungsgemäß weist die Walzeinheit als Steuereinrichtung eine erfindungsgemäße Steuereinrichtung auf.The object is also achieved by a rolling unit having the features of claim 14. According to the invention, the rolling unit has a control device according to the invention as a control device.
Die Aufgabe wird weiterhin durch eine Walzstraße mit den Merkmalen des Anspruchs 15 gelöst. Erfindungsgemäß ist mindestens eines der Walzgerüste als erfindungsgemäße Walzeinheit ausgebildet.The object is also achieved by a rolling train with the features of claim 15. According to the invention, at least one of the rolling stands is designed as a rolling unit according to the invention.
Die oben beschriebenen Eigenschaften, Merkmale und Vorteile dieser Erfindung sowie die Art und Weise, wie diese erreicht werden, werden klarer und deutlicher verständlich im Zusammenhang mit der folgenden Beschreibung der Ausführungsbeispiele, die in Verbindung mit den Zeichnungen näher erläutert werden. Hierbei zeigen in schematischer Darstellung:
- FIG 1
- eine mehrgerüstige Walzstraße,
- FIG 2
- ein einzelnes Walzgerüst mit zugeordneten Komponenten,
- FIG 3
- ein Ablaufdiagramm,
- FIG 4
- ein Walzgerüst und ein Metallband von oben,
- FIG 5
- ein Metallband mit einer Welle von der Seite und
- FIG 6
bis 9 - Ablaufdiagramme.
- FIG 1
- a multi-stand rolling mill,
- FIG 2
- a single roll stand with associated components,
- 3
- a flowchart,
- FIG 4
- a roll stand and a metal strip from above,
- 5
- a metal tape with a wave from the side and
- 6 to 9
- flowcharts.
Gemäß
Die Walzgerüste 1 sind in einer Walzrichtung x gesehen hintereinander angeordnet. Die Walzgerüste 1 werden daher von dem gleichen Abschnitt des Metallbandes 2 nacheinander durchlaufen. Das Metallband 2 kann beispielsweise aus Stahl oder Aluminium bestehen. Das Walzen kann beispielsweise ein Warmwalzen sein, insbesondere in einer mehrgerüstigen Fertigstraße eines Warmwalzwerks.The roll stands 1 are arranged one behind the other as viewed in a rolling direction x. The same section of the
Die Steuereinrichtungen 3b sind jeweils mit einem Steuerprogramm 4 programmiert. Dargestellt ist dies in
Die Steuereinrichtung 3b nimmt von einer Erfassungseinrichtung 6 - siehe auch einen Schritt S1 in
Der Gerüstregler 3a berücksichtigt bei der Ermittlung des Schwenkwerts δs nicht nur die Abweichung der seitlichen Lage y von einer Solllage y*, sondern zusätzlich auch mindestens einen Parameter P, meist mehrere Parameter P. Parameter P sind etwas anderes als Variable. Eine Variable ist eine Größe, die sich in jedem Zyklus des Gerüstreglers 3a ändert. Typische Variablen sind der Sollwert y*, der Istwert y und die Stellgröße δs. Parameter P hingegen sind Werte, die dem Gerüstregler 3a in der Regel nur einmalig vorgegeben werden und sodann während des gesamten Regelvorgangs - also über eine Vielzahl von Zyklen - konstant beibehalten werden. Der Parameter P kann beispielsweise bei einem konventionellen PI-Regler eine Proportionalverstärkung sein oder eine Integrationszeitkonstante. Im Rahmen eines Gerüstreglers 3a, wie er im vorliegenden Fall verwendet wird und beispielsweise aus der bereits genannten
Soweit bisher erläutert, entspricht die Arbeitsweise der Steuereinrichtung 3b einer normalen Bandlageregelung, wie sie allgemein bekannt ist und auch ausführlich beispielsweise in der
Denn erfindungsgemäß ermittelt die Steuereinrichtung 3b in einem Schritt S5 mindestens eine Größe V1, V2, Q1, Q2, aus der für beide Bandkanten 7, 8 des Metallbandes 2 (siehe
Wenn die Prüfung des Schrittes S6 negativ verläuft, also keine Welle 9 erkannt wird, wird ein Schritt S7 übersprungen. Wenn die Prüfung des Schrittes S6 hingegen positiv verläuft, also eine Welle 9 erkannt wird, geht die Steuereinrichtung 3b zum Schritt S7 über. Im Schritt S7 variiert die Steuereinrichtung 3b mindestens einen der Parameter P des Gerüstreglers 3a. Ab diesem Zeitpunkt, also ab dem Variieren des mindestens einen Parameters P, ermittelt der Gerüstregler 3a den Schwenkwert δs unter Berücksichtigung des variierten Parameters P.If the check in step S6 is negative, ie no
Die Steuereinrichtung 3b variiert den Parameter P derart, dass der Ausbildung der Welle 9 entgegengewirkt wird oder ein Ausmaß h, in dem die Welle 9 sich ausbildet, auf ein vorbestimmtes Maß begrenzt wird. Insbesondere kann die Steuereinrichtung 3b denjenigen Parameter P variieren, der den maximal zulässigen Wert für den Schwenkwert δs festlegt. Insbesondere kann dieser Wert, ausgehend von seinem momentan gültigen Wert, betragsmäßig reduziert werden. Das Variieren kann alternativ für beide Schwenkrichtungen oder nur für diejenige Schwenkrichtung, welche für die aufgetretene Welle 9 verantwortlich ist, durchgeführt werden.The
Im Gegensatz zur Vorgehensweise des Standes der Technik, bei welcher die Welle 9 nicht automatisch berücksichtigt wird, erfolgt die Ermittlung des Schwenkwert δs im Rahmen der vorliegenden Erfindung somit unter Berücksichtigung des Umstands, ob das Metallband 2 im Bereich einer seiner Bandkanten 7, 8 eine Welle 9 ausbildet.In contrast to the procedure of the prior art, in which the
Den variierten Parameter P behält die Steuereinrichtung 3b im weiteren Verlauf bei, bis ein spezielles Ereignis eintritt, aufgrund dessen der Wert des entsprechenden Parameters P erneut variiert wird. In dem Fall, dass der Parameter P für beide Schwenkrichtungen betragsmäßig reduziert wird, besteht ein derartiges spezielles Ereignis darin, dass trotz der soeben erwähnten Variierung des Parameters P an einer der Bandkanten 7, 8 erneut eine Welle 9 detektiert wird. In dem Fall, dass der Parameter P nur für die jeweilige Schwenkrichtung betragsmäßig reduziert wird, besteht ein derartiges spezielles Ereignis darin, dass trotz der soeben erwähnten Variierung des Parameters P an derselben Bandkante 7, 8 wie zuvor erneut eine Welle 9 detektiert wird. Weitere spezielle Ereignisse sind eine Änderung des Walzprozesses.The
Insbesondere ist es entsprechend der Darstellung in
Alternativ oder zusätzlich kann die Steuereinrichtung 3b in einem Schritt S12 prüfen, ob das Metallband 2 vollständig in dem Walzgerüst 1 gewalzt ist. In diesem Fall können die Parameter P in einem Schritt S13 neu festgelegt werden.As an alternative or in addition, the
Es ist möglich, die Parameter P stets auf dieselben Werte festzulegen. Vorzugsweise ist die Vorgehensweise von
Der Schritt S21 wird ausgeführt, wenn die Steuereinrichtung 3b den mindestens einen Parameter P variiert. In diesem Fall führt die Steuereinrichtung 3b den variierten Parameter P unter Zuordnung zu für das gewalzte Metallband 2 charakteristischen Daten D einer Datenbank DB (siehe
Die Messdaten M können nach Bedarf bestimmt sein. Dem entsprechend ist auch die Erfassungseinrichtung 6 ausgebildet. Vorzugsweise ist die Erfassungseinrichtung 6 als einzelne Kamera 7 oder - siehe
Es ist möglich, dass die Gruppen von Bildern B jeweils nur ein einziges Bild B umfassen. In diesem Fall ist das jeweilige Bild B auf einen jeweiligen Erfassungszeitpunkt bezogen. Wie bereits erwähnt, kann die Erfassungseinrichtung 6 jedoch auch als Gruppe von Kameras 10 ausgebildet sein. In diesem Fall erfassen die Kameras 10 jeweils ein eigenes Bild B. In diesem Fall erfassen die einzelnen Kameras 10 jeweils zu einem einheitlichen Erfassungszeitpunkt ihr jeweiliges Bild B. In diesem Fall sind also die Bilder B der jeweiligen Gruppe auf einen jeweiligen einheitlichen Erfassungszeitpunkt bezogen.It is possible that the groups of images B only include a single image B each. In this case, the respective image B relates to a respective acquisition time. As already mentioned, however, the detection device 6 can also be designed as a group of cameras 10 . In this case, the cameras 10 each capture their own image B. In this case, the individual cameras 10 each capture their respective image B at a uniform capture time. In this case, the images B of the respective group are related to a respective uniform capture time.
Vorzugsweise verwertet die Steuereinrichtung 3b die Gruppen von Bildern B nicht nur im Rahmen des Schrittes S2, also im Rahmen der Ermittlung der seitlichen Lage y des Metallbandes 2. Vielmehr verwertet die Steuereinrichtung 3b vorzugsweise die Gruppen von Bildern B auch im Rahmen des Schrittes S5 zur Ermittlung der mindestens einen Größe V1, V2, Q1, Q2, aus der für beide Bandkanten 7, 8 des Metallbandes 2 hervorgeht, ob das Metallband 2 im Bereich der jeweiligen Bandkante 7, 8 eine Welle 9 ausbildet.The
Wie bereits erwähnt, können die Gruppen von Bildern B jeweils mehr als ein Bild B umfassen. Beispielsweise können entsprechend der Darstellung in
Zur Implementierung des Schrittes S5, also zur Ermittlung der mindestens einen Größe V1, V2, Q1, Q2, aus der für beide Bandkanten 7, 8 des Metallbandes 2 hervorgeht, ob das Metallband 2 im Bereich der jeweiligen Bandkante 7, 8 eine Welle 9 ausbildet, kann die Steuereinrichtung 3b entsprechend der Darstellung in
Zum Ermitteln des Ausmaßes der Welle 9 führt die Steuereinrichtung 3b einen Algorithmus im weiteren Sinne aus. Beispielsweise kann die Steuereinrichtung 3b mit einem Lernalgorithmus (machine learning algorithm) programmiert sein, wobei dem Lernalgorithmus in einer Lernphase vorab - also vor der Ausführung des Steuerverfahrens von
In einem Schritt S32 prüft die Steuereinrichtung 3b, ob das ermittelte Ausmaß einen vorbestimmten Schwellenwert SW übersteigt. Wenn dies der Fall ist, setzt die Steuereinrichtung 3b in einem Schritt S33 eine Boolesche Variable V1 auf den Wert WAHR. Anderenfalls setzt die Steuereinrichtung 3b in einem Schritt S34 die Boolesche Variable V1 auf den Wert FALSCH.In a step S32, the
In Schritten S35 bis S38 ermittelt die Steuereinrichtung 3b in völlig analoger Weise für die andere Bandkante 8 den Wert einer Booleschen Variable V2.In steps S35 to S38, the
Im Rahmen der Vorgehensweise gemäß
Die Vorgehensweise von
In analoger Weise ermittelt die Steuereinrichtung 3b im Schritt S42 einen quantifizierten Wert Q2 für das im Schritt S35 ermittelte Ausmaß.In an analogous manner, the
Im Falle der Ausgestaltung gemäß
Entsprechend der Darstellung in
Bei einem Reversiergerüst wird das Metallband 2 reversierend gewalzt. Die Auslaufseite des Walzgerüsts 1 wechselt daher bei jedem Walzstich. Der Begriff "Auslaufseite" ist bei einem Reversiergerüst daher nicht statisch, sondern dynamisch auf den jeweiligen Walzstich bezogen. Gleiches gilt für den Begriff "Einlaufseite".In a reversing stand, the
Die vorliegende Erfindung wurde vorstehend in Verbindung mit einer Erfassung der seitlichen Lage y auslaufseitig des Walzgerüsts 1 erläutert. Dies stellt den Regelfall der vorliegenden Erfindung dar. Alternativ oder zusätzlich ist es aber ebenso möglich, die Vorgehensweise bezüglich der Einlaufseite des Walzgerüsts 1 durchzuführen.The present invention was explained above in connection with a detection of the lateral position y on the outlet side of the
Die vorliegende Erfindung weist viele Vorteile auf. Insbesondere ist durch die erfindungsgemäße Vorgehensweise nicht nur ein Fehler im Bandlauf, sondern auch ein Fehler beim Werfen einer Welle 9 erkennbar und korrigierbar. Die Erkennung von Wellen 9 als solche in den erfassten Bildern B ist problemlos realisierbar. Die erfindungsgemäße Vorgehensweise ist insbesondere zur automatisierten Optimierung des Betriebs beim Einfädeln des Metallbandes 2 in ein nachfolgendes Walzgerüst 1 bzw. allgemein beim Einlaufen des Metallbandes 2 in eine nachfolgende Einrichtung einsetzbar. Weiterhin ist die erforderliche Hardware zur Erfassung und Verwertung der Bilder B meist sowieso vorhanden, so dass nur die Kosten für die zugehörige Software anfallen.The present invention has many advantages. In particular, the procedure according to the invention allows not only an error in the running of the strip to be identified and corrected, but also an error when throwing a
Obwohl die Erfindung im Detail durch das bevorzugte Ausführungsbeispiel näher illustriert und beschrieben wurde, so ist die Erfindung nicht durch die offenbarten Beispiele eingeschränkt und andere Varianten können vom Fachmann hieraus abgeleitet werden, ohne den durch die Ansprüche definierten Schutzumfang der Erfindung zu verlassen.Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples and other variants can be derived therefrom by a person skilled in the art without departing from the protective scope of the invention as defined by the claims.
- 11
- Walzgerüsteroll stands
- 22
- Metallbandmetal strap
- 33
- Steuereinrichtungcontrol device
- 3a3a
- Gerüstreglerscaffold controller
- 3b3b
- Automatisierungseinrichtungautomation device
- 44
- Steuerprogrammcontrol program
- 55
- Maschinencodemachine code
- 66
- Erfassungseinrichtungdetection device
- 7, 87, 8
- Bandkantenband edges
- 99
- Wellenwaves
- 1010
- Kamerascameras
- 1111
- Bandkopftape header
- BB
- Bilderphotos
- DD
- DatenData
- DBDB
- DatenbankDatabase
- hH
- Höheheight
- MM
- Messdatenmeasurement data
- PP
- Parameterparameter
- Q1, Q2Q1, Q2
- quantifizierte Wertequantified values
- S1 bis S42S1 to S42
- Schrittesteps
- SWSW
- Schwellenwertthreshold
- V1, V2V1, V2
- Boolesche Variableboolean variable
- xx
- Walzrichtungrolling direction
- yy
- seitliche Lagelateral position
- y*y*
- Solllagetarget position
- ZZ
- Zugzustandtrain condition
- δsδs
- Schwenkwertpan value
Claims (15)
- Control method for a roll stand (1),- wherein, while a metal strip (2) is being rolled in the roll stand (1), a control device (3b) for the roll stand (1) receives measurement data (M) for a lateral position (y) of the metal strip (2) that exists on the entry side and/or on the exit side of the roll stand (1),- wherein a stand controller (3a) of the control device (3b) takes account of parameters (P) of the stand controller (3a) in taking the deviation in the lateral position (y) from a desired position (y*) as a basis for ascertaining a pivot value (δs) for the roll stand (1) and actuating the roll stand (1) accordingly, characterized in that:- the control device (3b) ascertains at least one quantity (V1, V2, Q1, Q2) that reveals, for both strip edges (7, 8) of the metal strip (2), whether the metal strip (2) is forming a wave (9) in the region of the respective strip edge (7, 8), and- as soon as the metal strip (2) forms a wave (9) in the region of one of the strip edges (7, 8), the control device (3b) varies at least one of the parameters (P) of the stand controller (3a), as a result of which the stand controller (3a) ascertains the pivot value (δs) from the varying of the at least one parameter (P) onward in the light of the altered parameter (P).
- Control method according to Claim 1,
characterized
in that the control device (3b) varies the parameter (P) such that the formation of the wave (9) is prevented or an extent (h) to which the wave (9) forms is limited to a predetermined degree. - Control method according to Claim 1 or 2,
characterized
in that the control device (3b) retains the varied parameter (P) until either the control device (3b) varies the parameter (P) again on the basis of a further formation of a wave (9) in the metal strip (2) or the tensile state (Z) of the metal strip (2) changes or the metal strip (2) has been completely rolled in the roll stand (1). - Control method according to Claim 1, 2 or 3,
characterized
in that the control device (3b) supplies the varied parameter (P) to a database (DB) in association with data (D) that are characteristic of the rolled metal strip (2), as a result of which the varied parameter (P) is available as an initial value for the parameter (P) when a further metal strip (2) having the same or sufficiently similar characteristic data (D) is rolled. - Control method according to one of the preceding claims, characterized
in that the measurement data (M) that the control device (3b) receives for the lateral position (y) of the metal strip (2) are groups of images (B) of the metal strip (2) that show the metal strip (2) as it exits the roll stand (1) and/or as it enters the roll stand (1), the images (B) of the groups each being referenced to a capture time that is consistent for the respective group. - Control method according to Claim 5,
characterized
in that the groups of images (B) are determined such that they allow a three-dimensional determination of the surface of the metal strip (2). - Control method according to Claim 5 or 6,
characterized
in that the control device (3b) ascertains the at least one quantity (V1, V2, Q1, Q2) that reveals, for both strip edges (7, 8) of the metal strip (2), whether the metal strip (2) is forming a wave (9) in the region of the respective strip edge (7, 8), on the basis of the groups of images (B) of the metal strip (2). - Control method according to Claim 7,
characterized
in that the control device (3b)- uses the respective group of images (B) to ascertain a respective extent to which the metal strip (2) forms the wave (9) in the region of the respective strip edge (7, 8),- compares the respective ascertained extent with a threshold value (SW), and- ascertains the at least one quantity (V1, V2) on the basis of the respective comparison as a respective Boolean variable (V1, V2). - Control method according to Claim 7,
characterized
in that the control device (3b)- uses the respective group of images (B) to quantitatively ascertain a respective extent to which the metal strip (2) forms the wave (9) in the region of the respective strip edge (7, 8), and- uses the quantified values (Q1, Q2) as at least one quantity (Q1, Q2). - Control method according to Claim 9,
characterized
in that the control device (3b) ascertains the quantified values (Q1, Q2) in I units. - Control method according to one of the preceding claims, characterized
in that the metal strip (2) is in a relaxed state upstream and/or downstream of the roll stand (1) while the control method is being performed. - Control program, wherein the control program comprises machine code (5) that can be executed by a control device (3b) for a roll stand (1), wherein the execution of the machine code (5) by the control device (3b) causes the control device (3b) to perform a control method according to one of the preceding claims.
- Control device for a roll stand (1), wherein the control device is programmed with a control program (4) according to Claim 12, as a result of which the control device performs a control method according to one of Claims 1 to 11 during operation.
- Roll unit, wherein the roll unit has a roll stand (1) in which a metal strip (2) is rolled, wherein the roll unit has a control device (3b) according to Claim 13, wherein the roll stand (1) is controlled by the control device (3b).
- Rolling mill train, wherein the rolling mill train has multiple roll stands (1), wherein the roll stands (1) are arranged in succession as seen in a rolling direction (x), as a result of which they carry the same section of the metal strip (2) one after the other, wherein at least one of the roll stands (1) is in the form of a roll unit according to Claim 14.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19165536.4A EP3715000B1 (en) | 2019-03-27 | 2019-03-27 | Prevention of waves in the rolling of metal strips |
CN202080025270.1A CN113646102B (en) | 2019-03-27 | 2020-03-05 | Avoiding curling during rolling of metal strips |
PCT/EP2020/055886 WO2020193099A1 (en) | 2019-03-27 | 2020-03-05 | Preventing undulations when rolling metal strips |
US17/598,343 US11858021B2 (en) | 2019-03-27 | 2020-03-05 | Preventing undulations when rolling metal strips |
JP2021557146A JP7277604B2 (en) | 2019-03-27 | 2020-03-05 | Prevention of undulations during rolling of metal strip |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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EP19165536.4A EP3715000B1 (en) | 2019-03-27 | 2019-03-27 | Prevention of waves in the rolling of metal strips |
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EP3715000A1 EP3715000A1 (en) | 2020-09-30 |
EP3715000B1 true EP3715000B1 (en) | 2022-01-12 |
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EP19165536.4A Active EP3715000B1 (en) | 2019-03-27 | 2019-03-27 | Prevention of waves in the rolling of metal strips |
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US (1) | US11858021B2 (en) |
EP (1) | EP3715000B1 (en) |
JP (1) | JP7277604B2 (en) |
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WO (1) | WO2020193099A1 (en) |
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JPS4611244Y1 (en) | 1968-04-03 | 1971-04-19 | ||
JPS59189012A (en) * | 1983-04-12 | 1984-10-26 | Ishikawajima Harima Heavy Ind Co Ltd | Device for controlling lateral deviation of rolling material |
JPS606214A (en) | 1983-06-27 | 1985-01-12 | Nisshin Steel Co Ltd | Method and device for preventing snaking in plate rolling |
JPS63171213A (en) * | 1987-01-08 | 1988-07-15 | Mitsubishi Heavy Ind Ltd | Method for detecting meandering amount of rolled stock |
JP2716918B2 (en) * | 1992-10-30 | 1998-02-18 | 三菱重工業株式会社 | Steel camber detection method for steelmaking hot rolling line |
JPH0854217A (en) | 1994-08-09 | 1996-02-27 | Nippon Steel Corp | Waviness measuring method at edge part of steel plate |
JPH1128510A (en) | 1997-07-09 | 1999-02-02 | Nippon Steel Corp | Automatic leveling method in hot rolling/rough rolling |
JP2000301222A (en) | 1999-04-21 | 2000-10-31 | Nisshin Steel Co Ltd | Shape control device |
JP2001343223A (en) | 1999-11-08 | 2001-12-14 | Sumitomo Metal Ind Ltd | Method for measuring quality of strip-shaped object, method for controlling camber, quality-measuring apparatus for strip-shaped object, rolling apparatus and trimming apparatus |
DE102004060342B3 (en) | 2004-12-15 | 2006-07-27 | Siemens Ag | Operating method for a rolling train and associated therewith devices |
EP2014380A1 (en) * | 2007-06-11 | 2009-01-14 | ArcelorMittal France | Method of rolling a band of metal with adjustment of its lateral position on the one hand and adapted rolling mill |
JP2010243248A (en) | 2009-04-02 | 2010-10-28 | Jfe Steel Corp | Strip shape detection device and strip-shape detection method |
EP2258492A1 (en) * | 2009-06-02 | 2010-12-08 | Siemens Aktiengesellschaft | Method for producing a milling product with a mill train, control and/or regulating device for a mill assembly for producing milled products, mill assembly for producing milled products, machine readable program code and storage medium |
CN101905248B (en) * | 2010-07-27 | 2015-03-18 | 上海梅山钢铁股份有限公司 | Strip steel section shape detecting and identifying method |
KR101466168B1 (en) * | 2013-03-28 | 2014-11-27 | 현대제철 주식회사 | Apparatus and method for controlling camber of mill |
KR101482468B1 (en) | 2013-12-24 | 2015-01-13 | 주식회사 포스코 | Apparatus and method of controlling bendor force of rolling mill |
EP2910316A1 (en) | 2014-02-21 | 2015-08-26 | Primetals Technologies Germany GmbH | Simple advance control of a wedge position of an advance frame |
DE102014215397B4 (en) * | 2014-08-05 | 2016-04-28 | Primetals Technologies Germany Gmbh | Band position control with optimized controller design |
EP3104116A1 (en) | 2015-06-10 | 2016-12-14 | Primetals Technologies Germany GmbH | Optical detection of a tape size with motion correction |
KR101767783B1 (en) * | 2015-12-24 | 2017-08-14 | 주식회사 포스코 | Apparatus and method for maintaining flatness of rolling material |
EP3202502A1 (en) | 2016-02-04 | 2017-08-09 | Primetals Technologies Germany GmbH | Strip position control |
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2019
- 2019-03-27 EP EP19165536.4A patent/EP3715000B1/en active Active
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2020
- 2020-03-05 CN CN202080025270.1A patent/CN113646102B/en active Active
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- 2020-03-05 JP JP2021557146A patent/JP7277604B2/en active Active
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JP7277604B2 (en) | 2023-05-19 |
US20220250128A1 (en) | 2022-08-11 |
US11858021B2 (en) | 2024-01-02 |
WO2020193099A1 (en) | 2020-10-01 |
CN113646102A (en) | 2021-11-12 |
CN113646102B (en) | 2023-08-11 |
JP2022526923A (en) | 2022-05-27 |
EP3715000A1 (en) | 2020-09-30 |
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