EP3774099B1 - Dispositif de refroidissement et procédé permettant de faire fonctionner ledit dispositif - Google Patents

Dispositif de refroidissement et procédé permettant de faire fonctionner ledit dispositif Download PDF

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Publication number
EP3774099B1
EP3774099B1 EP19716139.1A EP19716139A EP3774099B1 EP 3774099 B1 EP3774099 B1 EP 3774099B1 EP 19716139 A EP19716139 A EP 19716139A EP 3774099 B1 EP3774099 B1 EP 3774099B1
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EP
European Patent Office
Prior art keywords
cooling
cooling device
coolant
partition walls
spraying
Prior art date
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EP19716139.1A
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German (de)
English (en)
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EP3774099A1 (fr
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SMS Group GmbH
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SMS Group GmbH
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B45/00Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B45/02Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
    • B21B45/0203Cooling
    • B21B45/0209Cooling devices, e.g. using gaseous coolants
    • B21B45/0215Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes
    • B21B45/0233Spray nozzles, Nozzle headers; Spray systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B37/00Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
    • B21B37/74Temperature control, e.g. by cooling or heating the rolls or the product
    • CCHEMISTRY; METALLURGY
    • C21METALLURGY OF IRON
    • C21DMODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D1/00General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
    • C21D1/62Quenching devices
    • CCHEMISTRY; METALLURGY
    • C21METALLURGY OF IRON
    • C21DMODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
    • C21D11/00Process control or regulation for heat treatments
    • C21D11/005Process control or regulation for heat treatments for cooling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B2261/00Product parameters
    • B21B2261/20Temperature
    • B21B2261/21Temperature profile
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B38/00Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
    • B21B38/006Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring temperature
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B45/00Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B45/02Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
    • B21B45/0203Cooling
    • B21B45/0209Cooling devices, e.g. using gaseous coolants
    • B21B45/0215Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes

Definitions

  • the invention relates to a cooling device for cooling a metallic item, in particular a metal strip.
  • the invention also relates to a method for operating a corresponding cooling device.
  • Cooling devices of this type are well known in the prior art, for example from European patents EP 2 155 411 B1 and EP 2 986 400 B1 .
  • the European patent specification EP 2 155 411 B1 discloses a cooling device for influencing the temperature distribution across the width of a metallic material, in particular a rolled material.
  • the cooling device has nozzles for applying a coolant to the metallic material, the nozzles being arranged distributed over the width. At least one of the nozzles can be adjusted in its position with respect to the width of the metallic material. This means that it is possible to influence non-uniform temperature distributions over the width of the metal strip to a limited extent. A subdivision of the cooling bar into individual spray areas is not known from this patent.
  • the subdivision of a cooling bar into individual spray areas is, for example, from the European patent EP 2 986 400 B1 known.
  • the cooling device disclosed there has at least one cooling beam which extends transversely to the transport direction of the metallic goods when they pass through the cooling device.
  • the at least one cooling beam has - in its longitudinal direction, that is to say transversely to the transport direction of the metallic good - two outer and one central spray area arranged between the two outer spray areas.
  • each of the spray areas can be individually controlled via specially assigned Valves are fed a cooling medium, which is then applied to the metallic material to be cooled via the spray nozzles assigned to the respective spray area.
  • the invention is based on the object of developing a known cooling device and a known method for its operation in such a way that the application of coolant to the metallic goods is improved and the starting point of a degressive decrease or a positive increase in the volume flow of the coolant is variable along the longitudinal extent of the cooling beam becomes determinable.
  • At least one partition is provided in the at least one cooling beam of the cooling device according to the invention for dividing the interior of the cooling beam into at least two chambers, each of the spray areas being assigned to a different one of the chambers.
  • the partition is shaped at least approximately according to the course of the temperature distribution in a predetermined width section of the metallic material before it enters the cooling device, and the partition wall is arranged in the cooling beam over this width section.
  • the cooling device comprises at least one control element - also controllable by the control device - for the variable positioning of the partition walls within the cooling bar, in particular for moving the partition walls in the longitudinal direction of the cooling bar, and thus for changing the chambers and the spray areas of one cooling bar in each case
  • the claimed division of the interior of the cooling beam into a plurality of chambers with the help of partition walls and in particular the claimed special shape of the partition walls according to the course of the temperature distribution over the width of the goods to be cooled advantageously enables particularly effective and targeted cooling of the goods.
  • the cooling can be adapted particularly well to the actual cooling requirement across the width of the goods. In this way, constant, degressive or progressive cooling strategies can advantageously be implemented over the width of the goods to be cooled.
  • the starting point of a degressive decrease or a positive increase in the volume flow of the coolant along the longitudinal extension of the cooling bar can be variably determined and suitably adapted to cooling requirements in individual cases.
  • the starting point can be adjusted symmetrically on both sides based on the width of the goods to be cooled or, alternatively, asymmetrically only on one side of the goods to be cooled, depending on the temperature profile of the metallic goods entering the cooling device.
  • At least one of the spraying areas has a plurality of spray nozzles distributed over the area of the spraying area, preferably arranged in parallel rows in the longitudinal direction of the cooling bar, this offers the advantage that over the width of the item to be cooled there are also curved or curved distributions of the coolant discharge are possible which run relatively smoothly, d. H. do not have excessive jumps or discontinuities in the transition between individual subsections of the distribution.
  • At least three chambers are formed in a cooling beam, ie a left, a middle and a right spray area, because the Edge areas of the goods to be cooled generally require less cooling than the middle area of the goods to be cooled.
  • the cooling device can have a plurality of cooling bars arranged in parallel, which are each arranged above or below the item to be cooled.
  • Such a group-wise combination of several chilled beams offers the advantage that the distribution of the coolant over the width of the goods is even smoother, i. H. can be implemented without jumps or pronounced kinks in the volume flow of the coolant.
  • the control device can be designed either in the form of a pilot control or in the form of a regulating device. In both cases, it is used to achieve a pre-calculated target distribution of the coolant across the width of the metal item. In both cases, the volume flow or the pressure of the coolant can be used by suitable setting of the valves and / or the actuators for positioning the partition walls to generate the respectively desired target distribution of the coolant over the goods to be cooled.
  • the target distributions of the volume flow or the pressure of the coolant over the width of the goods to be cooled are preferably calculated using a cooling model. This applies both to the design of the control device in the form of a pilot control and to its design in the form of a regulating device.
  • the partition walls can be moved outside or during ongoing cooling operations.
  • FIG 1 shows the cooling device 100 according to the invention for cooling a metallic good 200.
  • the metallic good 200 passes through the cooling device 100 in the material flow direction x or in the transport direction T of the good.
  • each of the spray areas I, II, III has a plurality of spray nozzles which are arranged distributed in the X and Y directions.
  • the spray nozzles 130 are each arranged to run in parallel regions in the longitudinal direction L of the cooling bar 110.
  • the interior of the cooling bar 110 is subdivided into a plurality of chambers with the aid of partition walls 140.
  • the partition walls can be arranged in a stationary or displaceable manner within the cooling bar.
  • Each of these chambers is assigned to one of the spray areas I, II, III.
  • valves 120 can be seen by way of example for individually setting the pressure or the volume flow of the coolant in each of the spray areas I, II, III.
  • the coolant 300 is fed individually from a coolant tank with the aid of a pump 160 through the valves 120 into the individual spray areas I, II, III.
  • a control device 150 is provided for the individual control of the pump 160 and the valves 120.
  • two partition walls 140 are provided for dividing the cooling bar 110 into three chambers or three spray areas I, II, III.
  • the three areas are designed symmetrically; this means that an equal number of spray nozzles is allocated to the middle spray area II to the right and left of the center in particular.
  • Figure 1 shows the temperature distribution of the goods, typically measured with the help of a temperature determination device, over its width before entering the cooling device or before entering under the cooling beam 110.
  • the partition walls are shaped in a width section ⁇ Y1, ⁇ Y2 corresponding to the temperature profile over the same width section ⁇ Y1, ⁇ Y2 .
  • Figure 2 shows a second embodiment for dividing the cooling bar 110 into individual chambers and spray areas, here five spray areas I, II, III, IV and V. Accordingly, five valves 120 are provided for individually feeding the coolant 300 into the individual chambers or spray areas .
  • the arrangement or the number of spray nozzles 130 relative to the center M of the metallic material asymmetrically. This can be seen in particular from the fact that more spray nozzles 130 are arranged in the right half of the central spray area III than in its left part.
  • the partition walls 140 each run between the spray nozzles 130.
  • the partition walls are step-shaped; alternatively, however, they can also be designed to run straight or arcuate, in particular parabolic.
  • the partition walls are shaped exactly in accordance with the temperature distribution in a corresponding width section. In practice, it is often sufficient to approximate the shape of the partition walls to the temperature distribution, for example by means of the step or staircase function or a straight line.
  • the number of chambers or spray areas per cooling beam is basically arbitrary. The more chambers or spray areas that are implemented, the more precisely a desired distribution for the coolant over the width of the product can be set.
  • control device can be designed in the form of a pilot control for suitable setting of the valves 120 and / or the actuators 144 for positioning the partition walls with regard to setpoint values, in particular a calculated or predetermined setpoint distribution for the coolant 300 over the metallic material .
  • control device 150 can also be designed in the form of a control device for regulating an actual distribution of the volume flow of the coolant to a predetermined target distribution of the coolant over the metallic material by variable control of the valves 120 and / or the adjusting elements 144 for the positioning of the Partition walls 140.
  • the valve 120 and / or the actuating elements 144 then represent the actuators of the control loop.
  • the cooling model is a computer program that is based on the in Figure 3 named primary data, the data available in a database of the cooling model and based on measurements, as in Figure 3 each named as an example, different setpoint values are calculated, in particular the setpoint distribution of the coolant over the width of the metallic item to be cooled.
  • the individual data or parameters or setpoints mentioned are to be understood as merely exemplary. This means that for the calculation of certain setpoints it is not absolutely necessary that all of the input variables mentioned as examples on the input side of the cooling model have to be used.
  • Figure 4 shows a selection of different temperature profiles over the width of the goods to be cooled before they enter the cooling device 100 according to the invention qualitative representation of exemplary useful cooling strategies.
  • the dashed curve profile denotes the temperature profile of the metallic material before it enters the cooling device.
  • the solid line shown above is characteristic of the distribution according to the invention of the coolant within the cooling device for treating the incoming temperature profile.
  • top and middle figures in Figure 4 require a symmetrical distribution of the coolant, which goes hand in hand with a symmetrical division of the spray areas along the length of the cooling bar and a symmetrical arrangement of the spray nozzles and preferably also a symmetrical arrangement of the spray nozzles within the spray areas, as shown in the lower figure in Figure 4 an asymmetrical temperature and coolant curve.
  • the temperature at the left edge area shows no difference to the center of the goods, while the temperature in the right edge area has dropped significantly.
  • the coolant distribution required for this in the left edge area must be almost constant or unchanged compared to the central area of the goods to be cooled, while the output of the coolant volume flow at the right edge must be significantly reduced.
  • FIG. 8 shows an exemplary embodiment of the present invention in which the partition walls 140 can be moved in the longitudinal direction of the cooling bar 110.
  • a movement of the partition walls 140 causes a shift in the starting time for the Beginning of a degressive course of the coolant distribution.
  • the right and left partition walls 140 in the in Figure 5 the embodiment shown move outwards (see dashed line); This has the consequence that the starting times for the degressive decrease in the coolant volume flow are shifted to the right and left to the outside, ie towards the edges of the metallic material.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Materials Engineering (AREA)
  • Metallurgy (AREA)
  • Organic Chemistry (AREA)
  • Heat Treatments In General, Especially Conveying And Cooling (AREA)
  • Heat Treatment Of Strip Materials And Filament Materials (AREA)

Claims (16)

  1. Mécanisme de refroidissement (100) destiné au refroidissement d'un produit métallique (200), qui présente :
    au moins une traverse de refroidissement (110) qui comprend une multitude N de zones de pulvérisation (I, II, III) disposées par paires dans des positions respectivement adjacentes, qui présentent, pour leur part, respectivement au moins une buse de pulvérisation (130) qui est destinée à pulvériser un agent de refroidissement sur le produit métallique ;
    des soupapes (120) qui sont destinées au réglage individuel de la pression ou du courant volumique de l'agent de refroidissement (300) dans chacune des zones de pulvérisation (I, II, III) ;
    un mécanisme de commande (150) qui est destiné à la commande individuelle des soupapes (120) ; et
    un mécanisme de détermination de la température qui est destiné à déterminer la distribution de la température du produit métallique sur la largeur de ce dernier avant l'entrée du produit métallique dans le mécanisme de refroidissement ;
    dans lequel au moins une paroi de séparation (140) est prévue afin de subdiviser l'espace intérieur de la traverse refroidissement (110) en au moins deux chambres ; dans lequel chacune des zones de pulvérisation (I, II, III) est attribuée à une chambre différente ; et
    dans lequel la paroi de séparation est configurée au moins de manière approximative de manière correspondante à l'allure de la distribution de la température dans un tronçon prédéterminé sur la largeur du produit métallique avant l'entrée dans ce dernier dans le mécanisme de refroidissement ; et
    et dans lequel la paroi de séparation est disposée, dans la traverse de refroidissement, sur l'étendue de ce tronçon en largeur ;
    caractérisé
    en ce que l'on prévoit au moins un organe de réglage (144) - qui peut également être commandé à partir du mécanisme de commande (150) - pour le positionnement variable de la paroi de séparation (140) au sein de la traverse lors de refroidissement (110), en particulier pour le déplacement de la paroi de séparation (140) dans la direction longitudinale (L) de la traverse de refroidissement et par conséquent pour la modification des chambres et des zones de pulvérisation (I, II, III) d'une traverse de refroidissement (110).
  2. Mécanisme de refroidissement (100) selon la revendication 1, caractérisé en ce qu'au moins une des zones de pulvérisation (I, II, III) présente une multitude de buses de pulvérisation (130) qui sont disposées en étant réparties dans les directions x et y, de préférence en s'étendant en formant des rangées parallèles dans la direction longitudinale (L) de la traverse de refroidissement (110).
  3. Mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que l'agencement et/ou la quantité des buses de pulvérisation (130) dans les zones de pulvérisation de la traverse de refroidissement est/sont symétrique(s) ou asymétrique(s) par rapport au milieu (M) du produit métallique dans la direction en largeur.
  4. Mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que les parois de séparation (140) s'étendent entre les buses de pulvérisation (130).
  5. Mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que les parois de séparation (140) sont réalisées pour prendre une configuration de forme rectiligne, de forme étagée ou de forme cintrée, en particulier une configuration en forme de parabole.
  6. Mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que, en ce qui concerne la multitude correspondant à un nombre entier N des chambres au sein de la traverse de refroidissement, N ≥ 3.
  7. Mécanisme de refroidissement (100) selon la revendication 6, caractérisé en ce que, dans le cas où N = 3, on dispose d'une zone de pulvérisation située à gauche, d'une zone de pulvérisation en position médiane et d'une zone de pulvérisation située à droite (I, II, III), qui sont respectivement réalisées pour prendre une configuration en forme de trapèze.
  8. Mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que respectivement une multitude de traverses de refroidissement qui sont disposées en parallèle sont rassemblés pour former un groupe.
  9. Mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que le mécanisme de commande (150) est réalisé sous la forme d'une commande pilote pour le réglage approprié des soupapes (120) et/ou des organes de réglage (144) à des fins de positionnement des parois de séparation (140) par rapport à des valeurs de consigne, en particulier par rapport à une distribution de consigne calculée pour l'agent de refroidissement (300) sur toute l'étendue du produit métallique (200).
  10. Mécanisme de refroidissement (100) selon l'une quelconque des revendications 1 à 8, caractérisé en ce que le mécanisme de commande (150) est réalisé sous la forme d'un mécanisme de régulation qui est destiné au fait de régler une distribution réelle du courant volumique ou de la pression de l'agent de refroidissement (300) à une distribution de consigne prédéfinie du courant volumique ou de la pression de l'agent de refroidissement sur toute l'étendue du produit métallique (200) par l'intermédiaire d'une commande variable appropriée des soupapes (120) et/ou des éléments de réglage (144) pour le positionnement des parois de séparation (140) ; dans lequel les soupapes et/ou les éléments de réglage représentent les organes de réglage du circuit de régulation.
  11. Mécanisme de refroidissement (100) selon la revendication 9 ou 10, caractérisé par un modèle de refroidissement (400) qui sert à calculer la distribution de consigne, en particulier du courant volumique ou de la pression de l'agent de refroidissement sur toute l'étendue du produit métallique (200), en particulier sur la largeur de ce dernier, pour la commande pilote ou le mécanisme de régulation.
  12. Mécanisme de refroidissement (100) selon la revendication 11, caractérisé en ce que le modèle de refroidissement (400) est en outre réalisé à des fins de calcul de la distribution de consigne de l'agent de refroidissement sur toute l'étendue du produit métallique (200) en fonction de valeurs de mesure qui ont été transmises au modèle de refroidissement, à savoir :
    - en fonction de la température ou l'allure de la température du produit (200), de préférence dans la direction en longueur et en largeur de ce dernier, à l'entrée et/ou à la sortie du mécanisme de refroidissement, en particulier devant et/ou derrière la traverse de refroidissement ; et/ou
    - en fonction de la propriété réelle du produit (200), par exemple de la dureté, de la ductilité, de la teneur résiduelle en austénite, à la sortie du mécanisme de refroidissement ; et/ou
    - en fonction de la température de l'agent de refroidissement au cours de la pulvérisation sur le produit métallique (200).
  13. Mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que la quantité des zones de pulvérisation (I, II, III) qui comprennent une alimentation individuelle en ce qui concerne l'agent de refroidissement et/ou la quantité des buses de pulvérisation (130) par une unité de surface d'une zone de pulvérisation est/sont sélectionnée(s) en fonction d'une épaisseur de sollicitation désirée de l'agent de refroidissement.
  14. Procédé destiné à la mise en service d'un mécanisme de refroidissement (100) selon l'une quelconque des revendications précédentes, caractérisé en ce que les parois de séparation (140) entre deux zones de réglage voisines (I, II, III) sont soumises à un déplacement de manière appropriée, de préférence dans la direction longitudinale (L) de la traverse de refroidissement (110), à des fins d'adaptation de la position des parois de séparation à l'allure de la distribution de la température du produit métallique sur la largeur de ce dernier avant son entrée dans le mécanisme de refroidissement ou à des fins de réglage d'une distribution de consigne désirée de la pression ou du courant volumique de l'agent de refroidissement (300) sur toute la largeur du produit métallique (200).
  15. Procédé selon la revendication 14, caractérisé en ce que les parois de séparation (140) sont soumises à un déplacement, de part et d'autre du milieu (M) de la traverse de refroidissement (110), de manière symétrique ou de manière asymétrique par rapport au milieu (M) de la traverse de refroidissement (110).
  16. Procédé conformément à l'une quelconque des revendications 14 et 15, caractérisé en ce que le déplacement des parois de séparation - en particulier dans le cadre de la commande pilote ou de la régulation de la position des parois de séparation - peut également avoir lieu au cours du déroulement de la mise en oeuvre du refroidissement.
EP19716139.1A 2018-04-13 2019-04-04 Dispositif de refroidissement et procédé permettant de faire fonctionner ledit dispositif Active EP3774099B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018205684.6A DE102018205684A1 (de) 2018-04-13 2018-04-13 Kühleinrichtung und Verfahren zu deren Betrieb
PCT/EP2019/058451 WO2019197254A1 (fr) 2018-04-13 2019-04-04 Dispositif de refroidissement et procédé permettant de faire fonctionner ledit dispositif

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EP3774099A1 EP3774099A1 (fr) 2021-02-17
EP3774099B1 true EP3774099B1 (fr) 2021-11-24

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US (1) US11980923B2 (fr)
EP (1) EP3774099B1 (fr)
JP (1) JP7032564B2 (fr)
CN (1) CN111971130B (fr)
DE (1) DE102018205684A1 (fr)
WO (1) WO2019197254A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102018205684A1 (de) * 2018-04-13 2019-10-17 Sms Group Gmbh Kühleinrichtung und Verfahren zu deren Betrieb
EP3895819B1 (fr) * 2020-04-14 2023-06-07 Primetals Technologies Germany GmbH Fonctionnement d'un dispositif de refrodissement avec une pression de fonctionnement minimale

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JP5392143B2 (ja) 2010-02-22 2014-01-22 新日鐵住金株式会社 厚鋼板の冷却制御方法、冷却制御装置および厚鋼板の製造方法
CN102189131B (zh) * 2010-03-19 2013-07-17 宝山钢铁股份有限公司 一种下喷层流冷却装置
CN201644524U (zh) * 2010-03-19 2010-11-24 宝山钢铁股份有限公司 一种下喷层流冷却调宽装置
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CN111971130A (zh) 2020-11-20
JP2021519696A (ja) 2021-08-12
DE102018205684A1 (de) 2019-10-17
CN111971130B (zh) 2022-08-09
US11980923B2 (en) 2024-05-14
US20210316348A1 (en) 2021-10-14
EP3774099A1 (fr) 2021-02-17
JP7032564B2 (ja) 2022-03-08

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