EP3504013B2 - Procédé de fabrication d'une bande métallique dans une installation de laminage direct - Google Patents

Procédé de fabrication d'une bande métallique dans une installation de laminage direct Download PDF

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Publication number
EP3504013B2
EP3504013B2 EP17701097.2A EP17701097A EP3504013B2 EP 3504013 B2 EP3504013 B2 EP 3504013B2 EP 17701097 A EP17701097 A EP 17701097A EP 3504013 B2 EP3504013 B2 EP 3504013B2
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Prior art keywords
rolling
strip
furnace
train
finishing
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German (de)
English (en)
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EP3504013B1 (fr
EP3504013A1 (fr
Inventor
Jürgen Seidel
Christoph Klein
Matthias Peters
Cosimo Andreas CECERE
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SMS Group GmbH
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SMS Group GmbH
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B1/00Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
    • B21B1/46Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling metal immediately subsequent to continuous casting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B1/00Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
    • B21B1/22Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length
    • 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
    • C21D9/00Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
    • C21D9/52Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for wires; for strips ; for rods of unlimited length
    • C21D9/54Furnaces for treating strips or wire
    • C21D9/56Continuous furnaces for strip or wire
    • C21D9/60Continuous furnaces for strip or wire with induction heating
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B1/00Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations
    • B21B1/22Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length
    • B21B2001/225Metal-rolling methods or mills for making semi-finished products of solid or profiled cross-section; Sequence of operations in milling trains; Layout of rolling-mill plant, e.g. grouping of stands; Succession of passes or of sectional pass alternations for rolling plates, strips, bands or sheets of indefinite length by hot-rolling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21BROLLING OF METAL
    • B21B15/00Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B21B15/0007Cutting or shearing the product
    • B21B2015/0014Cutting or shearing the product transversely to the rolling direction
    • 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
    • B21B45/004Heating the product

Definitions

  • CSP plants thin slab casting and rolling plants
  • the aim is to be able to adjust different operating conditions. Adaptation to the rolled finished strip thickness or to the casting speed, for example, is also desirable for reasons of quality and energy consumption.
  • the invention is therefore based on the object of further developing a method of the above-mentioned type in such a way that an increased degree of flexibility is possible; in particular, it should be possible to react flexibly to different operating conditions.
  • the proposed system concept and the operating mode should therefore be characterized by a high degree of flexibility.
  • At least one slab is placed in the first furnace and/or in the first roller table insulation section.
  • at least one slab or one pre-strip is also placed in the second furnace and/or in the second roller table insulation section.
  • the above-mentioned operating modes a), b), c) and/or d) can be selected depending on the final thickness of the strip. It is also possible that the operating modes a), b), c) and/or d) are selected depending on the start-up process of the casting and rolling mill. It is also possible that the operating modes a), b), c) and/or d) are selected depending on a roll change taking place in the roughing mill and/or in the finishing mill.
  • one of the above-mentioned operating modes is selected and production is then carried out using this mode; accordingly, only one of the above-mentioned options (a), (b), (c) or (d) is implemented at a given time.
  • switching between the various above-mentioned operating modes can also take place one after the other.
  • the average slab temperature at the outlet of the first furnace is preferably at least 1,000 °C, particularly preferably at least 1,100 °C.
  • the average pre-strip temperature at the outlet of the second furnace is preferably at least 1,100 °C, especially preferably at least 1,150 °C.
  • the average pre-strip temperature at the outlet of the second furnace is at least 1,150 °C, the product of the thickness of the strip (h B ) and the speed of the strip (v B ) being at least 350 mm m/min, preferably at least 500 mm m/min.
  • inductive heating of the slab and/or the preliminary strip does not take place.
  • the temperature in the last active stand of the finishing train is preferably above the ⁇ - ⁇ phase transformation, in particular above 820 °C.
  • FIG. 1 An embodiment of the invention is shown in the drawing.
  • the single figure shows a schematic side view of a single-strand casting and rolling plant for the production of a strip.
  • the proposed thin slab casting and rolling plant concept consists of the following main components, which are shown in the figure:
  • the casting and rolling plant 2 for producing the strip 1 initially has a casting machine 3.
  • a first furnace 4 is arranged behind the casting machine 3 in the conveying direction F of the material, the first furnace 4 is followed in the conveying direction F by a roughing train 5 which has a number of rolling stands R1 and R2.
  • a first shear S1 is arranged between the casting machine 3 and the first furnace 4.
  • a second shear S2 is located behind the roughing train 5 and in front of the second furnace 6.
  • a third shear S3 is located just before the coiler 9.
  • At least one individual slab can be accommodated in the first furnace 4 and/or in the first roller table insulation section; it is also provided that at least one individual slab fits into the area between the first shear S1 and the first rolling stand R1 of the roughing train 5.
  • the roughing train 5 preferably consists of 1 to 4 stands, with two stands being particularly preferred.
  • the second furnace 6 and/or the second roller table insulation section behind the roughing train 5 is designed in such a way that at least one individual preliminary strip can be accommodated in its horizontal position or extent or at least one individual preliminary strip fits into the area between the second shear S2 and the first rolling stand F1 of the finishing train 7.
  • the finishing train 7 usually consists of 1 to 7 stands, preferably 4 to 6 stands are provided.
  • the first shear S1 is a slab shear for cutting the slabs leaving the casting machine 3.
  • the second shear S2 is a pre-strip shear for cutting the pre-strips behind the roughing train 5 and is preferably arranged in front of the second furnace 6.
  • the third shear S3 is a strip shear for cutting the strips in front of the coiler 9.
  • the three scissors S1, S2 and S3 are provided in order to be able to realize the different operating modes mentioned above.
  • no rapid heating e.g. in the form of induction heating
  • induction heating e.g. in the form of induction heating
  • roller table insulation sections can alternatively be provided in which at least one individual slab or one individual preliminary strip can be accommodated; in this case, an induction heater can also optionally be arranged behind said roller table insulation sections.
  • An arrangement of furnace parts and roller table insulation sections in any order and combination before and/or after the roughing train is also possible.
  • the length of the first furnace (4) or the first roller table insulation section or an arrangement of first furnace parts (4) and roller table insulation sections in any order and combination behind the first shear (S1) is shorter than the length of the second furnace (6) or the second roller table insulation section or an arrangement of second furnace parts (6) and roller table insulation sections in any order and combination behind the second shear (S2).
  • a single slab or a single pre-strip is long enough to be rolled or produced into a coil with a typically produced coil weight.
  • the casting and rolling plant can be operated very flexibly through optimized operation of the main components mentioned.
  • Various operating modes can be implemented in the roughing mill, the finishing mill or in the entire plant: According to the above-mentioned process mode a), firstly, continuous rolling is carried out in roughing train 5 and continuous rolling in the finishing train 7, ie in this case the casting machine 3 and the roughing and finishing trains 5, 7 are connected to each other. In this case, rolling takes place with the casting machine mass flow and the strips are separated on the reel 9 with the third shear S3.
  • continuous rolling in the roughing train 5 with casting machine mass flow and individual strip rolling (batch operation) in the finishing train 7 is also possible.
  • the individual preliminary strips are separated at the second shear S2.
  • the mass flow in the finishing train 7 is higher during rolling than in the roughing train 5 or the connected casting machine 3.
  • single strip rolling (batch operation) in the roughing mill 5 and single strip rolling (batch operation) in the finishing mill 7 is also possible.
  • the individual slabs are separated at the first shear S1.
  • the roughing mill 5 and the finishing mill 7 are both operated with a higher mass flow during the rolling process than the casting machine 3.
  • the temperature control can be influenced as desired by individually selecting the speed of the rolling mills.
  • the different operating modes can be selected and set.
  • the rolling mills can be warmed up in batch mode on the roughing and finishing train, for example.
  • the roughing train can then be switched to endless mode.
  • endless strip rolling is recommended for the roughing and finishing train. If a roll change is only planned in the finishing train, the batch mode is switched to for the finishing train.
  • the finishing train and/or the finishing train are operated with temperature speed-up or, alternatively, the water quantity in at least one interstand cooling system is changed accordingly.
  • the proposed casting and rolling plant is characterized by various advantageous technical facilities and operating conditions:
  • the optimal arrangement for slab cleaning (or descaling) is at the outlet of casting machine 3 (less than 2 m) behind the last strand roll.
  • the slab is cleaned (descaled) between the last two strand roll pairs.
  • roller table insulation between the casting machine 3 or slab cleaning machine and the entrance to the first furnace 4.
  • the insulation can be swiveled in the area of the first shear S1. This minimizes energy and temperature losses in this transport area.
  • V spez is preferred with the following condition: V spez in m 3 /h/m ⁇ 600 xv, preferably V spez in m 3 /h/m ⁇ 450 xv with v being the transport speed of the rolled or cast product in the area of the scale washer in m/s ("x" is the multiplication sign).
  • n is preferably adapted to the finished strip thickness h F.
  • the following approximate equation is used for this purpose: n ⁇ 5 ⁇ h F ⁇ 0.6
  • strip cooling preferably begins within the finishing train behind the last active stand. Pyrometers between the last finishing stands monitor the setting of the correct final rolling temperature and are used for control purposes.
  • the respective first furnace 4 and/or second furnace 6 or corresponding roller table areas with insulation can be divided into different areas (in the longitudinal direction) so that slabs or slab parts and/or pre-strips or pre-strip parts can be conveyed out. This can, for example, create buffer times, easily dispose of the cold strand or simplify the elimination of faults.
  • flame cutting machines can be provided in front of and/or behind the furnace sections.
  • the mean slab temperature (definition: averaged over the thickness in the middle) at the outlet of the first furnace 4 is ⁇ 1,000°C, preferably ⁇ 1,100°C.
  • the average pre-strip temperature at the exit from the second furnace 6 is ⁇ 1,100°C, preferably ⁇ 1,150°C.
  • Optional inductive heating within the finishing train between the finishing stands is planned for the continuous rolling or semi-continuous rolling operating mode to set higher final rolling temperatures (e.g. ⁇ 850°C) and/or to specifically influence the mechanical finished strip properties and/or at low casting speeds.
  • the transition from continuous rolling to batch rolling can be made by cutting at the first shear S1 without a transition wedge.
  • the first shear S1 cuts and the finish rolling of the continuous slab takes place without changing the setup in the rolling stands R1/R2 of roughing train 5.
  • a gap is created which allows the rolling stand R1 and/or the rolling stand R2 to start rolling the subsequent slab with a new setup.

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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)
  • Metal Rolling (AREA)

Claims (10)

  1. Procédé destiné à la fabrication d'une bande métallique (1) dans une installation de coulée-laminage (2), dans lequel l'installation de coulée-laminage (2) comprend:
    - une machine de coulée (3) destinée à la coulée d'une brame ;
    - un premier four (4) et/ou un premier tronçon d'isolation de la ligne de rouleaux, qui fait/font suite à la machine de coulée (3) dans la direction de transport (F) de la bande métallique ;
    - une première machine à cisailler (S1), qui est disposée entre la machine de coulée (3) et le premier four (4) ou/et le premier tronçon d'isolation de la ligne de rouleaux,
    - un train dégrossisseur (5) qui comprend un certain nombre de cages de laminoir (R1, R2),
    - un deuxième four (6) et/ou un deuxième tronçon d'isolation de la ligne de rouleaux, qui fait/font suite au train dégrossisseur (5) dans la direction de transport (F) de la bande métallique ;
    - une deuxième machine à cisailler (S2), qui est disposée entre le train dégrossisseur et le deuxième four (6) ou/et le deuxième tronçon d'isolation de la ligne de rouleaux,
    - un train finisseur (7) qui comprend un certain nombre de cages de laminoir (F1, F2, F3, F4, F5, F6),
    - un tronçon de refroidissement (8),
    - au moins deux bobineuses (9) ou une bobineuse réversible et
    - une troisième machine à cisailler (S3), qui est disposée entre le tronçon de refroidissement (8) et l'installation de bobinage (9), dans lequel
    pour la fabrication de la bande (1), on choisit un des modes de fonctionnement tels qu'indiqués ci-après :
    a) un laminage sans fin, au cours duquel la machine de coulée (3), le train dégrossisseur (5) et le train finisseur (7) sont reliés les uns aux autres d'une manière fonctionnelle et le laminage de la matière a lieu avec un flux massique de la machine de coulée ; dans lequel les bandes prêtes à l'emploi sont tronçonnées à l'installation de bobinage (9) au moyen de la troisième machine à cisailler (S3) ;
    b) un laminage sans fin dans le train dégrossisseur (5) au cours duquel la machine de coulée (3) et le train dégrossisseur (5) sont reliés l'un à l'autre d'une manière fonctionnelle et le laminage de la matière a lieu avec un flux massique de la machine de coulée, de même qu'un laminage de bande individuelle (fonctionnement en discontinu) dans le train finisseur (7) ; dans lequel les feuillards précurseurs qui ont fait l'objet d'un laminage dans le train dégrossisseur (5) sont tronçonnés pour le laminage d'une bande individuelle dans le train finisseur (7) au moyen de la deuxième machine à cisailler (S2) ;
    c) un laminage de bande individuelle (fonctionnement en discontinu) dans le train dégrossisseur (5) et un laminage de bande individuelle (fonctionnement en discontinu) dans le train finisseur (7), dans lequel les brames qui ont été fabriquées dans la machine de coulée (3) sont tronçonnées pour le laminage d'une bande individuelle dans le train dégrossisseur (5) et dans le train finisseur (7) au moyen de la première machine à cisailler (S1) ;
    d) un laminage en semi-continu dans le train dégrossisseur (5) et/ou un laminage en semi-continu dans le train finisseur (7), dans lequel les brames qui ont été fabriquées dans la machine de coulée (3) sont tronçonnées pour le laminage en semi-continu dans le train dégrossisseur (5) au moyen de la première machine à cisailler (S1) et/ou dans lequel les feuillards précurseurs qui ont fait l'objet d'un laminage dans le train dégrossisseur (5) sont tronçonnés pour le laminage en semi-continu dans le train finisseur (7) au moyen de la deuxième machine à cisailler (S2) ; dans lequel les bandes prêtes à l'emploi sont tronçonnées à l'installation de bobinage (9) au moyen de la troisième machine à cisailler (S3),
    caractérisé en ce que, le laminage dans le train finisseur (7) a lieu avec un certain nombre de cages de laminoir, que l'on calcule en se référant à l'équation indiquée ci-après : 2,316 × h B × v B × e 0.167 × n 480 m / min mm
    Figure imgb0009
    dans laquelle :
    n : le nombre de cages dans le train finisseur (7)
    hB: l'épaisseur de la brame en mm
    vB : la vitesse de la brame en m/min, et
    en ce que la longueur du premier four (4) ou du premier tronçon d'isolation de la ligne de rouleaux ou d'un agencement de premières parties de four (4) et de tronçons d'isolation de la ligne de rouleaux dans n'importe quelle succession et dans n'importe quelle combinaison derrière la première machine à cisailler (S1) est plus courte que la longueur du deuxième four (6) ou le deuxième tronçon d'isolation de la ligne de rouleaux ou un agencement de deuxièmes parties de four (6) et de tronçons d'isolation de la ligne de rouleaux dans n'importe quelle succession et dans n'importe quelle combinaison derrière la deuxième machine à cisailler (S2).
  2. Procédé selon la revendication 1, caractérisé en ce, dans le premier four (4) ou dans le premier tronçon d'isolation de la ligne de rouleaux ou dans un agencement de premières parties de four (4) et de tronçons d'isolation de la ligne de rouleaux, dans n'importe quelle succession et dans n'importe quelle combinaison, on place au moins une brame.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que, dans le deuxième four (6) ou dans le deuxième tronçon d'isolation de la ligne de rouleaux ou dans un agencement de deuxièmes parties de four (6) et de tronçons d'isolation de la ligne de rouleaux, dans n'importe quelle succession et dans n'importe quelle combinaison, on place au moins une brame ou un feuillard précurseur.
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la température moyenne des brames à la sortie du premier four (4) s'élève à au moins 1000 °C, de préférence à au moins 1100°C.
  5. Procédé selon l'une quelconque des revendications 1 à 4, caractérisé en ce que la température moyenne du feuillard précurseur à la sortie du deuxième four (6) s'élève à au moins 1 100 °C, de préférence à au moins 1 150 °C.
  6. Procédé selon l'une quelconque des revendications 1 à 5, caractérisé en ce que le degré de déformation de la bande (1) dans le train finisseur (7) s'élève à : ε = h V h F / h V × 100 96
    Figure imgb0010
    où hv représente l'épaisseur du feuillard précurseur et hF représente l'épaisseur de la bande prête à l'emploi.
  7. Procédé selon la revendication 6, caractérisé en ce que la température moyenne du feuillard précurseur à la sortie du deuxième four (6) s'élève à au moins 1 150 °C; dans lequel le produit de l'épaisseur de la bande (hB) et de la vitesse de la bande (vB) s'élève à au moins 350 mm m/min, de préférence s'élève à au moins 500 mm m/min.
  8. Procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce que l'on ne soumet pas la brame et/ou le feuillard précurseur à un chauffage par induction.
  9. Procédé selon l'une quelconque des revendications 1 à 8, caractérisé en ce que la température dans la dernière cage active du train finisseur (7) est supérieure à celle de la transformation de phase γ-α ; en particulier est supérieure à 820 °C.
  10. Procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce que l'on met en oeuvre un chauffage par induction au sein du train finisseur entre les cages de finition pour le mode de fonctionnement d'un laminage sans fin ou d'un laminage en semi-continu à des fins de réglage de températures de laminage finales supérieures, à savoir ≥ 850 °C et/ou afin d'influencer de manière ciblée les propriétés mécaniques de la bande prête à l'emploi et/ou dans le cas de petites vitesses de coulée.
EP17701097.2A 2016-11-10 2017-01-18 Procédé de fabrication d'une bande métallique dans une installation de laminage direct Active EP3504013B2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016222122 2016-11-10
DE102016015414 2016-12-23
PCT/EP2017/050950 WO2018086762A1 (fr) 2016-11-10 2017-01-18 Procédé de fabrication d'une bande métallique dans une installation de laminage direct

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EP3504013A1 EP3504013A1 (fr) 2019-07-03
EP3504013B1 EP3504013B1 (fr) 2021-08-11
EP3504013B2 true EP3504013B2 (fr) 2025-01-22

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US (1) US11000888B2 (fr)
EP (1) EP3504013B2 (fr)
JP (1) JP6684968B2 (fr)
CN (1) CN109890524B (fr)
DE (1) DE102017200731A1 (fr)
WO (1) WO2018086762A1 (fr)

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WO2018086762A1 (fr) 2016-11-10 2018-05-17 Sms Group Gmbh Procédé de fabrication d'une bande métallique dans une installation de laminage direct
CN110616306A (zh) * 2018-06-19 2019-12-27 宝钢湛江钢铁有限公司 一种热轧在线移动保温热处理工艺
DE102019207459A1 (de) * 2018-05-23 2019-11-28 Sms Group Gmbh Gieß-Walzanlage für den Batch- und Endlosbetrieb
JP7393549B2 (ja) 2019-12-11 2023-12-06 エス・エム・エス・グループ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 有利には前接続された鋳造装置と接続している、モジュール式の圧延ライン、特に熱間圧延ライン
EP4072747B1 (fr) 2019-12-11 2024-02-07 SMS Group GmbH Cage de laminoir à chaud pour laminoir à chaud et pour fabriquer un produit métallique plat, laminoir à chaud et procédé de fonctionnement d'un laminoir à chaud
EP3974072B1 (fr) * 2020-09-24 2023-07-19 Primetals Technologies Austria GmbH Installation combinée de coulée et de laminage et procédé de fonctionnement de l'installation combinée de coulée et de laminage
JP7310772B2 (ja) * 2020-09-29 2023-07-19 Jfeスチール株式会社 ミルペーシング制御方法
DE102021203262A1 (de) 2021-03-31 2022-10-06 Sms Group Gmbh Anlage und Verfahren zur Herstellung eines metallischen Bands
DE102021207943A1 (de) * 2021-07-23 2023-01-26 Sms Group Gmbh Verfahren zum Herstellen eines metallischen Bandes
CN115741125B (zh) * 2022-11-30 2026-01-27 佛山市诺创智能设备有限公司 多规格板件生产线及生产方法
CN116237366B (zh) * 2023-01-07 2025-11-04 首钢京唐钢铁联合有限责任公司 一种连铸连轧产线轧机换辊方法
EP4596128A1 (fr) * 2024-02-02 2025-08-06 Primetals Technologies Austria GmbH Fabrication à faible consommation d'énergie de produits laminés à épaisseur finale élevée
EP4613391A1 (fr) * 2024-03-07 2025-09-10 Primetals Technologies Austria GmbH Installation et procédé de coulée continue

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WO2018086762A1 (fr) 2018-05-17
EP3504013B1 (fr) 2021-08-11
JP2019535525A (ja) 2019-12-12
CN109890524B (zh) 2020-08-28
US20200061685A1 (en) 2020-02-27
US11000888B2 (en) 2021-05-11
CN109890524A (zh) 2019-06-14
DE102017200731A1 (de) 2018-05-17
JP6684968B2 (ja) 2020-04-22
EP3504013A1 (fr) 2019-07-03

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