EP3943210A1 - Installation composite de coulée et de laminage destinée à la fabrication d'une bande finie laminée à chaud à partir d'un acier fondu - Google Patents
Installation composite de coulée et de laminage destinée à la fabrication d'une bande finie laminée à chaud à partir d'un acier fondu Download PDFInfo
- Publication number
- EP3943210A1 EP3943210A1 EP20187300.7A EP20187300A EP3943210A1 EP 3943210 A1 EP3943210 A1 EP 3943210A1 EP 20187300 A EP20187300 A EP 20187300A EP 3943210 A1 EP3943210 A1 EP 3943210A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- strip
- rolling
- profile
- train
- flatness
- 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.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/001—Continuous casting of metals, i.e. casting in indefinite lengths of specific alloys
- B22D11/002—Stainless steels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B1/00—Metal-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
- B21B1/46—Metal-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
- B21B1/463—Metal-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 in a continuous process, i.e. the cast not being cut before rolling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B13/00—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories
- B21B13/22—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories for rolling metal immediately subsequent to continuous casting, i.e. in-line rolling of steel
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/12—Accessories for subsequent treating or working cast stock in situ
- B22D11/1206—Accessories for subsequent treating or working cast stock in situ for plastic shaping of strands
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/14—Plants for continuous casting
- B22D11/142—Plants for continuous casting for curved casting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING 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
- C21D8/00—Modifying the physical properties of ferrous metals or ferrous alloys by deformation combined with, or followed by, heat treatment
- C21D8/02—Modifying the physical properties of ferrous metals or ferrous alloys by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips
- C21D8/0221—Modifying the physical properties of ferrous metals or ferrous alloys by deformation combined with, or followed by, heat treatment during manufacturing of plates or strips characterised by the working steps
- C21D8/0226—Hot rolling
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING 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
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/52—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for wires; for strips ; for rods of unlimited length
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B1/00—Metal-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
- B21B1/08—Metal-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 structural sections, i.e. work of special cross-section, e.g. angle steel
- B21B2001/081—Roughening or texturing surfaces of structural sections, bars, rounds, wire rods
Definitions
- the present invention relates to the metallurgy of steel materials. Specifically, the invention relates to a combined casting and rolling plant for producing a hot-rolled finished strip from molten steel.
- Casting-rolling compound systems are known in principle to the person skilled in the art.
- a steel strip can be produced from a molten steel cost-effectively and with high productivity on a combined casting and rolling plant.
- the EP 1 662 012 B1 an Arvedi ESP compound casting and rolling system.
- the EP 1 909 979 B1 shows a combined casting and rolling plant for the production of heavy plates.
- the EP 1 940 566 B1 and the EP 2 19 622 B1 each show an Arvedi ESP compound casting and rolling plant for the production of steel strips with a thickness of 1.5 to 5 mm and 0.8 to 12 mm.
- the object of the invention is to further develop the existing casting-rolling compound systems and to find a new type of casting-rolling compound system on which steel strips with a thickness of ⁇ 0.6 mm, excellent flatness and a cost-effective and high productivity excellent profile can be produced without having to cold-roll the steel strips after hot-rolling.
- An endless strand with a slab or thin slab cross-section is cast from molten steel on the continuous caster with a curved strand guide.
- the casting speed of the continuous caster is depending on the chem.
- the composition of the steel melt is typically between 4 and 7.5 m/min, the strand thickness between 50 and 130 mm and the strand width between 800 and 2200 mm.
- the thickness of the partially solidified or fully solidified strand is preferably already reduced in the strand guide, for example by a liquid or soft core reduction.
- the uncut strand is hot-rolled in a roughing train with several, preferably exactly three, roughing stands to form a pre-strip.
- At least one, preferably each, roughing stand of the roughing train has at least one actuator for adjusting the profile and/or the flatness of the pre-strip.
- the profile of the pre-strip can be specifically adjusted by the actuator or the actuators in the pre-rolling stands.
- a first induction furnace typically with multiple induction modules, heats the endless pre-strip to a first rolling temperature.
- a first measuring device for measuring the actual profile of the pre-strip is arranged in the material flow direction between the last roughing stand of the roughing train and the first induction furnace.
- a first descaling device for descaling the heated pre-strip is arranged after the last induction module and before the first intermediate rolling stand of the intermediate train.
- the upper and lower sides of the pre-strip are descaled so that no scale can be rolled in during intermediate rolling.
- the thickness of the endless pre-strip is further reduced by hot rolling in the intermediate train with several, preferably exactly three, intermediate rolling stands to form an intermediate strip.
- At least one, preferably each, intermediate rolling stand has at least one actuator for adjusting the profile and/or the flatness of the intermediate strip.
- the profile and flatness of the intermediate strip can be specifically adjusted by the actuator or actuators in the intermediate rolling stands.
- a second measuring device for measuring the actual profile of the intermediate strip is arranged after the last intermediate rolling stand of the intermediate train.
- the intermediate train there is preferably a second induction furnace, typically with several induction modules, for heating the intermediate strip to a second rolling temperature, and after the second induction furnace and before the first finishing rolling stand of the finishing train, there is a second descaling device for descaling the arranged between bands.
- the upper and lower sides of the intermediate strip are descaled so that no scale can be rolled in during finish rolling.
- the thickness of the endless intermediate strip is further reduced by hot rolling in the finishing train with several, preferably exactly three, finishing rolling stands to form a finished strip.
- At least one, preferably each, finishing rolling stand has at least one actuator for adjusting the profile and/or the flatness of the finished strip.
- the profile and flatness of the finished strip can be specifically adjusted by the actuator or actuators in the finishing rolling stands.
- a third measuring device for measuring the actual profile of the finished strip is arranged after the last finishing stand of the finishing train.
- a cooling section for cooling the finished strip down to a coiling temperature is typically arranged downstream of the finishing line.
- the top and bottom of the finished strip are thereby by several cooling devices, engl. cooling header, cooled.
- the finished strip is divided transversely by shears and wound up into bundles in the winding device with at least two coiler mandrels.
- At least one actuator for adjusting the profile and/or the flatness of the pre-strip, the intermediate strip and the finished strip was named in claim 1.
- the person skilled in the art knows that the profile and/or the flatness of a strip-shaped rolling stock can be achieved, for example, by bending at least one work roll of a roll stand, SmartCrown adjustment, width-dependent multi-zone cooling or a targeted shifting of the work rolls, etc.
- the measurement of the actual profile after the , intermediate and finishing train and by equipping the stands in the roughing, intermediate and finishing train with actuators to influence the strip profile and/or the strip flatness it can be ensured that even an ultra-thin finished strip with a thickness of ⁇ 0.8 mm or .even ⁇ 0.6mm have excellent flatness and profile.
- the first rolling temperature in the intermediate train, the second rolling temperature in the finishing train and the final rolling temperature in the last stand of the finishing train can be adjusted with great precision by the induction furnaces.
- the combined casting and rolling plant according to the invention can thus not only produce a strip with highly precise geometric properties, but also precisely adjust the temperature profile in the rolling train according to the desired structure of the finished strip.
- a first profile controller can control at least one actuator in the roughing train depending on the actual profile of the pre-strip in such a way that the actual profile of the pre-strip corresponds as closely as possible to a target profile.
- the second measuring device is arranged in the material flow direction between the last intermediate rolling stand of the intermediate train and the first finishing rolling stand of the finishing train, preferably between the last intermediate rolling stand of the intermediate train and the second induction furnace.
- the second measuring device can also measure the actual flatness of the intermediate strip. This can be done in that the second measuring device includes a measuring unit for measuring the actual profile and a further measuring unit for measuring the actual flatness.
- a second profile controller can control at least one actuator in the intermediate line depending on the actual profile of the intermediate strip in such a way that the actual profile of the intermediate strip corresponds as closely as possible to a target profile.
- a first flatness controller can control at least one actuator in the intermediate line depending on the actual flatness of the intermediate strip in such a way that the actual flatness of the intermediate strip corresponds as closely as possible to a target flatness.
- each finishing roll stand of the finishing train has two shifting devices for axially shifting the work rolls in opposite directions.
- the shifting devices preferably allow a so-called " long stroke " shifting of the work rolls with a maximum shift of 200 mm, 500 mm or 800 mm.
- the third measuring device is arranged in the material flow direction between the last finishing roll stand of the finishing train and the winding device, preferably between the last finishing roll stand of the finishing train and the cooling section. That too
- the third measuring device can, for example, consist of two measuring units, one unit for measuring the actual profile and another for measuring the actual flatness.
- a third profile controller can control at least one actuator in the finishing train depending on the actual profile of the finished strip in such a way that the actual profile of the pre-strip corresponds as closely as possible to a target profile.
- a second flatness controller can control at least one actuator in the finishing train depending on the actual flatness of the finished strip in such a way that the actual flatness of the finished strip corresponds as closely as possible to a target flatness.
- a particularly good flatness can be achieved because the relative strip profile can be kept constant after the roughing, intermediate and finishing train and because any profile deviations do not only occur after the finish rolling, but already after the preliminary and intermediate rolling can be recognized and, if necessary, compensated. This is particularly advantageous in the case of ultra-thin strips, since the relative strip profile can be kept constant for each rolling pass.
- a first embodiment of a combined casting and rolling system is shown.
- the continuous casting plant 1 molten steel is cast into an endless strand 4 with a slab format and a final thickness of 100 mm.
- the molten steel is supplied to the mold 3 via a casting distributor 2 .
- the strand 4 leaves the mold with a thickness of 105 mm.
- the thickness of the strand 4 is reduced to the final thickness of 100 mm by an LCR.
- the strand 4 then enters the first roughing stand of the roughing train 5 and is reduced in the roughing train by three rolling passes to form a pre-strip with a thickness of 9 mm.
- the last rolling pass in roughing train 5 takes place at 900 °C.
- the pre-strip is heated to a temperature of 1150° C. in the first induction furnace 8 and then descaled in the first descaling device 9 .
- the temperature of the pre-strip drops to 1050°C.
- the pre-strip is reduced by three rolling passes to an intermediate strip with a thickness of 1.3 mm.
- the last rolling pass in the last intermediate stand of intermediate train 10 takes place at a temperature of 925 °C.
- the intermediate strip is then heated to a temperature of 975° C. in the second induction furnace 8a.
- the heated intermediate strip is not descaled in the second descaling device 9a and enters the first finishing rolling stand of the finishing train 11 directly.
- the intermediate strip is again reduced by three rolling passes to an ultra-thin finished strip with a thickness of 0.6 mm.
- the last rolling pass in finishing train 11 takes place in the austenitic temperature range at a temperature of 875 °C.
- the finished strip is cooled to 650° C. in the cooling section 12, then cut transversely by the shears 13 and wound up in the winding devices 14.
- the process runs in endless mode, ie the endless belt is divided transversely for the first time by the scissors 13.
- the temperature profiles and the thickness profiles in the production of the ultra-thin finished strip with a thickness of 0.6 mm are in the Figures 6 and 7 specified.
- a first measuring device 6 for measuring the actual profile of the pre-strip is arranged after the last roughing stand R3 of the roughing train 5 and before the first induction furnace 8 .
- the measured values m1 for the actual profile of the pre-strip are transmitted to the controller 15.
- the controller 15 calculates three manipulated variables u1...u3, which are sent to the actuators for deflecting the work rolls in the three roughing stands R1...R3 Vor
- the actuators deflect the work rolls of the roughing stands in such a way that the actual profile corresponds as closely as possible to the target profile.
- a second measuring device 6a for measuring the actual profile of the intermediate strip is arranged after the last intermediate rolling stand I3 of the intermediate train 10 and before the second induction furnace 8a.
- the measured values m2 for the actual profile are transmitted to the controller 15.
- the controller 15 calculates three manipulated variables u4...u6, which are sent to the actuators for deflecting the work rolls in the three intermediate rolling stands I1...I3 of the Intermediate Road 10 will be transferred.
- the actuators deflect the work rolls of the intermediate rolling stands in such a way that the actual profile corresponds as closely as possible to the target profile.
- a third measuring device 6b for measuring the actual profile m3 and the actual flatness m4 of the finished strip is arranged after the last finishing rolling stand F3 of the finishing train 11 and before the cooling section.
- the functioning of the third profile controller is analogous to the profile controllers already explained.
- the second flatness controller works as follows: The measured values m4 for the actual flatness are also transmitted to the controller 15. Depending on the measured values m4 for the actual flatness and depending on the target flatness of the finished strip, the controller 15 calculates three manipulated variables u7...u9, which are sent to the actuators for deflecting the work rolls in the three finishing rolling stands F1...F3 Finishing train 11 are transferred. The actuators deflect the work rolls of the finishing rolling stands in such a way that the actual flatness corresponds as closely as possible to the target flatness.
- the figure 5 shows the cast-roll compound plant figure 1 with three profile controllers for controlling the profile after the roughing, intermediate and finishing train 5, 10, 11 and two flatness controllers for controlling the flatness after the intermediate and finishing train 10, 11.
- the three profile controllers and the two flatness controllers are connected to a digital controller 15 summarized.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Metal Rolling (AREA)
- Control Of Metal Rolling (AREA)
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP20187300.7A EP3943210A1 (fr) | 2020-07-23 | 2020-07-23 | Installation composite de coulée et de laminage destinée à la fabrication d'une bande finie laminée à chaud à partir d'un acier fondu |
| PCT/EP2021/066278 WO2022017690A1 (fr) | 2020-07-23 | 2021-06-16 | Installation intégrée de coulée-laminage pour la production d'une bande finie laminée à chaud à partir d'une fonte d'acier |
| US18/005,521 US12551943B2 (en) | 2020-07-23 | 2021-06-16 | Casting-rolling integrated plant for producing a hot-rolled finished strip from a steel melt |
| CN202180049926.8A CN115943001A (zh) | 2020-07-23 | 2021-06-16 | 用于由钢水来制造热轧的成品带的铸轧复合设备 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP20187300.7A EP3943210A1 (fr) | 2020-07-23 | 2020-07-23 | Installation composite de coulée et de laminage destinée à la fabrication d'une bande finie laminée à chaud à partir d'un acier fondu |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP3943210A1 true EP3943210A1 (fr) | 2022-01-26 |
Family
ID=71783843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP20187300.7A Pending EP3943210A1 (fr) | 2020-07-23 | 2020-07-23 | Installation composite de coulée et de laminage destinée à la fabrication d'une bande finie laminée à chaud à partir d'un acier fondu |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US12551943B2 (fr) |
| EP (1) | EP3943210A1 (fr) |
| CN (1) | CN115943001A (fr) |
| WO (1) | WO2022017690A1 (fr) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025108744A1 (fr) | 2023-11-24 | 2025-05-30 | Sms Group Gmbh | Procédé de régulation de la température de formage dans un laminoir à chaud, et laminoir à chaud |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025131409A1 (fr) * | 2023-12-20 | 2025-06-26 | Sms Group Gmbh | Installation de coulée et de laminage combinée pour la mise en forme primaire d'un matériau de laminage métallique et le laminage à chaud d'une bande de matériau, et procédé pour la mise en forme primaire d'un matériau de laminage métallique et pour le laminage à chaud direct |
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| EP0219622B1 (fr) | 1985-07-25 | 1992-09-02 | Heinrich Menge | Dispositif pour contrôler au moins un courant de gaz |
| WO1995034388A1 (fr) * | 1994-06-13 | 1995-12-21 | Davy Mckee (Poole) Limited | Regulation du profil d'une bande metallique |
| EP1662012B1 (fr) | 2004-11-24 | 2010-05-12 | ARVEDI, Giovanni | Bande d'acier micro-allié laminé à chaud pour obtenir les morceaux finis par le froid serrant et cisaillant |
| EP1909979B1 (fr) | 2005-07-19 | 2010-10-27 | ARVEDI, Giovanni | Procede et installation pour fabriquer des plaques d'acier sans interruption |
| EP1940566B1 (fr) | 2005-09-22 | 2012-03-14 | DANIELI & C. OFFICINE MECCANICHE S.p.A. | Procede et installation de production de bande metallique |
| WO2016146621A1 (fr) * | 2015-03-16 | 2016-09-22 | Sms Group Gmbh | Procédé de fabrication de bandes métalliques |
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| JPS5514133A (en) * | 1978-07-14 | 1980-01-31 | Toshiba Corp | Producing apparatus of steel bar product |
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| IT1290743B1 (it) * | 1997-04-10 | 1998-12-10 | Danieli Off Mecc | Procedimento di laminazione per prodotti piani con spessori sottili e relativa linea di laminazione |
| ATE255964T1 (de) * | 1999-12-23 | 2003-12-15 | Abb Ab | Verfahren und vorrichtung zur planheitsregelung |
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| ITRM20070150A1 (it) | 2007-03-21 | 2008-09-22 | Danieli Off Mecc | Processo e impianto per la produzione di nastro metallico |
| AT506065B1 (de) * | 2007-11-22 | 2009-06-15 | Siemens Vai Metals Tech Gmbh | Verfahren zum kontinuierlichen austenitischen walzen eines in einem kontinuierlichen giessprozess hergestellten vorbandes und kombinierte giess- und walzanlage zur durchführung des verfahrens |
| EP2418031A1 (fr) * | 2010-08-13 | 2012-02-15 | Siemens Aktiengesellschaft | Procédé de fabrication d'une bande métallique à l'aide d'une installation de laminage par coulée, dispositif de commande et/ou de réglage pour une installation composite de laminage par coulée et installation composite de laminage par coulée |
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2020
- 2020-07-23 EP EP20187300.7A patent/EP3943210A1/fr active Pending
-
2021
- 2021-06-16 WO PCT/EP2021/066278 patent/WO2022017690A1/fr not_active Ceased
- 2021-06-16 CN CN202180049926.8A patent/CN115943001A/zh active Pending
- 2021-06-16 US US18/005,521 patent/US12551943B2/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0121148A1 (fr) * | 1983-03-14 | 1984-10-10 | Sms Schloemann-Siemag Aktiengesellschaft | Procédé pour la fabrication de feuillard à chaud avec section et planéité de bande de haute qualité |
| EP0219622B1 (fr) | 1985-07-25 | 1992-09-02 | Heinrich Menge | Dispositif pour contrôler au moins un courant de gaz |
| WO1995034388A1 (fr) * | 1994-06-13 | 1995-12-21 | Davy Mckee (Poole) Limited | Regulation du profil d'une bande metallique |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025108744A1 (fr) | 2023-11-24 | 2025-05-30 | Sms Group Gmbh | Procédé de régulation de la température de formage dans un laminoir à chaud, et laminoir à chaud |
Also Published As
| Publication number | Publication date |
|---|---|
| US12551943B2 (en) | 2026-02-17 |
| WO2022017690A1 (fr) | 2022-01-27 |
| CN115943001A (zh) | 2023-04-07 |
| US20230271247A1 (en) | 2023-08-31 |
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