CN108677002A - A kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer - Google Patents
A kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer Download PDFInfo
- Publication number
- CN108677002A CN108677002A CN201810468335.4A CN201810468335A CN108677002A CN 108677002 A CN108677002 A CN 108677002A CN 201810468335 A CN201810468335 A CN 201810468335A CN 108677002 A CN108677002 A CN 108677002A
- Authority
- CN
- China
- Prior art keywords
- tension
- tandem rolling
- value
- stove
- internal tension
- 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.)
- Granted
Links
Classifications
-
- 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
- C21D11/00—Process control or regulation for heat treatments
-
- 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
- C21D9/54—Furnaces for treating strips or wire
- C21D9/56—Continuous furnaces for strip or wire
- C21D9/562—Details
- C21D9/564—Tension control
Abstract
A kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer, belong to tandem rolling Horizental annealer production line technology field, to the technical issues of tension setting value smooth transition when solution tandem rolling ultra-long anneal furnace stove internal tension wave and steel grade specification change, solution is：A, spring roller arrangement is set to the exit position of tandem rolling Horizental annealer, and the data and setting value deviation that are acquired by tensometer and pressure sensor control the opening degree of bouncing roller servo valve, provide corresponding penalty coefficient respectivelyn；B, steel band speed in stove is acquired in real timevWith practical steel band tension value, according to the tension value and the difference for setting tension value for acquiring practical tandem rolling Horizental annealer exit steel bandF ACT , founding mathematical models simultaneously calculate come out of the stove internal tension variation need offset；C, the tension value that needs compensate is converted to the difference of the gas pressure setting value and live feedback gas pressure of compensation, adjust the opening degree of bouncing roller servo valve, ensures that tandem rolling Horizental annealer internal tension is steady.
Description
Technical field
The invention belongs to tandem rolling Horizental annealer production line technology fields, more particularly to one kind being suitable for the horizontal annealing of tandem rolling
The stove internal tension compensating control method of stove.
Background technology
It is a series of that horizontal furnace annealing, pickling, smooth etc. are directly carried out after stainless steel cold continuous rolling production line completion belt steel rolling
The length of process, annealing and pickling region desin speed 170m/min, annealing furnace is long compared to General Production Lines, and live physical length is
294m.Due to specifically limited, the annealed zone tension very little of annealing process.During acceleration and deceleration and steel grade specification (thickness, width
Deng) variation when the fluctuation of stove internal tension it is big, affect steel band quality, cause steel strip surface to be wiped when serious and scratch serious, direct steel scrap.
Operative employee can only usually observe steel band sag size manual modification stove internal tension setting value in stove, and compensation stove internal tension fluctuates, sternly
The process continuity of entire tandem rolling is affected again.
Invention content
In order to overcome the shortcomings of the prior art, tandem rolling ultra-long anneal furnace stove internal tension stove in adding down speeding procedure is solved
To tension setting value smooth transition problem when internal tension fluctuation problem and steel grade specification change, provide a kind of suitable for tandem rolling
The stove internal tension compensating control method of Horizental annealer, improves production efficiency and product quality.
The present invention design concept be：Increase spring roller arrangement in stove exit and compensate stove internal tension, according to different size
Steel grade provides coefficient of correspondence, while acquiring steel band speed and live tension information in stove, and founding mathematical models calculating is come out of the stove interior
The offset that power variation needs handles the output control bouncing roller movement locus for being converted to bouncing roller servo valve by program, surely
Determine the fluctuation of stove internal tension, forms closed-loop control.
The present invention is achieved by the following technical programs.
A kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer, it includes spring roller arrangement and spring
Roller moves closed-loop control system, and the bouncing roller movement closed-loop control system includes Control system simulation amount input module, cut-off
Valve, bouncing roller servo valve, pressure sensor, tensometer, compensating control method include the following steps：
A, the spring roller arrangement is set to the exit position of tandem rolling Horizental annealer, and the tensometer is set to annealing
The steel band tension feedback electric current of the lower section of outlet of still slewing rollers, tensometer acquisition is 4-20mA, and tensometer will be adopted by signal wire
In the data transmission of collection to Control system simulation amount input module, Control system simulation amount input module is anti-by the tensometer of acquisition
Supply current is converted to tension 0-13.5kN, by and setting value deviation control bouncing roller servo valve opening degree；
The pressure sensor is mounted at the thief hatch of bouncing roller servo valve output channel, the feedback electricity of pressure sensor
Stream is 4-20mA, and pressure sensor, by the data transmission of acquisition to Control system simulation amount input module, is controlled by signal wire
The pressure sensor feedback current of acquisition is converted to pressure 0-6bar by system Analog input mModule processed, controls bouncing roller servo
The opening degree of valve；
Corresponding penalty coefficient n is provided respectively according to the different dimensions of same steel grade, and the value of n is as shown in the table：
B, steel band speed v and practical steel band tension value in stove are acquired in real time, are gone out according to practical tandem rolling Horizental annealer is acquired
The difference DELTA F of the tension value of steel band and setting tension value at mouthfulACT, founding mathematical models simultaneously calculate come out of the stove internal tension variation needs
Offset, i.e. bouncing roller needs the tension value that compensates, founding mathematical models as follows：
Yi=Δ FACT×(v×n×kP+t×kI×yi)
yi=Δ FACT×t×kI+yi-1
In formula, i-Current Scan number；YiThe output valve of the bouncing roller servo valve of-sampling instant i, YiValue range
For -6500N to 6500N；ΔFACT- stove internal tension deviation, Δ FACT=setting tension-actual tension, unit N；V-stove
The value range of interior steel band actual speed, v is 0-170m/min；kp- scale factor, kpValue range be 0-1；T-scanning
The value range in period, t is 1-50ms；kI- integrating factor, kIValue range be 0.00001-0.0001；yiWhen-sampling
The bouncing roller for carving i compensates tension；yi-1The tension memory variable of-sampling instant i-1；The value range of n-penalty coefficient, n is
0.5-2；
C, the tension value that needs compensate is converted to the difference of the gas pressure setting value and live feedback gas pressure of compensation
Value adjusts the opening degree of bouncing roller servo valve, ensures that tandem rolling Horizental annealer internal tension is steady.
Further, when steel band actual speed accelerates or slows down in tandem rolling Horizental annealer, by acquiring steel in stove
Band actual speed, substitutes into the mathematical model established in step b, ensures tandem rolling Horizental annealer internal tension smooth transition.
Further, when strip dimensions variation, stove internal tension set point change, the number established in step b is substituted into
It learns in model, ensures stove internal tension smooth transition.
Further, the CPU model PU866 of the controller, pressure sensor and tensometer control signal path are
The control signal path of AI928, bouncing roller servo valve are AO928F, and the control signal path of shut-off valve is DO936, and bouncing roller is watched
Take the model R414001636 of valve, the model R412007983 of pressure sensor, the model PFCL201C of tensometer.
Further, the control signal is acted on using point-to-point form on bouncing roller control device.
Beneficial effects of the present invention are compared with prior art：
1, stablize stove internal tension fluctuation during the acceleration and deceleration of stove area.
2, when stove area steel band specification changes, to tension setting value smooth transition.
3, tension fluctuation is avoided greatly to the damage of roll surface, reduces the exception parking time.
4, due to the particularity of tandem rolling, there is the steel band of different finished product thickness specifications that continuous rolling is needed to anneal daily, monthly
By volume 4 scratch calculate, often roll up in terms of 25 tons, if every time scratch coil of strip by two level material processing, stainless steel loss of income per ton with
800 yuan/ton of meters are disregarded and scratch stove inner support roller, pickling support rubber roller etc. every time, scratch at least lose 20000 yuan every time, use
Also never occurred after stove internal tension compensation method because scratch of steel strip caused by the fluctuation of stove internal tension, can reduce loss extremely every year
Few ten thousand yuan of 20000*4*12=96.
5, it improves production efficiency and product quality.
Description of the drawings
Fig. 1 is bouncing roller schematic layout pattern, and arrow indicates that steel band rolling direction, fine line indicate steel band in figure.
Fig. 2 is power controlling curve of annealing when steel belt in annealing furnace slows down.
Strip tension controlling curve in annealing furnace when Fig. 3 is steel band change in size.
In figure, 1 is annealing furnace, and 2 be annealing furnace outlet turning roller, and 3 be tensometer, and 4 be spring roller arrangement.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
Embodiment one
The present embodiment one installs bullet as shown in Figure 1 by taking high purity ferritic stainless steel 441,1.1 × 1250mm of dimensions as an example
It jumps roller arrangement and bouncing roller moves closed-loop control system, when same specification steel band passes through annealing furnace, acceleration and deceleration process in stove area is in stove
The influence of tension：
Before coil of strip is reached the standard grade, 441 width of ferritic steel is obtained by spot sensor measurement in program, is adopted by milling train
Collect milling train and exports calibrator thickness given value.Calculate Δ W=| 1252mm-1249mm |=3mm, Δ h=| 1.098mm-
1.105mm |=0.007mm determines that penalty coefficient n is 0.5,
| High purity ferritic stainless steel 441 | Preceding a roll | It is a roll of afterwards |
| Width | 1249mm | 1252mm |
| Thickness | 1.105mm | 1.098mm |
It is 50m/min as speed is slowed down from 75m/min in Fig. 2 annealing furnaces, stove is compensated by the movement locus of Fig. 1 bouncing rollers
Internal tension reaches tension setting value 21.9kN, stove exit tension maximum value 22.1kN, tension minimum value 21.74kN；Practical wave
Dynamic ranging from ± 0.2kN.
It is compensated by bouncing roller tension, stove exit actual tension curve smoothing transition is hardly visible fluctuation.
Embodiment two
The present embodiment two becomes high purity ferritic stainless steel 441, ruler with high purity ferritic stainless steel 441,1.1 × 1250mm of dimensions
For very little 1.5 × 1500mm of specification, spring roller arrangement and bouncing roller movement closed-loop control system are installed as shown in Figure 1, it is identical
In the case of strip speed, become influence of the specification process to stove internal tension：
| High purity ferritic stainless steel 441 | Preceding a roll | It is a roll of afterwards |
| Width | 1248mm | 1505mm |
| Thickness | 1.102mm | 1.498mm |
Steel belt in annealing furnace speed 50m/min is certain, and Δ W=is calculated through procedure selection | 1505mm-1248mm |=
257mm, Δ h=| 1.498mm-1.102mm |=0.396mm determines that penalty coefficient n is 1.1, and such as Fig. 3, dimensions changes,
Program, which calculates, to be given stove internal tension setting value and becomes 15.09kN from 11.96kN, in the operation of rolling, is compensated by bouncing roller tension,
Stove exit actual tension curve smoothing transition is hardly visible fluctuation.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
It is familiar with those skilled in the art in the technical scope disclosed by the present invention, the change or replacement that can be readily occurred in should all be contained
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (5)
1. a kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer, it includes spring roller arrangement and bouncing roller
Move closed-loop control system, bouncing roller movement closed-loop control system include Control system simulation amount input module, shut-off valve,
Bouncing roller servo valve, pressure sensor, tensometer, it is characterised in that include the following steps：
A, the spring roller arrangement is set to the exit position of tandem rolling Horizental annealer, and the tensometer is set to annealing furnace and goes out
The lower section of mouthful slewing rollers, the steel band tension feedback electric current of tensometer acquisition are 4-20mA, and tensometer is by signal wire by acquisition
In data transmission to Control system simulation amount input module, the tensometer of acquisition is fed back electricity by Control system simulation amount input module
Circulation be changed to tension 0-13.5kN, by and setting value deviation control bouncing roller servo valve opening degree；
The pressure sensor is mounted at the thief hatch of bouncing roller servo valve output channel, and the feedback current of pressure sensor is
4-20mA, pressure sensor, by the data transmission of acquisition to Control system simulation amount input module, control system by signal wire
The pressure sensor feedback current of acquisition is converted to pressure 0-6bar by system Analog input mModule, control bouncing roller servo valve
Opening degree；
Corresponding penalty coefficient n is provided respectively according to the different dimensions of same steel grade, and the value of n is as shown in the table：
B, steel band speed v and practical steel band tension value in stove are acquired in real time, according to acquisition practical tandem rolling Horizental annealer exit
The difference DELTA F of the tension value of steel band and setting tension valueACT, founding mathematical models simultaneously calculate come out of the stove internal tension variation need benefit
Value is repaid, i.e. bouncing roller needs the tension value compensated, founding mathematical models as follows：
Yi=Δ FACT×(v×n×kP+t×kI×yi)
yi=Δ FACT×t×kI+yi-1
In formula, i-Current Scan number；YiThe output valve of the bouncing roller servo valve of-sampling instant i, YiValue range be-
6500N to 6500N；ΔFACT- stove internal tension deviation, Δ FACT=setting tension-actual tension, unit N；Steel in v-stove
The value range of band actual speed, v is 0-170m/min；kp- scale factor, kpValue range be 0-1；T-scan period,
The value range of t is 1-50ms；kI- integrating factor, kIValue range be 0.00001-0.0001；yi- sampling instant i's
Bouncing roller compensates tension；yi-1The tension memory variable of-sampling instant i-1；The value range of n-penalty coefficient, n are 0.5-2；
C, the tension value that needs compensate is converted to the difference of the gas pressure setting value and live feedback gas pressure of compensation, adjusted
The opening degree of whole bouncing roller servo valve ensures that tandem rolling Horizental annealer internal tension is steady.
2. a kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer according to claim 1, special
Sign is：When steel band actual speed accelerates or slows down in tandem rolling Horizental annealer, by acquiring steel band actual speed in stove,
It substitutes into the mathematical model established in step b, ensures tandem rolling Horizental annealer internal tension smooth transition.
3. a kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer according to claim 1, special
Sign is：When strip dimensions variation, stove internal tension set point change, substitutes into the mathematical model established in step b, protect
Demonstrate,prove stove internal tension smooth transition.
4. a kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer according to claim 1, special
Sign is：The CPU model PU866 of the controller, pressure sensor and tensometer control signal path are AI928, spring
The control signal path of roller servo valve is AO928F, and the control signal path of shut-off valve is DO936, the model of bouncing roller servo valve
For R414001636, the model R412007983 of pressure sensor, the model PFCL201C of tensometer.
5. a kind of stove internal tension compensating control method suitable for tandem rolling Horizental annealer according to claim 1, special
Sign is：The control signal is acted on using point-to-point form on bouncing roller control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810468335.4A CN108677002B (en) | 2018-05-16 | 2018-05-16 | A kind of furnace internal tension compensating control method suitable for tandem rolling Horizental annealer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810468335.4A CN108677002B (en) | 2018-05-16 | 2018-05-16 | A kind of furnace internal tension compensating control method suitable for tandem rolling Horizental annealer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108677002A true CN108677002A (en) | 2018-10-19 |
| CN108677002B CN108677002B (en) | 2019-08-23 |
Family
ID=63805559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810468335.4A Active CN108677002B (en) | 2018-05-16 | 2018-05-16 | A kind of furnace internal tension compensating control method suitable for tandem rolling Horizental annealer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108677002B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153197A (en) * | 2019-05-17 | 2019-08-23 | 山西太钢不锈钢股份有限公司 | Tandem rolling annealing and pickling line loop tension control method and system |
| CN111500848A (en) * | 2020-06-08 | 2020-08-07 | 中冶赛迪技术研究中心有限公司 | Parking tension eliminating method for large-scale strip steel continuous annealing furnace |
| CN115261600A (en) * | 2021-04-30 | 2022-11-01 | 宝山钢铁股份有限公司 | Artificial intelligence automatic control method for annealing furnace tension |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0888993A1 (en) * | 1995-01-20 | 1999-01-07 | ERHARDT + LEIMER GmbH | Method of and device for compensating the tension forces over the width of a running web |
| JP2004035140A (en) * | 2002-07-01 | 2004-02-05 | Mitsubishi Heavy Ind Ltd | Tension compensation device |
| JP2005264350A (en) * | 2004-03-16 | 2005-09-29 | Murata Mach Ltd | Automatic flat knitting machine |
| CN201778078U (en) * | 2010-07-22 | 2011-03-30 | 上海欧达电气成套设备工程有限公司 | Dancer roller tension control device |
| CN102650891A (en) * | 2011-02-23 | 2012-08-29 | 宝山钢铁股份有限公司 | Control system and control method of dancer roll |
| CN103910222A (en) * | 2013-01-07 | 2014-07-09 | 上海宝信软件股份有限公司 | Bouncing roller tension control method |
| CN104801567A (en) * | 2015-04-16 | 2015-07-29 | 太原钢铁(集团)有限公司 | Tension control method for continuous processing line with large specification range and capacity |
-
2018
- 2018-05-16 CN CN201810468335.4A patent/CN108677002B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0888993A1 (en) * | 1995-01-20 | 1999-01-07 | ERHARDT + LEIMER GmbH | Method of and device for compensating the tension forces over the width of a running web |
| JP2004035140A (en) * | 2002-07-01 | 2004-02-05 | Mitsubishi Heavy Ind Ltd | Tension compensation device |
| JP2005264350A (en) * | 2004-03-16 | 2005-09-29 | Murata Mach Ltd | Automatic flat knitting machine |
| CN201778078U (en) * | 2010-07-22 | 2011-03-30 | 上海欧达电气成套设备工程有限公司 | Dancer roller tension control device |
| CN102650891A (en) * | 2011-02-23 | 2012-08-29 | 宝山钢铁股份有限公司 | Control system and control method of dancer roll |
| CN103910222A (en) * | 2013-01-07 | 2014-07-09 | 上海宝信软件股份有限公司 | Bouncing roller tension control method |
| CN104801567A (en) * | 2015-04-16 | 2015-07-29 | 太原钢铁(集团)有限公司 | Tension control method for continuous processing line with large specification range and capacity |
Non-Patent Citations (2)
| Title |
|---|
| 徐成华,罗里荣: "大型连续冷轧带钢处理线跳动辊张力调节装置", 《冶金设备》 * |
| 苏尚飞，关菊梅: "张力控制在钢轨生产中的应用", 《武钢技术》 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153197A (en) * | 2019-05-17 | 2019-08-23 | 山西太钢不锈钢股份有限公司 | Tandem rolling annealing and pickling line loop tension control method and system |
| CN111500848A (en) * | 2020-06-08 | 2020-08-07 | 中冶赛迪技术研究中心有限公司 | Parking tension eliminating method for large-scale strip steel continuous annealing furnace |
| CN111500848B (en) * | 2020-06-08 | 2021-10-22 | 中冶赛迪技术研究中心有限公司 | Parking tension eliminating method for large-scale strip steel continuous annealing furnace |
| CN113699362A (en) * | 2020-06-08 | 2021-11-26 | 中冶赛迪技术研究中心有限公司 | Parking tension eliminating method for large-scale strip steel continuous annealing furnace |
| CN113699362B (en) * | 2020-06-08 | 2022-09-30 | 中冶赛迪技术研究中心有限公司 | Parking tension eliminating method for large-scale strip steel continuous annealing furnace |
| CN115261600A (en) * | 2021-04-30 | 2022-11-01 | 宝山钢铁股份有限公司 | Artificial intelligence automatic control method for annealing furnace tension |
| CN115261600B (en) * | 2021-04-30 | 2023-07-07 | 宝山钢铁股份有限公司 | Artificial intelligent automatic control method for annealing furnace tension |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108677002B (en) | 2019-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108677002B (en) | A kind of furnace internal tension compensating control method suitable for tandem rolling Horizental annealer | |
| CN101683659B (en) | Integrated control method of cold-rolling strip steel flatness and lateral thickness difference | |
| CN104511482B (en) | A kind of hot-strip convex degree control method | |
| CN101618402B (en) | Method for controlling planeness of cold-rolling strip steel | |
| CN105195524B (en) | A kind of cold rolling Up and down speeding tabularium thickness compensation control method | |
| CN101780478B (en) | Method and device for controlling strip shape and precision of hot rolling steel strips and plates | |
| CN106269888B (en) | A kind of adverse current roll-changing method for realizing the online roll change of ESP mm finishing mill units | |
| CN103286141B (en) | Hot continuous rolling fine-rolling strip steel Automatic control method of width | |
| CN105689405B (en) | A kind of intelligent establishing method of the online target flatness of cold-strip | |
| CN100352570C (en) | Rolling method for overcoming compound wave shape | |
| CN101693265B (en) | Method and device for adjusting strip steel transverse warping by using pinch rolls | |
| CN103934278B (en) | A kind of hot fine rolling band steel method for controlling thickness | |
| CN103949481B (en) | Take into account the flatness Discrete control method of Hot Rolling Strip stability and quality | |
| CN107321797B (en) | The online roll-changing method of short route ESP mm finishing mill unit | |
| CN105251778B (en) | Feedback control method for edge drop of taper work roll shifting mill (T-WRS) | |
| CN102451838A (en) | Method for overcoming camber defect in hot rolling process of steel plate | |
| CN106694572B (en) | On-line rolling technique adjustment system and method based on roll wear detection | |
| CN103071683A (en) | Comprehensive adjustment rolling technology for double-frame S-shaped four-roll cold rolling mill | |
| CN104785543A (en) | Hot rolled strip convexity feedback control method based on moving average filter | |
| CN104148404A (en) | Hot rolled strip flatness automatic control method | |
| CN105344720B (en) | A kind of On-Line Control Method of fine-rolling strip steel finishing temperature | |
| CN110404979B (en) | Ring-shaped diameter and temperature measuring instrument for rolling and cooling control of bearing steel | |
| CN103861875B (en) | The optimal control method of cold-rolling mill technical cooling system | |
| CN104307886B (en) | A kind of large dead time AGC control method of composite rolling mill sandwich rolling | |
| CN103934279A (en) | Method for dynamic short-stroke control over width of slab from head to tail |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |