CN113589310A - Hot rolled steel coil transportation position deviation detection method and device - Google Patents
Hot rolled steel coil transportation position deviation detection method and device Download PDFInfo
- Publication number
- CN113589310A CN113589310A CN202010361491.8A CN202010361491A CN113589310A CN 113589310 A CN113589310 A CN 113589310A CN 202010361491 A CN202010361491 A CN 202010361491A CN 113589310 A CN113589310 A CN 113589310A
- Authority
- CN
- China
- Prior art keywords
- steel coil
- walking beam
- distance
- offset
- distance measuring
- 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
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 193
- 239000010959 steel Substances 0.000 title claims abstract description 193
- 238000001514 detection method Methods 0.000 title claims abstract description 80
- 238000005259 measurement Methods 0.000 claims abstract description 88
- 238000000034 method Methods 0.000 claims abstract description 33
- 230000008569 process Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000005098 hot rolling Methods 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000007306 turnover Effects 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000001186 cumulative effect Effects 0.000 description 4
- 238000007689 inspection Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000005097 cold rolling Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
A method and a device for detecting the deviation of the transportation position of a hot rolled steel coil belong to the field of automatic control. A first distance measuring sensor and a second distance measuring sensor are arranged at the inlet of the walking beam, and a third distance measuring sensor is arranged at the middle section of the walking beam; the output ends of the first to third distance measuring sensors are correspondingly connected with the detection end PLC; calculating the average offset of the steel coil of each step in the detection end PLC by combining the step number information between the two measurement points; estimating the accumulated offset of the steel coil at the end point; comparing the estimated offset of the steel coil with the limit value of the steel coil; if the estimated offset of the steel coil exceeds the limit value, a coil turning alarm signal is sent out to control the automatic stop of the conveying chain equipment. The method realizes the judgment of the inclination condition of the steel coil by calculating the predicted offset of the steel coil at the position where the steel coil is easy to turn over, gives an alarm in advance, can avoid the problem that the steel coil deviates and turns over on the walking beam, improves the production efficiency, and ensures the safe use of the walking beam for transporting the steel coil. The method is suitable for the field of operation safety monitoring of the steel coil transportation chain system in the hot rolling mill.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a method and a device for detecting the transportation position deviation of a hot-rolled steel coil.
Background
1880 hot rolling mill coil of strip transport chain system mainly is by chain and walking beam two kinds of fortune book modes constitute, through this coil of strip transport chain system, transports the coil of strip from the coiling machine to 4 places in quality control station, levelling line, coil of strip storehouse and cold rolling workshop.
The equipment layout of the steel coil transportation chain system is shown in fig. 1. The coiled steel coil is conveyed to a No. 1 conveying chain through coil unloading and coil conveying trolleys, one part of the coiled steel coil is conveyed to a quality inspection station for quality inspection and sampling, the steel coil after inspection is conveyed back to the conveying chain through the coil conveying trolleys of the quality inspection station, and is conveyed to a leveling line together with the other part of the steel coil after procedures of weighing, spray printing and the like on a walking beam WB2, or is conveyed to a No. 1-3 steel coil warehouse through a road junction, wherein most of the steel coil is conveyed to cold rolling for further processing to a finished product, and a small part of the steel coil is directly sold as a hot rolled product.
Foretell transportation chain requires relatively lowly to the operating mode, combine 2050 hot rolling to adopt the transportation chain structure and the 1580 hot rolling transportation chain type transportation mode of vertical coil transportation, because 1880 hot rolling production variety structure is complicated, the restriction of on-the-spot place, simultaneously, consider to coil of strip inside quality, the mode that two kinds of fortune coils of chain and the walking beam of 1880 hot rolling transportation chain combine together, more be fit for the needs of 1880 hot rolling, nevertheless simultaneously because two kinds of fortune coils of chain and walking beam combine together to the equipment control precision requirement high, and simultaneously, because the hot rolling production variety structural reason of 1880, adopt walking beam fortune coil mode to coil of strip relatively narrower, the roll-over accident is more emergence.
Therefore, aiming at the existing equipment structure, layout and working condition, the position of the steel coil in the transportation process is necessary to be improved, the coil overturning accident of the steel coil transportation walking beam is effectively avoided, the stability of the working state of the steel coil transportation walking beam in the coil transportation area is improved, the equipment fault and the downtime are reduced, the equipment maintenance and operation difficulty caused by the coil overturning is reduced, the potential safety hazard is avoided, and the stable operation of the steel coil is ensured.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a device for detecting the transportation position deviation of a hot-rolled steel coil. In order to prevent the steel coil from deviating from the center position on the walking beam in the transportation process of the steel coil on the walking beam, a plurality of position detection devices are arranged on the two sides of the walking beam, the steel coil deviation in the walking beam process is obtained through calculation of detection data of one set of position detection devices, whether the steel coil can be turned on one side due to excessive center deviation in the transportation process is pre-judged, and the fault that the steel coil is blocked and turned over due to the deviation problem in the transportation process of the steel coil on the walking beam can be avoided.
The technical scheme of the invention is as follows: the method for detecting the deviation of the transportation position of the hot-rolled steel coil comprises the following steps of measuring the position of the steel coil on a walking beam, and is characterized in that:
the method comprises the following steps that a first distance measuring sensor and a second distance measuring sensor are oppositely arranged at an inlet of a walking beam to form a primary measuring point, and the primary measuring point is used for measuring and calculating width data of a steel coil and primary offset of the steel coil relative to the central line of the walking beam;
arranging a third distance measuring sensor at the middle section of the walking beam to form a secondary measuring point for measuring and calculating the secondary offset of the steel coil;
correspondingly connecting the output ends of the first ranging sensor, the second ranging sensor and the third ranging sensor with the I/O endpoint of the detection end PLC respectively, and reading the output data of each sensor;
in the detection end PLC, the average offset of the steel coil in each step is calculated by combining the step number information between two measurement points;
estimating the accumulated offset of the steel coil at the end point by combining the steps of the distance from the secondary measurement point to the end point of the walking beam and utilizing the average offset of the steel coil;
comparing the estimated offset of the steel coil with the limit value of the steel coil;
and if the estimated offset of the steel coil exceeds the limit value, the control system sends a coil turning alarm signal to control the conveying chain equipment to stop automatically.
Specifically, the method for detecting the deviation of the steel coil transportation position at least comprises the following steps:
2.1) determining the installation positions of the first distance measuring sensor and the second distance measuring sensor according to the field condition, and obtaining a linear distance W0 between the first distance measuring sensor and the second distance measuring sensor, a linear distance W1 between the first distance measuring sensor and the central line of the walking beam and a linear distance W2 between the second distance measuring sensor and the central line of the walking beam through measurement;
2.2) determining the installation position of a third distance measuring sensor, obtaining a linear distance W3 between the second distance measuring sensor and the center line of the walking beam through measurement, and calculating a distance Y1 between the position of the primary measuring point and the position of the secondary distance measuring point through a formula Y1 which is M-L;
2.3) determining the position of a steel coil prediction saddle, and calculating to obtain a distance Y2 between the position of the secondary ranging point and the predicted end point position through a formula Y2 which is N-M;
2.4) in the process of conveying steel coils by a conveying chain, each sensor sends real-time measurement data of the steel coil position to a detection end PLC;
2.5) the detection end PLC calculates the actual Width Width of the steel coil according to the measurement data;
2.6) calculating the secondary offset Dev1 of the steel coil according to the measurement data and the Width Width of the steel coil;
2.7) calculating the primary offset Dev2 of the steel coil according to the measurement data X3 of the linear distance between the third distance measuring sensor and the steel coil, the parameter W3 of the linear distance between the third distance measuring sensor and the central line of the walking beam and the Width Width of the steel coil;
2.8) calculating the average deviation AVG of the steel coil at each step by combining the step number information between the two measurement points, and estimating the accumulated deviation Dev3 of the steel coil at the end point by combining the step number of the distance from the secondary measurement point to the end point of the walking beam and utilizing the average deviation AVG;
2.9) carrying out transportation chain rollover prediction;
if the accumulated offset Dev3 reaches or exceeds the offset Limit value Limit, judging that the steel coil transportation chain has the risk of coil overturning;
if the accumulated offset Dev3 is smaller than the offset Limit value Limit, judging that the transport chain has no roll-over risk;
2.10) determining a processing scheme according to the roll-over prediction result.
Further, the detection end PLC adopts the following steps to process data in the stack:
3.1) writing a constant into the first scanning period of the detection end PLC;
3.2) two stacks are established in the detection end PLC, wherein the first stack has two stack positions, and when the 1# walking beam descends to the right position, the following operations are executed in the first stack:
3.2.1) sending the data of the first position to the second position, wherein the trigger signal uses a descending in-place signal of the 1# walking beam;
3.2.2) storing the detection data of the first detection position into a second position of the first stack:
3.3) the second stack has four stack positions, and when the 2# walking beam descends to the right position, the following operations are executed in the second stack:
3.3.1) the data of the fourth bit in the second stack is popped, and the data is used for judgment and calculation;
3.3.2) shifting the data in the stack, namely, the third bit is given to the fourth bit, the second bit is given to the third bit, and the first bit is given to the second bit;
3.3.3) the data of the second position of the first stack is pushed to the first position of the second stack, and the second position of the first stack is set to be zero;
3.4) setting validity judgment of 1# walking beam measurement data and 2# walking beam measurement data:
3.5) calculating the deviation of the measuring point of the 2# walking beam, and judging the deviation direction of the steel coil, thereby realizing the respective alarm of the measuring instrument at the working side and the measuring instrument at the transmission side.
Specifically, in the detection end PLC, the tracking of the position of the steel coil is realized by establishing two stacks; when the data are stacked, the PLC at the detection end uses zero clearing operation to realize the data processing of the steel coil entering and exiting the detection station; meanwhile, the judgment of the data source is convenient to realize through the setting and existence of the zero clearing zone bit.
Further, the validity judgment of the 1# walking beam measurement data and the 2# walking beam measurement data includes:
when no steel coil exists on the conveying chain, the distance measurement data X2 between the second distance measurement sensor positioned at the measurement point 2 and the steel coil is judged to be invalid due to overlarge, and subsequent calculation is not carried out; the accumulated amount of deviation of the steel coil at the end point is calculated only when all three distance measurement data X1, X2, and X3 are valid.
The invention also provides a hot-rolled steel coil transportation position deviation detection device working according to the method, which is characterized in that:
the hot rolled steel coil transportation position deviation detection device at least comprises a first distance measurement sensor, a second distance measurement sensor and a third distance measurement sensor; the output end of each distance measuring sensor is correspondingly connected with the I/O end point of the detection end PLC respectively;
the first distance measuring sensor and the second distance measuring sensor are arranged at the inlet of the walking beam to form a primary measuring point for measuring and calculating the width data of the steel coil and the primary offset of the steel coil relative to the central line of the walking beam;
the third distance measuring sensor is arranged at the middle section of the walking beam to form a secondary measuring point for measuring and calculating the secondary offset of the steel coil;
the detection end PLC reads the output data of each distance measuring sensor; and the PLC is connected and communicated with the rolling line L1 conveying chain through Ethernet, receives the action information of the walking beam and the conveying chain equipment, feeds back the deviation condition and the overturning information of the steel coil at the measuring position, and gives an alarm and stops the interlocking signal.
Specifically, the detection end PLC outputs data according to each ranging sensor; calculating the average offset of the steel coil in each step by combining the step number information between the two measurement points; estimating the accumulated offset of the steel coil at the end point by combining the steps of the distance from the secondary measurement point to the end point of the walking beam and utilizing the average offset of the steel coil; comparing the estimated offset of the steel coil with the limit value of the steel coil; and if the estimated offset of the steel coil exceeds the limit value, the detection end PLC sends a roll turning alarm signal to control the conveying chain equipment to stop automatically.
Further, the detection end PLC also judges the validity of the steel coil measurement data.
Specifically, the output data of each distance measuring sensor at least comprises the linear distance between the two ends of the steel coil and each distance measuring sensor at each measuring point.
The first distance measuring sensor and the second distance measuring sensor are arranged oppositely.
Furthermore, the distance measuring sensor is a laser distance measuring instrument, a distance measuring grating or a grating sensor.
Compared with the prior art, the invention has the advantages that:
1. according to the technical scheme, the position of the related steel coil in the transportation process is detected, the position deviation of the steel coil in the transportation process is measured, and the steel coil and the motion precision of a transportation chain are controlled; the overturning accident of the steel coil transportation walking beam is avoided, the equipment maintenance and operation difficulty caused by the overturning of the steel coil is reduced, the potential safety hazard is avoided, the stable operation of the steel coil is ensured, the equipment maintenance and operation difficulty caused by the overturning of the steel coil is reduced, and the potential safety hazard is avoided;
2. the technical scheme has small modification on field equipment, and only a plurality of detection devices and background programs need to be additionally arranged, so that the operation of the original equipment is not influenced;
3. whether the follow-up running of the walking beam is abnormal or not can be predicted by detecting the deviation of the steel coil in the initial running stage of the walking beam, so that the occurrence of the overturning accident is reduced, and the production efficiency is improved;
4. the scheme does not need whole-course tracking, only needs to arrange a detection device at the initial position, and has low cost and convenient installation;
5. the visible laser beam is used, the measured object is easy to aim, and high measurement precision and reliability can be still maintained in a severe outdoor environment;
6. the distance range is set at will, the positive and negative deviations of the distance can be represented by the switching value output, and the switching value output and the analog value output can be programmed respectively by different parameters.
Drawings
FIG. 1 is a schematic view of the equipment layout of a prior steel coil transportation chain system;
FIG. 2 is a schematic view of a walking beam detection device of the present invention;
FIG. 3 is a block diagram illustrating the deviation detecting process of the transporting position of the hot rolled steel coil according to the present invention;
FIG. 4 is a block diagram of the data processing flow in the PLC stack at the detection end according to the present invention;
FIG. 5 is a block diagram of the process of displacement in the PLC data stack at the detection end according to the present invention;
FIG. 6 is a schematic diagram of data transmission between a detection end PLC and a rolling line L1 transport chain PLC according to the present invention;
FIG. 7 is a graph comparing roll-over crash down time data before and after the practice of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Firstly, the arrangement of a position detection device:
the main working principle of the technical scheme of the invention is as follows: calculating the initial offset of the steel coil and the width data of the steel coil according to the measurement data of two distance measuring sensors (also called grating sensors) at the inlet of the walking beam and the distance between the two sensors; calculating the secondary offset of the steel coil according to the measurement data of the distance measuring sensor in the middle section of the walking beam and the width information of the steel coil; calculating the average offset of each step by combining the step number information between the two measurement points, and estimating the accumulated offset at the end point by using the average offset by combining the step number of the distance from the secondary measurement point to the end point of the walking beam; and comparing the estimated offset with a limit value, and if the estimated offset exceeds the limit value, sending a roll-up alarm signal by a control system.
The detection device of the technical scheme adopts the laser range finder to measure according to the phase comparison principle. The laser sensor emits visible laser beams with different frequencies, receives scattered laser returned from a measured object, compares the received laser signals with reference signals, and finally calculates the distance between objects corresponding to corresponding phase offsets by using the microprocessor, so that the mm-level measurement precision can be achieved.
In the technical scheme of the invention, the layout and the detection principle of the detection device of the walking beam detection device are shown in fig. 2, a first distance measurement sensor (the position of which is called as a measurement point 1), a second distance measurement sensor (the position of which is called as a measurement point 2) and a third distance measurement sensor (the position of which is called as a measurement point 3) are three correlation laser distance meters (distance measurement sensors, grating sensors or sensors for short), the running direction of the walking beam is from right to left, the primary distance measurement point is at the L # position on the right side in the figure, the secondary distance measurement point is at the M # position on the left side in the figure, and the end point of the walking beam is at the N # position on the leftmost side in the figure.
The meaning of the individual parameters in fig. 2 is as follows:
w0: and measuring the linear distance between the point 1 and the point 2, wherein the distance is a fixed constant after the first sensor and the second sensor are installed.
W1: and measuring the linear distance between the point 1 and the central line of the walking beam, wherein the distance is a fixed constant after the first sensor is installed.
W2: the linear distance between the point 2 and the center line of the walking beam is measured, and the distance is a fixed constant after the second sensor is installed, so that the graph shows that W0 is W1+ W2.
W3: and measuring the linear distance between the point 3 and the central line of the walking beam, wherein the distance is a fixed constant after the third sensor is installed.
Y1: the distance between the primary distance measurement position and the secondary distance measurement position is represented by a step difference, and the distance is a fixed constant after the sensor is installed, and can be calculated by a formula of Y1-M-L.
Y2: the distance between the secondary ranging position and the end point position is represented by a step difference value, and the distance is a fixed constant after the sensor is installed, and can be calculated by a formula Y2 which is N-M.
X1: the linear distance variable between the measuring point 1 and the steel coil is measured by a first sensor.
X2: the linear distance variable between the measuring point 2 and the steel coil is measured by a second sensor.
X3: and the linear distance variable between the measuring point 3 and the steel coil is measured by a third sensor.
L #: and (5) stepping the beam position at the primary distance measuring point.
M #: and (5) stepping the beam position at the secondary distance measuring point.
N #: walking beam end position.
II, predicting the offset of the steel coil:
referring to a block diagram of a hot-rolled steel coil transportation position deviation detection process (also called a walking beam steel coil rollover prediction process) shown in fig. 3.
According to the technical scheme, the function of predicting the offset of the steel coil is realized through three steps, namely secondary offset measurement, primary offset measurement, offset estimation and coil turning prediction.
2.1, determining a measuring point 1 and a measuring point 2 according to the field condition, and obtaining values of parameters W0, W1 and W2 through measurement;
W0＝W1+W2；
2.2, determining the installation position of the measuring point 3 according to the field situation, obtaining the value of the parameter W3 through measurement, and calculating the distance Y1 between the primary distance measuring position and the secondary distance measuring position through a formula Y1 which is M-L;
2.3, determining the position of the steel coil prediction saddle, and calculating to obtain a distance Y2 between the secondary distance measurement position and the predicted end position through a formula Y2 which is N-M;
2.4, in the process of conveying the steel coil by the conveying chain, each laser range finder sends real-time measurement data X1, X2 and X3 to the controller;
2.5, calculating the actual Width Width of the steel coil according to the measurement data X1 and X2 and the parameter W0, wherein the actual Width Width of the steel coil can be obtained by calculating the difference between the distance between the sensor 1 and the sensor 2 and the measurement distances between the two sensors and the steel coil, and the formula is as follows:
Width＝W0—(X1+X2)；
2.6, calculating the secondary offset Dev1 of the steel coil according to the measurement data X1 and X2, the parameters W1 and W2 and the Width Width of the steel coil, and calculating the formula:
Dev1＝[(X1–X2)—(W1–W2)]/2
2.7, calculating the primary offset Dev2 of the steel coil according to the measurement data X3, the parameter W3 and the Width Width of the steel coil;
the primary offset measurement only has one distance measuring sensor, the offset cannot be measured independently, and the data of the width of the steel coil needs to be combined. Calculation formula of primary offset:
Dev2＝X3–W3+0.5*(W0-(X1+X2))
wherein: dev2 coil primary offset, unit: mm;
2.8, estimating the offset of the end point saddle, and calculating the average offset of each step by combining the step number information between two measurement points; and estimating the accumulated offset at the end point by using the average offset by combining the step number of the distance from the secondary measurement point to the end point of the walking beam.
(1) The offset difference (δ Dev) is calculated from the two previous offsets:
δDev＝Dev1–Dev2
wherein: δ Dev offset difference, unit: mm.
Dev1 steel coil secondary offset, unit: mm.
Dev2 coil primary offset, unit: mm.
(2) Calculating the average offset of each step by using the offset difference
AVG＝(Dev1–Dev2)/(M–L)
Wherein: average offset per step of AVG, unit: mm.
(3) The cumulative offset at the end point (Dev3) was estimated using the average offset and a linear offset model, which is:
(Dev1–Dev2)/(M–L)＝(Dev3-Dev1)/(N-M)
by substituting the average offset, the primary offset and the secondary offset into the linear deviation model, the cumulative offset Dev3 can be calculated:
Dev3＝[(X1–X2)-(W1–W2)]/2+(N-M)/(M–L)*{[(X1–X2)-(W1–W2)]/2–[X3–W3+0.5*(W0-(X1+X2)]}
2.9, carrying out the forecast of the rollover of the transport chain, and comparing the forecast accumulated offset Dev3 with an allowable offset safety Limit value Limit, wherein the value of the Limit can be changed into W according to the formulaBEANDetermining the/2-epsilon;
wherein, WBEANIs the width of the mobile beam, and epsilon is the regulating quantity (epsilon can be taken as a safety factor according to the selection of specific equipment, and the larger the value is, the safer the regulation is).
If:
Dev3>＝Limit
that is, when the cumulative offset amount reaches or exceeds the offset limit value, it is judged that there is a risk of rollover.
Wherein:
dev3 is the cumulative offset at the endpoint, in units: mm.
Limit is the offset safety Limit, unit: mm.
WBEANIs the width of the walking beam, unit: mm, and detecting the actual value.
ε is the amount of adjustment, in units: mm, the value requirement: and the larger the value is, the safer the value is.
If:
Dev3<Limit
i.e. the accumulated offset is smaller than the offset limit value, the transport chain is judged not to have the rollover risk.
2.10, determining a processing scheme according to the rollover prediction result, and controlling the transport chain equipment to automatically stop if the transport chain control system receives a rollover alarm signal; meanwhile, a roll-over alarm signal is displayed on a detection end PLC or an HMI (Human Machine Interface) of a rolling line L1 transport chain PLC, and an operator is informed to timely arrive at a site for processing, so that roll-over accidents are prevented.
Thirdly, processing data in the PLC stack at the detection end:
as shown in fig. 6, in the technical solution of the present invention, the detection end PLC receives an I/O signal of a newly added laser distance meter or a grating sensor, performs ethernet connection and communication with a rolling line L1 transport chain PLC (CON5500A), receives motion information of devices such as a walking beam and a transport chain, and simultaneously feeds back a deviation condition and a rollover information of a steel coil at a measurement position, and alarms and a shutdown interlocking signal.
As shown in fig. 4 and 5, the processing procedure of data in the PLC stack at the detection end in the present technical solution includes the following steps:
and 3.1, writing a constant in the first scanning period of the PLC. Wherein the constants include:
w0: and measuring the linear distance between the point 1 and the point 2, wherein the distance is a fixed constant after the sensor is installed.
W1: and measuring the linear distance between the point 1 and the central line of the walking beam, wherein the distance is a fixed constant after the sensor is installed.
W2: the linear distance between the point 2 and the center line of the walking beam is measured, and the distance is a fixed constant after the sensor is installed, and as can be seen from fig. 2, W0 is W1+ W2.
W3: and measuring the linear distance between the point 3 and the central line of the walking beam, wherein the distance is a fixed constant after the sensor is installed.
Y1: the distance between the primary distance measurement position and the secondary distance measurement position is represented by a step difference, and the distance is a fixed constant after the sensor is installed, and can be calculated by a formula of Y1-M-L.
Y2: the distance between the secondary ranging position and the end point position is represented by a step difference value, and the distance is a fixed constant after the sensor is installed, and can be calculated by a formula Y1 which is N-M.
And Limit: the limit value of the steel coil offset.
3.2, two stacks are established in the detection end PLC, a stack has two stack positions, and when a walking beam descends to the right position, the following operations are executed in the stack:
(1) and sending the data of the first position to the second position, wherein the trigger signal uses a descending in-place signal of the 1# walking beam and adopts a rising edge.
(2) And storing the detection data of the first detection position into the second position of the first stack.
In stack one, the intermediate variable of the second stack bit is used to mark the coil coming from the detection station in the subsequent pop.
3.3, the second stack has four stack positions, and when the 2# walking beam descends to the right position, the following operations are executed in the second stack:
(1) and the data of the fourth bit in the second stack is popped, and the data is used for judgment and calculation.
(2) And shifting the data in the stack, namely, giving a third bit to a fourth bit, giving a second bit to a third bit, and giving a first bit to a second bit.
(3) And (4) stacking the data of the second number of the first stack, giving the first number of the second stack, and setting the second number of the first stack to be zero. When the detection station comes to roll, the beam No. 1 is not moved, the beam No. 2 is continuously moved twice, and zero is written in the beam No. 2, so that the detection station can be judged to come to roll.
And 3.4, considering the possible empty coil condition, setting validity judgment of the 1# walking beam measurement data and the 2# walking beam measurement data, and when no steel coil exists on the transportation chain, judging that the distance measurement data X2 of the second detection position (namely the measurement point 2) is invalid due to overlarge, and not carrying out subsequent calculation. Only when the three distance measurement data X1, X2, and X3 are all valid, the predicted amount of deviation of the steel coil at the end point is calculated.
And 3.5, calculating the deviation of the steel coil at the 2# walking beam measuring point, and judging the deviation direction of the steel coil, thereby realizing the respective alarm of the measuring instrument at the working side and the transmission side.
In fig. 4, during the operation of the actual device, the 1# walking beam and the 2# walking beam are operated according to the following procedures and steps:
A. 1# walking beam:
the A1 and 1# walking beams descend to the right (the limit signal is in place), the step A2 is carried out, when the descending limit signal is not in place, the conveying chain automatically stops, the step A4 is carried out, and the steel coil position stops;
a2, 1# walking beam data shift: and sending the data of the first bit to the data of the second bit, wherein the triggering signal uses a falling-to-bit signal of a 1# walking beam and adopts a rising edge (the specific action of data stacking is shown in figure 5, the same below).
A3, stacking data of the detector 1; and storing the detection data of the first detection position into the second position of the first stack.
And A4, ending.
B. The 2# walking beam comprises the following action steps:
b1, the 2# walking beam descends to the right (the limit signal is in place), the step B2 is carried out, the conveying chain automatically stops when the lower limit signal is not in place, the step B11 is carried out, and the steel coil position is stopped;
b2, popping: the data of the fourth bit in the second stack is popped, and the data is used for judgment and calculation;
b3, 2# walking beam data shift; shifting the data in the stack, namely, giving a third bit to a fourth bit, giving a second bit to a third bit and giving a first bit to a second bit;
b4, clearing data: stacking the data of the second position of the first stack, giving the first position of the second stack, and setting the second position of the first stack to be zero;
b5, is the pop data zero? Zero, go to step B7, non-zero, go to 6, not calculate;
b6, the steel coil is from the monitoring station, and the deviation is not calculated: when a detection station comes to roll, the first beam is fixed, the second beam continuously acts twice, and zero is written in at the moment, so that the condition that the detection station comes to roll can be judged;
b7, detect if data is valid? If the position of the steel coil is invalid, the step B11 is carried out, and if the position of the steel coil is valid, the step B8 is carried out;
b8, calculating offset and predicting the offset: calculating the offset of the measuring point on the walking beam 2, and judging the offset direction of the steel coil;
b9, judging whether the predicted value exceeds a limit value;
b10, if the predicted value exceeds the limit value, outputting an alarm and a shutdown request: the measurement instruments at the working side and the transmission side alarm respectively;
and B11, ending.
In conclusion, the technical scheme of the invention has the innovative points that:
1. the arrangement of the position detection device.
2. And calculating the offset of the steel coil.
3. And processing data in the PLC stack at the detection end.
4. And (5) predicting the side turning of the walking beam steel coil.
According to the steel coil on-line position detection algorithm, the two-step offset of the strip steel on the walking beam is measured when the walking beam of the hot continuous rolling production line is transported, and the detection algorithm is combined to calculate the predicted offset of the steel coil at the position where the steel coil is easy to turn over, so that the judgment of the steel coil inclination condition is realized, an alarm is given in advance, the problem that the steel coil deviates and turns over on the walking beam can be avoided, the production efficiency is improved, and the safe use of the walking beam for transporting the hot rolled steel coil is ensured.
This scheme only uses 3 laser range finders to gather coil of strip position data, and two are installed in pairs, and an installation alone effectively practices thrift the cost, and does not have high expectations to on-the-spot installation condition, makes things convenient for the engineering to use.
According to the technical scheme, the two stacks are established in the detection end PLC, so that the position of the steel coil is tracked, and the rolling line process control computer L2 is not required to inform the position of the steel coil. The zero clearing operation used in the stacking process can realize data processing of the steel coil entering and exiting the detection station, subsequent calculation is not carried out on the steel coil entering and exiting the detection station, so that the judgment is not influenced, and meanwhile, due to the existence of the zero clearing flag bit, the source of the measured data (actually the steel coil) can be judged more easily.
After the technical scheme of the invention is applied to a certain production line for hot rolling of the Bao steel, the shutdown time of the coil overturning accident caused by the position deviation of the steel coil before and after the technology is used is shown in figure 7, and it can be obviously seen that the position deviation control of the steel coil in the transportation process is greatly improved after the technical scheme of the invention is implemented.
The technical scheme of the invention is suitable for the field of operation safety monitoring of the steel coil transportation chain system in the hot rolling mill.
Claims (11)
1. The hot rolled steel coil transportation position deviation detection method comprises the following steps of measuring the position of a steel coil on a walking beam, and is characterized in that:
the method comprises the following steps that a first distance measuring sensor and a second distance measuring sensor are oppositely arranged at an inlet of a walking beam to form a primary measuring point, and the primary measuring point is used for measuring and calculating width data of a steel coil and primary offset of the steel coil relative to the central line of the walking beam;
arranging a third distance measuring sensor at the middle section of the walking beam to form a secondary measuring point for measuring and calculating the secondary offset of the steel coil;
correspondingly connecting the output ends of the first ranging sensor, the second ranging sensor and the third ranging sensor with the I/O endpoint of the detection end PLC respectively, and reading the output data of each sensor;
in the detection end PLC, the average offset of the steel coil in each step is calculated by combining the step number information between two measurement points;
estimating the accumulated offset of the steel coil at the end point by combining the steps of the distance from the secondary measurement point to the end point of the walking beam and utilizing the average offset of the steel coil;
comparing the estimated offset of the steel coil with the limit value of the steel coil;
and if the estimated offset of the steel coil exceeds the limit value, the control system sends a coil turning alarm signal to control the conveying chain equipment to stop automatically.
2. The hot rolled steel coil transportation position deviation detecting method as claimed in claim 1, wherein the steel coil transportation position deviation detecting method at least comprises the steps of:
2.1) determining the installation positions of the first distance measuring sensor and the second distance measuring sensor according to the field condition, and obtaining a linear distance W0 between the first distance measuring sensor and the second distance measuring sensor, a linear distance W1 between the first distance measuring sensor and the central line of the walking beam and a linear distance W2 between the second distance measuring sensor and the central line of the walking beam through measurement;
2.2) determining the installation position of a third distance measuring sensor, obtaining a linear distance W3 between the second distance measuring sensor and the center line of the walking beam through measurement, and calculating a distance Y1 between the position of the primary measuring point and the position of the secondary distance measuring point through a formula Y1 which is M-L;
2.3) determining the position of a steel coil prediction saddle, and calculating to obtain a distance Y2 between the position of the secondary ranging point and the predicted end point position through a formula Y2 which is N-M;
2.4) in the process of conveying steel coils by a conveying chain, each sensor sends real-time measurement data of the steel coil position to a detection end PLC;
2.5) the detection end PLC calculates the actual Width Width of the steel coil according to the measurement data;
2.6) calculating the secondary offset Dev1 of the steel coil according to the measurement data and the Width Width of the steel coil;
2.7) calculating the primary offset Dev2 of the steel coil according to the measurement data X3 of the linear distance between the third distance measuring sensor and the steel coil, the parameter W3 of the linear distance between the third distance measuring sensor and the central line of the walking beam and the Width Width of the steel coil;
2.8) calculating the average deviation AVG of the steel coil at each step by combining the step number information between the two measurement points, and estimating the accumulated deviation Dev3 of the steel coil at the end point by combining the step number of the distance from the secondary measurement point to the end point of the walking beam and utilizing the average deviation AVG;
2.9) carrying out transportation chain rollover prediction;
if the accumulated offset Dev3 reaches or exceeds the offset Limit value Limit, judging that the steel coil transportation chain has the risk of coil overturning;
if the accumulated offset Dev3 is smaller than the offset Limit value Limit, judging that the transport chain has no roll-over risk;
2.10) determining a processing scheme according to the roll-over prediction result.
3. The hot-rolled steel coil transportation position deviation detection method as claimed in claim 1, wherein the detection end PLC performs in-stack data processing by adopting the following steps:
3.1) writing a constant into the first scanning period of the detection end PLC;
3.2) two stacks are established in the detection end PLC, wherein the first stack has two stack positions, and when the 1# walking beam descends to the right position, the following operations are executed in the first stack:
3.2.1) sending the data of the first position to the second position, wherein the trigger signal uses a descending in-place signal of the 1# walking beam;
3.2.2) storing the detection data of the first detection position into a second position of the first stack:
3.3) the second stack has four stack positions, and when the 2# walking beam descends to the right position, the following operations are executed in the second stack:
3.3.1) the data of the fourth bit in the second stack is popped, and the data is used for judgment and calculation;
3.3.2) shifting the data in the stack, namely, the third bit is given to the fourth bit, the second bit is given to the third bit, and the first bit is given to the second bit;
3.3.3) the data of the second position of the first stack is pushed to the first position of the second stack, and the second position of the first stack is set to be zero;
3.4) setting validity judgment of 1# walking beam measurement data and 2# walking beam measurement data:
3.5) calculating the deviation of the measuring point of the 2# walking beam, and judging the deviation direction of the steel coil, thereby realizing the respective alarm of the measuring instrument at the working side and the measuring instrument at the transmission side.
4. The hot-rolled steel coil transportation position deviation detection method as claimed in claim 3, wherein in said detection end PLC, tracking of the steel coil position is realized by establishing two stacks;
when the data are stacked, the PLC at the detection end uses zero clearing operation to realize the data processing of the steel coil entering and exiting the detection station; meanwhile, the judgment of the data source is convenient to realize through the setting and existence of the zero clearing zone bit.
5. The hot rolled steel coil transportation position deviation detection method according to claim 3, wherein the validity judgment of the 1# walking beam measurement data and the 2# walking beam measurement data includes:
when no steel coil exists on the conveying chain, the distance measurement data X2 between the second distance measurement sensor positioned at the measurement point 2 and the steel coil is judged to be invalid due to overlarge, and subsequent calculation is not carried out;
the accumulated amount of deviation of the steel coil at the end point is calculated only when all three distance measurement data X1, X2, and X3 are valid.
6. A hot rolled steel coil transportation position deviation detecting apparatus operating according to the method of claim 1, characterized in that:
the hot rolled steel coil transportation position deviation detection device at least comprises a first distance measurement sensor, a second distance measurement sensor and a third distance measurement sensor; the output end of each distance measuring sensor is correspondingly connected with the I/O end point of the detection end PLC respectively;
the first distance measuring sensor and the second distance measuring sensor are arranged at the inlet of the walking beam to form a primary measuring point for measuring and calculating the width data of the steel coil and the primary offset of the steel coil relative to the central line of the walking beam;
the third distance measuring sensor is arranged at the middle section of the walking beam to form a secondary measuring point for measuring and calculating the secondary offset of the steel coil;
the detection end PLC reads the output data of each distance measuring sensor; and the PLC is connected and communicated with the rolling line L1 conveying chain through Ethernet, receives the action information of the walking beam and the conveying chain equipment, feeds back the deviation condition and the overturning information of the steel coil at the measuring position, and gives an alarm and stops the interlocking signal.
7. The hot rolled steel coil transportation position deviation detecting device as claimed in claim 6, wherein said detecting end PLC is based on output data of each distance measuring sensor; calculating the average offset of the steel coil in each step by combining the step number information between the two measurement points; estimating the accumulated offset of the steel coil at the end point by combining the steps of the distance from the secondary measurement point to the end point of the walking beam and utilizing the average offset of the steel coil; comparing the estimated offset of the steel coil with the limit value of the steel coil; and if the estimated offset of the steel coil exceeds the limit value, the detection end PLC sends a roll turning alarm signal to control the conveying chain equipment to stop automatically.
8. The hot rolled steel coil transportation position deviation detecting device as claimed in claim 6, wherein said detecting end PLC further performs validity judgment of the steel coil measurement data.
9. The apparatus for detecting the deviation in the transporting position of a hot rolled steel coil as claimed in claim 6, wherein the output data of each distance measuring sensor includes at least a linear distance from each distance measuring sensor to both ends of the steel coil at each measuring point.
10. The apparatus for detecting the deviation in the transporting position of a hot rolled steel coil according to claim 6, wherein the first distance measuring sensor and the second distance measuring sensor are disposed to face each other.
11. The hot rolled steel coil transportation position deviation detecting device as claimed in claim 6, wherein the distance measuring sensor is a laser distance measuring instrument, a distance measuring grating or a grating sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010361491.8A CN113589310A (en) | 2020-04-30 | 2020-04-30 | Hot rolled steel coil transportation position deviation detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010361491.8A CN113589310A (en) | 2020-04-30 | 2020-04-30 | Hot rolled steel coil transportation position deviation detection method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113589310A true CN113589310A (en) | 2021-11-02 |
Family
ID=78236993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010361491.8A Pending CN113589310A (en) | 2020-04-30 | 2020-04-30 | Hot rolled steel coil transportation position deviation detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113589310A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560263A (en) * | 2022-02-28 | 2022-05-31 | 广西柳州钢铁集团有限公司 | Feeding control device and method for cross-span roll-turning unit |
| CN114715643A (en) * | 2022-04-01 | 2022-07-08 | 武汉钢铁有限公司 | Automatic adjusting device and method for coil unloading centering of steel coil trolley |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006055861A (en) * | 2004-08-17 | 2006-03-02 | Kobe Steel Ltd | Device for centering rolling line and method for measuring off-center |
| CN101637783A (en) * | 2008-07-28 | 2010-02-03 | 上海宝信软件股份有限公司 | Method and system for controlling height centering of steel coil carried by steel coil automobile |
| CA2766843A1 (en) * | 2009-07-02 | 2011-01-06 | Voith Patent Gmbh | Method and apparatus for the contactless determination of the thickness of a web of material, including correction of the alignment error |
| CN102607438A (en) * | 2012-02-24 | 2012-07-25 | 南开大学 | Two-arm four-probe measurement device and method for measuring inner and outer diameters of end of steel tube |
| CN103471510A (en) * | 2013-09-11 | 2013-12-25 | 北京中冶设备研究设计总院有限公司 | Steel coil on-line offset detection method |
| CN204154282U (en) * | 2014-10-15 | 2015-02-11 | 武汉中科创新技术股份有限公司 | A kind of device utilizing laser displacement sensor to measure diameter of steel tube |
| US9151595B1 (en) * | 2014-04-18 | 2015-10-06 | Advanced Gauging Technologies, LLC | Laser thickness gauge and method including passline angle correction |
| CN104960875A (en) * | 2015-06-15 | 2015-10-07 | 湖北凯瑞知行科技有限公司 | Trough type belt conveyor running deviation diagnosis and automatic correction system |
| CA2888690A1 (en) * | 2014-04-25 | 2015-10-25 | Honeywell International Inc. | Apparatus and method for stretch measurements of tissue webs |
| CN204902774U (en) * | 2015-06-24 | 2015-12-23 | 宝山钢铁股份有限公司 | Coil of strip width measurement system device |
| CN207197475U (en) * | 2017-08-09 | 2018-04-06 | 北京首钢冷轧薄板有限公司 | A kind of coil of strip offsets warning device |
| CN207787321U (en) * | 2017-12-12 | 2018-08-31 | 北京蒂本斯工程技术有限公司 | The upper winding apparatus and skin pass mill of skin pass mill |
| CN109108096A (en) * | 2018-08-20 | 2019-01-01 | 山西太钢不锈钢股份有限公司 | A kind of hot-rolled leveling unit Laser Slabs shape monitoring method and its system |
| WO2020008712A1 (en) * | 2018-07-03 | 2020-01-09 | Dmg森精機株式会社 | Measurement method |
-
2020
- 2020-04-30 CN CN202010361491.8A patent/CN113589310A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006055861A (en) * | 2004-08-17 | 2006-03-02 | Kobe Steel Ltd | Device for centering rolling line and method for measuring off-center |
| CN101637783A (en) * | 2008-07-28 | 2010-02-03 | 上海宝信软件股份有限公司 | Method and system for controlling height centering of steel coil carried by steel coil automobile |
| CA2766843A1 (en) * | 2009-07-02 | 2011-01-06 | Voith Patent Gmbh | Method and apparatus for the contactless determination of the thickness of a web of material, including correction of the alignment error |
| CN102607438A (en) * | 2012-02-24 | 2012-07-25 | 南开大学 | Two-arm four-probe measurement device and method for measuring inner and outer diameters of end of steel tube |
| CN103471510A (en) * | 2013-09-11 | 2013-12-25 | 北京中冶设备研究设计总院有限公司 | Steel coil on-line offset detection method |
| US9151595B1 (en) * | 2014-04-18 | 2015-10-06 | Advanced Gauging Technologies, LLC | Laser thickness gauge and method including passline angle correction |
| CA2888690A1 (en) * | 2014-04-25 | 2015-10-25 | Honeywell International Inc. | Apparatus and method for stretch measurements of tissue webs |
| CN204154282U (en) * | 2014-10-15 | 2015-02-11 | 武汉中科创新技术股份有限公司 | A kind of device utilizing laser displacement sensor to measure diameter of steel tube |
| CN104960875A (en) * | 2015-06-15 | 2015-10-07 | 湖北凯瑞知行科技有限公司 | Trough type belt conveyor running deviation diagnosis and automatic correction system |
| CN204902774U (en) * | 2015-06-24 | 2015-12-23 | 宝山钢铁股份有限公司 | Coil of strip width measurement system device |
| CN207197475U (en) * | 2017-08-09 | 2018-04-06 | 北京首钢冷轧薄板有限公司 | A kind of coil of strip offsets warning device |
| CN207787321U (en) * | 2017-12-12 | 2018-08-31 | 北京蒂本斯工程技术有限公司 | The upper winding apparatus and skin pass mill of skin pass mill |
| WO2020008712A1 (en) * | 2018-07-03 | 2020-01-09 | Dmg森精機株式会社 | Measurement method |
| CN109108096A (en) * | 2018-08-20 | 2019-01-01 | 山西太钢不锈钢股份有限公司 | A kind of hot-rolled leveling unit Laser Slabs shape monitoring method and its system |
Non-Patent Citations (1)
| Title |
|---|
| 刘太中 等: ""热连轧精轧宽展智能预测"", 《轧钢》, 30 April 2002 (2002-04-30), pages 6 - 8 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560263A (en) * | 2022-02-28 | 2022-05-31 | 广西柳州钢铁集团有限公司 | Feeding control device and method for cross-span roll-turning unit |
| CN114715643A (en) * | 2022-04-01 | 2022-07-08 | 武汉钢铁有限公司 | Automatic adjusting device and method for coil unloading centering of steel coil trolley |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113589310A (en) | Hot rolled steel coil transportation position deviation detection method and device | |
| KR102578429B1 (en) | System for monitoring the operation of energy chains | |
| US20150190883A1 (en) | Method for cutting a sheet metal blank | |
| US20130341159A1 (en) | Bulk material reclaimer control system | |
| US9156634B2 (en) | System and method for detecting and further processing the position of at least one storage space device moving bulk material | |
| US8798904B2 (en) | Device and method for determining the position of a road roller relative to a road finisher | |
| EP3635330A1 (en) | Control of flatness of metal sheets obtained by flattening and shearing uncoiled metal sheet webs | |
| JP5760629B2 (en) | How to correct meandering of steel strip | |
| CN106976771B (en) | Sensor fault detection and fusion system for multi-car ropeless elevator system | |
| US20130205610A1 (en) | Method and device for determining a lift height of a work machine | |
| US11708100B2 (en) | Detecting and optimizing the stopping-point accuracy of a vehicle | |
| CN110744024B (en) | Automatic re-inspection system and method for length of continuous casting billet | |
| CN111847240B (en) | Crane synchronization error measuring device and deviation rectifying method thereof | |
| US9008900B2 (en) | Method and device for determining a height of lift of a working machine | |
| US6809650B2 (en) | Method and device for determining the state of a rail stretch | |
| EP3848313B1 (en) | Method of position detection of an elevator car | |
| JP2011118585A (en) | Automated guided vehicle | |
| KR20180100920A (en) | Rail driving apparatus having a distance sensors | |
| US20100198552A1 (en) | Camber Tracking System | |
| KR101788078B1 (en) | Monitoring system using acceleration sensor | |
| JP5393635B2 (en) | Position determination system and moving body | |
| CN116457117A (en) | Method for detecting deviation amount of metal strip and method for controlling deviation | |
| KR102423140B1 (en) | The vehicle detecting system and the control method thereof | |
| JP2003108227A (en) | Tracking method and apparatus for automated carrying facility | |
| KR100436399B1 (en) | Absolute position correcting method and correcting apparatus of reclaimer |
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 |