EP2258491A1 - Rotation tool for a mill train and method for operating a casting-roller compound assembly - Google Patents
Rotation tool for a mill train and method for operating a casting-roller compound assembly Download PDFInfo
- Publication number
- EP2258491A1 EP2258491A1 EP09161954A EP09161954A EP2258491A1 EP 2258491 A1 EP2258491 A1 EP 2258491A1 EP 09161954 A EP09161954 A EP 09161954A EP 09161954 A EP09161954 A EP 09161954A EP 2258491 A1 EP2258491 A1 EP 2258491A1
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- European Patent Office
- Prior art keywords
- rolling
- rotary tool
- mill
- train
- electric motors
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B35/00—Drives for metal-rolling mills, e.g. hydraulic drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B35/00—Drives for metal-rolling mills, e.g. hydraulic drives
- B21B35/02—Drives for metal-rolling mills, e.g. hydraulic drives for continuously-operating mills
- B21B35/04—Drives for metal-rolling mills, e.g. hydraulic drives for continuously-operating mills each stand having its own motor or motors
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- 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
- B21B1/22—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 plates, strips, bands or sheets of indefinite length
- B21B1/24—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 plates, strips, bands or sheets of indefinite length in a continuous or semi-continuous process
- B21B1/26—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 plates, strips, bands or sheets of indefinite length in a continuous or semi-continuous process by hot-rolling, e.g. Steckel hot mill
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B15/0007—Cutting or shearing the product
- B21B2015/0014—Cutting or shearing the product transversely to the rolling direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B2015/0057—Coiling the rolled product
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2265/00—Forming parameters
- B21B2265/12—Rolling load or rolling pressure; roll force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B27/00—Rolls, roll alloys or roll fabrication; Lubricating, cooling or heating rolls while in use
- B21B27/02—Shape or construction of rolls
- B21B27/021—Rolls for sheets or strips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B35/00—Drives for metal-rolling mills, e.g. hydraulic drives
- B21B35/02—Drives for metal-rolling mills, e.g. hydraulic drives for continuously-operating mills
Definitions
- the invention relates to a rotary tool for processing rolling stock, in particular consisting of steel, aluminum, copper or titanium, in a rolling mill, as for example from DE 199 11 751 C1 evident. Moreover, the invention relates to a rolling mill, a cast-rolling composite plant, a method for operating a cast-rolling composite plant and to a method for increasing performance.
- Metallic precursors such as slabs, hot or cold strip, sheets, tubes, etc. from materials such as iron, steel, non-ferrous metals or other metallic materials are undergoing large-scale industrial processing in rolling mills various processing and refining steps.
- Typical processing steps are the rolling of cast slabs to hot strip or the down rolling of the hot strip to the thickness desired by the customer in a cold rolling train, for example a tandem mill.
- Rolling mills conventionally occur as separate units, which deliver their rolling stock, for example, from a separate continuous casting device, e.g. received a "continuous casting system".
- a separate continuous casting device e.g. received a "continuous casting system”.
- hot strip can be produced in a continuous process, in particular endlessly.
- a typical tool for processing rolling stock is a rolling stand, with which e.g. Slabs can be rolled in successive rolling passes to form a strip.
- Rolling mills are used in almost all rolling mills, in particular in hot and cold rolling mills.
- the strips can be subjected to further processing steps.
- the rolled-down strip is usually rolled up with the help of a reel to so-called "coils".
- a direct coupling with a cold rolling plant and / or treatment line takes place in the continuous process.
- the hot strip can be subjected to further intermediate steps, such as a temperature treatment, before it is fed to a cold rolling line.
- a cold rolling line At the end of a cold rolling line is usually a take-up reel for receiving the rolled strip, possibly combined in the continuous process with a pair of scissors.
- the object of the present invention is to provide a rotary tool for processing rolling stock, a rolling train and a cast-rolling composite plant with such a rotary tool and an operating method for the cast-rolling composite plant and a method for improving performance, which / which by means of his / her drive concept the metallurgical simplify, improve and / or make more flexible roll manufacturing processes.
- the object of the invention is achieved by a rotary tool having the features of claim 1.
- the object of the invention is achieved by a rolling mill with the features of claim 9.
- the inventive The problem solved by a cast-rolling composite plant according to claim 16, with regard to the method of operation by a method according to claim 19 and with respect to the method for increasing the efficiency by a method according to claim 20.
- the rotary tool according to the invention for processing rolling stock in a rolling train is driven by an electric motor having electrically superconducting windings.
- rolling stock for example, slabs, hot strip, cold strip, coarse or thin sheets, pipes, etc. of iron, steel, non-ferrous metals such as aluminum, etc. into consideration.
- a rotary tool for processing of rolling all rotationally driven tools machines, apparatus or devices are understood, which engage directly in the machining process of the rolling stock. Examples are: rolling stands, reels, drum shears, temporary storage etc.
- HTS motor An electric motor with superconducting windings will be referred to as HTS motor in the following.
- HTS motor both a machine whose rotor winding is superconducting and whose stator winding is normally conducting, and a machine, so-called fully superconducting machines, in which both the rotor and the stator winding is made using superconducting material to understand.
- HTS motors which have a much smaller size with the same power compared to conventional electric motors.
- HTS engine - especially in a rolling mill considerable energy savings (lower power dissipation) and because of possible reduced aggregate distances also brings cost advantages. This is particularly advantageous in cast-rolled composite systems.
- the rotary tool is a rolling stand which has at least two work rolls between which the rolling stock is machinable, and wherein at least one of the work rolls is driven by the HTS motor.
- a rolling stand can be used both in hot and cold rolling mills.
- a rolling stand in a cold rolling mill is used to roll down hot strip to the thickness desired by the customer.
- the rolling stand can be designed, for example, as a duo or as a quarto-rolling mill or as a hexagonal rolling mill. Since the rolling mill is driven by a more compact HTS motor with the same power, the distances between the rolling stands can be selected smaller and the entire rolling train can be made shorter or more compact.
- the inventors have recognized that use of an HTS motor in the rolling mill thus brings with it significant cost reductions as well as technological advantages as a result of reduced cooling of the continuous rolling stock.
- An HTS engine has a more stable, stiff performance (e.g., small rotor angle) and also reacts faster to changes in command values than a conventional electric motor. This case occurs frequently during rolling. In comparison to a conventional electric motor, an HTS motor is thus able to be regulated more quickly, which allows an improved and / or faster puncture behavior and / or an improved ski control particularly when it is used in a rolling train. This is particularly advantageous in heavy hot rolling reversing lines. As a "ski” is an unintentional deformation of the band up or down, i. referred to perpendicular to the transport direction.
- At least one of the work rolls is gearless or connected by means of a reduced compared to a conventional electric drive gear with the shaft of the electric motor.
- the mechanical connection between the shaft of the HTS motor and the work roll of the rolling mill is carried out while dispensing with torque-converting mechanical intermediate elements (gear).
- the shaft of the electric motor may be connected to the work roll via a common shaft or a spindle.
- the spindle is understood to mean, for example, a double-jointed shaft with two universal joints present at the end, which serves to transmit torque between the drive shaft of the motor and the work roll of the rolling mill stand.
- the absence of a gear not only brings a cost advantage, but also increases the reliability and variability of the mill.
- the property can provide the HTS engine compared to a conventional engine with a comparable size increased torque can - be reduced - as a second variant - the size of the transmission. Both variants allow a cost reduction of the entire system.
- the variant without gearbox requires less maintenance.
- the rolling stand in which according to the invention the HTS motor is advantageously used, are the so-called twin drives in which each of the work rolls is driven by an electric motor.
- the rolling stand is configured such that it comprises a plurality of HTS motors, wherein each of the work rolls - preferably as described above directly or with a reduced gearbox - is mechanically connected to the shaft of one of the HTS motors. Since, compared to conventional electric motors, the HTS motors are smaller in size for the same torque, e.g. due to a smaller stator diameter, the distance between the drive shafts of the motors can be reduced to each other.
- the electric motors are arranged directly next to one another or locally above one another (offset from each other). According to a further embodiment, these therefore advantageously have a common cooling system.
- an HTS motor is not only advantageous in directly driven rolling stands, such as the aforementioned twin drives, but also in a roll stand, which after a further embodiment comprises two work rolls, which are mechanically coupled via a branching gear, said drive side is coupled to the shaft of the electric motor.
- the branching gear is a pinion gear, since this withstands high torques.
- the rotary tool is a reel.
- the rotary tool is a drum shears.
- high torques must be applied in the short time of the acceleration and / or deceleration phase to accelerate or decelerate the rotary tool to the desired operating speed. Due to its low moment of inertia and superior control behavior, an HTS engine is particularly suitable.
- LTC Low Temperature Conducting
- bismuth-based superconducting material which is technically proven, resistant and thus easy to process is suitable.
- the superconducting material for the windings of the HTS motor may be selected to have a critical current density of more than 300 A / mm 2 at an operating temperature of 4.2K.
- HTC superconductor material for example YBCuO is suitable, which has a higher transition temperature than metal oxide LTC superconductor material. The cooling overhead in the operation of a HTS motor with windings of HTC superconductor material is therefore correspondingly lower.
- an operating temperature between 10 and 40 K, preferably between 20 and 30 K, provided for the windings of the HTS motor.
- metal oxide HTC superconductor material also has a high critical current density and a high critical field.
- the rolling mill according to the invention serves for the processing of rolling stock with the rotary tool according to the invention.
- Essential advantages mentioned in connection with the rotary tool apply in the same way to the rolling train according to the invention.
- the rolling train has at least one ("1") mill stand.
- the rotary tool is a rolling mill, wherein the rolling train comprises a plurality of rolling stands immediately adjacent in a rolling direction, in particular in tandem operation.
- the rolling train is either a roughing train and - with particular advantage - a finishing mill of a hot rolling mill.
- the rolling train which is in particular a finishing mill of a hot rolling mill or hot strip rolling mill, expediently comprises a plurality of electric motors with superconducting windings and at least three or at least four of the rolling stands respectively at least one of the work rolls gearless connected to the shaft of one of the electric motors.
- the rolling stands in a rolling mill due to the spatial extent of rolling stand, gear and electric motors, must comply with a minimum distance, the minimum distance of the rolling stands by the size of the scaffold stands of possibly necessary Eisengerüsttransportleaneden, electric motors or Gear limited.
- the minimum distance can be immediate adjacent rolling stands and so, for example, the unwanted cooling of the rolling stock can be reduced by reduced thermal radiation.
- adjacent rolling mills have particularly advantageously a common cooling system.
- the distance between the rolling mills causes undesirable changes in the state variables of the rolling stock.
- the stand spacing of today's hot rolling mills in conventional construction is typically more than 5.0 m to 5.5 m.
- the rolling stock may, for example, cool down too much between the individual rolling passes or form scales on the surface.
- additional units such as an induction furnace or a Entzu shoresaggregat.
- the use of such additional units and their integration in the rolling mill is expensive on the one hand and resource-intensive on the other hand.
- the distance of the rolling stands can be reduced by the use of drive motors with superconducting windings, whereby additional aggregates, e.g. can be omitted for descaling or for heating the rolling stock.
- the rolling train which is in particular a hot strip mill or / and a finishing train of a hot strip rolling mill, preferably in tandem
- at least two of the rolling stands for a maximum rolling force of more than 1500 t, in particular of more than 2,000 t, more than 2,500 t, more than 3,000 t, more than 3,500 t or more than 4,000 t
- these two rolling mills have a spacing of less than 5.0 m, preferably less than 4, in the rolling direction , 5 m, less than 4.3 m, less than 4.0 m, less than 3.9 m, less than 3.7 m or less than 3.5 m.
- the distance of the rolling stands is determined here as the distance of the axes of rotation of the work rolls of adjacent rolling stands in the rolling direction.
- the rolling train preferably has a control and / or regulating device-designed, for example, as part of the process automation, in particular for controlling a heating device, a cooling section, a finishing stack and / or a speed of the rolling train, which is designed such that a result HTS engines are considered less expensive than conventional engines for reduced heat loss in the rolling stock.
- a control and / or regulating device-designed for example, as part of the process automation, in particular for controlling a heating device, a cooling section, a finishing stack and / or a speed of the rolling train, which is designed such that a result HTS engines are considered less expensive than conventional engines for reduced heat loss in the rolling stock.
- This can be done by implementation in an underlying model.
- Particularly appropriate is the consideration of the reduced heat loss in the process automation system of the finishing scale, including in the regulation of the finished strip temperature and / or on the reel temperature.
- an optional - possibly existing between the rolling stands - transport device is designed as a vertical loop lifter. This achieves a further reduction in the distance between the stands.
- the rolling train is part of a cast-rolling composite plant for the continuous production of hot strip.
- the processing speed of a cast-rolling composite plant is determined by the speed of the caster. Consequently, the state changes of the rolling stock occurring between the individual rolling passes, for example the cooling thereof, can not be compensated in a simple manner by increasing the rolling speed.
- the inventors have recognized that a reduction in the distance of the rolling stands thus represents a very advantageous possibility of effectively avoiding intermediate units, such as descaling systems or induction furnaces, for example, or making them less complicated.
- a reduced distance The rolling stands can be achieved by using a HTS engine.
- the heater is adjusted for heating power in consideration of a reduced heat loss in the rolling stock or strip due to the electric motors used ,
- the cast-rolling composite plant can be carried out completely without such a heater.
- MW stands for megawatts, h for hours and t for (metric) tons.
- the non-superconducting motor is replaced by a HTS motor that does not exceed the installation space limitation, ie an electric motor with superconducting windings, which is designed such that the maximum rolling moment in the rolling stand is increased compared to the existing rolling line is. It is designed either superconducting only the rotor, or only the stator, or both.
- a tandem cold rolling mill 2 serves to roll down of hot strip 4 to the customer's desired thickness.
- the coiled to a hot rolled strip 4 of the tandem cold rolling mill 2 by means of a take-off reel 6 in a rolling direction W is supplied.
- the thickness of the hot strip 4 is first determined by means of a measuring device 8, then the strip is rolled down in several successive rolling passes by means of rolling stands 10 to the desired thickness.
- Each of the rolling stands 10 has at least two work rolls 12 and two support rolls 14, wherein the rolling stock, in this case the hot strip 4, is processed between the work rolls 12.
- the tape is rewound into a coil by means of a coiler 16.
- a dividing shear 18 is available for the separation of the belt transversely to the rolling direction W.
- the reel 16 is driven by a HTS motor 20.
- the shaft of the HTS motor 20 is directly to the axis of the coiler 16, ie, no transmission between the HTS motor 20 and the reel 16 is used. The same does not apply to the FIG. 1 shown drive the uncoiler 6 to.
- the work rolls 12 of the rolling stands 10 are either as twin drives, exemplified for the second rolling stand 10 in the rolling direction W, or using a branching gear, in this case a pinion gear 22, as exemplified for the third rolling stand 10 in the rolling direction W driven ,
- a branching gear in this case a pinion gear 22
- both work rolls 12 are each directly connected to the shaft of a respective separate HTS motor 20 (both denoted by 20).
- the work rolls 12 can be driven via the pinion gear 22, which on the drive side in turn is connected to a (here only single) HTS motor 20.
- the rewinding and reeling 16.6 and the rolling stands 10 are connected to a common control and / or regulating device 105, which will be discussed in detail later.
- FIG. 2 shows a hot rolling mill 30 with the preheated slabs 32 are rolled to hot strip 4.
- the slabs 32 are first rolled in a roughing train 34 and later with a consisting of several (here: seven) rolling stands 10 finished stagger 36 (finishing mill) to hot strip 4.
- This is rolled up by means of a reel 16 to form a coil.
- the individual rolling stands 10, each in to FIG. 1 similar execution two work rolls 12 and two support rollers 14 are driven by HTS motors 20 both in the roughing 34 and in the finishing stack 36.
- the rolled strip has a width of 0.6 m to 1.8 m, typically 0.8 to 1.6 meters.
- FIG. 3 shows a highly schematic (vertical) cross-sectional view of a rolling stand 10 of the tandem cold rolling line 2 of FIG. 1 or, more preferably, the hot rolling mill 30 of FIG. 2 , whose work rolls 12 are driven by a twin drive ("Twin Drive").
- twin Drive a twin drive
- each of the work rolls 12 is connected with its shaft 23 via a spindle 24 to the motor shaft 25 of an HTS motor 20.
- the connection between the shaft 23 of the work roll 12 and the spindle 24 and between this and the motor shaft 25 takes place in each case by means of a universal joint or by means of waves with claws.
- the in FIG. 3 shown HTS motors 20 a low height H on.
- the distance A of the motor shafts 25 is smaller than in conventional drives and thus the spindle pitch ⁇ is low.
- the spindle pitch ⁇ is the angle between the spindle 24 and the extension of the shaft 23 of the work roll 12 to understand.
- the spindle pitch ⁇ results from the offset between the shaft 23 of the work roll 12 and the motor shaft 25, which is bridged by the spindle 24.
- the spindle pitch ⁇ ⁇ 3 ° for example, 1.5 ° - 2.5 °.
- the HTS motors 20 have a common cooling system 26, with which their superconducting windings are cooled.
- the cooling system 26 is an insulated pipe system generally known from cryotechnology, in which a refrigerant circulates and in which a refrigeration unit 28 is integrated. This usually includes a reservoir for the refrigerant, which is, for example, liquid helium, neon, nitrogen or a mixture of these gases.
- the refrigeration unit 28 also includes a compressor or a cold head for liquefying the coolant.
- the circulation of the coolant in the cooling system 26 can be done by means of a pump or driven by a thermosiphon effect.
- FIG. 4 shows a schematic representation of four rolling stands 10 of a running in tandem assembly hot strip finishing line of a hot rolling mill, as for example FIG. 2 as Fertigstaffel 36 of the hot rolling mill 30 shows, in plan (cross) view.
- the rolling stands 10 are waiving other units, such as induction heaters or Entzu matterssanlagen in the rolling direction W immediately adjacent to each other, which is possible due to the compact size of their used for driving HTS motors 20.
- the rolling stands 10 can thereby reach a distance B from one another, which can not be achieved with conventionally driven rolling stands 10. As a distance B while the removal of the axes of rotation D of the work rolls 12 is defined in the rolling direction W.
- the work rolls 12 are driven directly by the HTS motors 20, i. the shaft 23 of the work roll 12 and the motor shaft 25 of the HTS motors 20 form a common component.
- the HTS motors 20 of the rolling stands 10 arranged directly next to one another have a common cooling system 26 with an integrated refrigeration unit 28.
- FIG. 5 shows a continuous casting belt-rolling plant 40 in which from a casting platform 42 in a Dünnbrammeng think annoying 44 continuously thin slabs are produced, which via a roller table 45 continuously, ie without cutting, winding and intermediate storage, a first rolling mill 46 ( "High Reduction
- the motors of this rolling train 46 are designed as HTS motors, as are the drives of the following optional splitting and / or discharging device 48, which may comprise a pendulum shear and a "plate pusher.”
- This device 48 is particularly significant in case of subsequent malfunctions in the direction of production, and an optional cropping shear may also have an HTS drive.
- the drives of the rollers of the second rolling train 56 are designed as HTS motors, which brings with it special space advantages just as with the rollers of the first rolling train 46.
- an induction furnace is shown as a heater 54, the heating power P - is chosen smaller - with the same mass flow rate - than with conventional electric motors.
- a mass flow rate m 180 tons of steel per hour (t / h)
- its heating power P 25 megawatts (MW), preferably only 23 MW or only 19 MW.
- the invention has not only effects on the dimensioning of a rolling mill, but also on the control of the system and its components. Therefore, a control and / or regulating device 105 (FIG. FIGS. 1 . 2 . 5 ) Walzstrasse 2, 30, 46 and 56 or the cast-rolling composite system 40 for controlling a heater 52, a finished relay 56, a cooling section 58 and / or a speed of Walzstrasse, formed such that a reduced due to the superconducting electric motors used compared to a conventional motor heat loss is taken into account.
- a control and / or regulating device 105 FIG. FIGS. 1 . 2 . 5
- Walzstrasse 2, 30, 46 and 56 or the cast-rolling composite system 40 for controlling a heater 52, a finished relay 56, a cooling section 58 and / or a speed of Walzstrasse, formed such that a reduced due to the superconducting electric motors used compared to a conventional motor heat loss is taken into
- FIG. 6 shows in the hatched area 100, the preferred design according to the invention of rolling trains, for example, finishing lines of a hot strip mill, the distance B in the rolling direction of two rolling stands up and the maximum of the rolling stands producible rolling force F is given to the right.
- "Small plants” with a maximum rolling force of less than 1000 t (metric tons) are not considered in the example.
- the stand spacing B according to the invention is smaller than 5 m even with very large rolling forces (line 101).
- the straight line 102 clarifies the recognition that with increasing rolling force more and more space for the drive systems and motors is needed because they have to work against increasing forces in the nip, so that ultimately increases the distance from the framework.
- FIG. 7 shows an optional design for further reduction of the stand spacing B, in which between two rolling stands 10, a loop lifter 110 as a transport device is available.
- An actuating cylinder 112 performs essentially only a vertical or up and down movement to support the belt 4 and thus requires very little space.
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Abstract
Description
Die Erfindung betrifft ein Rotationswerkzeug zur Verarbeitung von Walzgut, insbesondere bestehend aus Stahl, Aluminium, Kupfer oder Titan, in einer Walzstraße, wie es beispielsweise aus der
Metallische Vorprodukte wie beispielsweise Brammen, Warm-oder Kaltband, Bleche, Rohre, etc. aus Materialien wie Eisen, Stahl, Nichteisenmetallen oder anderen metallischen Werkstoffen werden großindustriell in Walzstraßen verschiedenen Verarbeitungs- und Veredelungsschritten unterzogen. Typische Verarbeitungsschritte sind das Auswalzen von gegossenen Brammen zu Warmband oder das Herunterwalzen des Warmbandes auf die vom Kunden gewünschte Dicke in einer Kaltwalzstrasse, beispielsweise einer Tandemstraße.Metallic precursors such as slabs, hot or cold strip, sheets, tubes, etc. from materials such as iron, steel, non-ferrous metals or other metallic materials are undergoing large-scale industrial processing in rolling mills various processing and refining steps. Typical processing steps are the rolling of cast slabs to hot strip or the down rolling of the hot strip to the thickness desired by the customer in a cold rolling train, for example a tandem mill.
Walzanlagen kommen konventionell als separate Anlagen vor, die ihr Walzgut zum Beispiel von einer separaten Stranggusseinrichtung, z.B. einem "continuous casting system" erhalten. In modernen Gieß-Walz-Verbund-Anlagen kann Warmband in einem kontinuierlichen Prozess, insbesondere endlos, hergestellt werden.Rolling mills conventionally occur as separate units, which deliver their rolling stock, for example, from a separate continuous casting device, e.g. received a "continuous casting system". In modern cast-rolled composite plants, hot strip can be produced in a continuous process, in particular endlessly.
Ein typisches Werkzeug zur Bearbeitung von Walzgut ist ein Walzgerüst, mit dem z.B. Brammen in aufeinander folgenden Walzstichen zu einem Band ausgewalzt werden können. Walzgerüste kommen in nahezu allen Walzstrassen, insbesondere in Warm- und Kaltwalzstrassen zum Einsatz.A typical tool for processing rolling stock is a rolling stand, with which e.g. Slabs can be rolled in successive rolling passes to form a strip. Rolling mills are used in almost all rolling mills, in particular in hot and cold rolling mills.
Nach dem Warmwalzen können die Bänder weiteren Bearbeitungsschritten unterzogen werden. Am Ende der Walzstrasse wird das heruntergewalzte Band üblicherweise mit Hilfe einer Haspel zu sog. "Coils" aufgerollt. Alternativ erfolgt im kontinuierlichen Prozess eine direkte Kopplung mit einer Kaltwalzanlage und/ oder Behandlungslinie.After hot rolling, the strips can be subjected to further processing steps. At the end of the rolling mill is the rolled-down strip is usually rolled up with the help of a reel to so-called "coils". Alternatively, a direct coupling with a cold rolling plant and / or treatment line takes place in the continuous process.
Das Warmband kann weiteren Zwischenschritten, wie beispielsweise einer Temperaturbehandlung unterzogen werden, bevor es einer Kaltwalzstrasse zugeführt wird. Am Ende einer Kaltwalzstrasse befindet sich üblicherweise eine Aufwickelhaspel zur Aufnahme des gewalzten Bandes, im kontinuierlichen Prozess ggf. mit einer Schere kombiniert.The hot strip can be subjected to further intermediate steps, such as a temperature treatment, before it is fed to a cold rolling line. At the end of a cold rolling line is usually a take-up reel for receiving the rolled strip, possibly combined in the continuous process with a pair of scissors.
Bei den vorgenannten Bearbeitungsschritten müssen hohe Drehmomente zur Bearbeitung des Walzgutes aufgebracht werden. Aus diesem Grund werden leistungsstarke Elektromotoren zum Antrieb der Bearbeitungswerkzeuge eingesetzt, deren Drehmoment vielfach mit Hilfe eines Untersetzungsgetriebes weiter vergrößert wird. Leistungsstarke Elektromotoren ebenso wie entsprechend geeignete Getriebe sind sehr schwer und voluminös.In the aforementioned processing steps, high torques must be applied for machining the rolling stock. For this reason, powerful electric motors are used to drive the machining tools whose torque is often further increased by means of a reduction gear. Powerful electric motors as well as correspondingly suitable transmissions are very heavy and voluminous.
Beispielsweise ergeben sich aus dem resultiernden Platzbedarf der bislang verwendeten Rotationswerkzeuge Walzgerüstabstände, die man in unerwünschter Weise durch Einrichtungen zum Materialtransport überbrücken muss. Eine weitere Folge des hohen Gerüstabstandes sind Durchlaufzeiten zwischen den Verformungsstichen, die speziell im Warmwalzprozess zu maßgeblichen und unerwünschten Temperaturverlusten führen. Im genannten Beispiel hat dies dann zur Folge, dass das Produktspektrum etwa hinsichtlich der noch walzbaren Enddicke eingeschränkt werden muss und/ oder die Produktivität (Durchsatz) vermindert wird.For example, resulting from the resultant space requirement of the rotation tools used so far rolling stand distances, which must be bridged in an undesirable manner by means for material transport. Another consequence of the high stand spacing are lead times between the forming passes, which lead to significant and undesirable temperature losses, especially in the hot rolling process. In the example mentioned, this has the consequence that the product spectrum has to be limited, for example, with regard to the final millable thickness and / or the productivity (throughput) is reduced.
Aufgabe der vorliegenden Erfindung ist es, ein Rotationswerkzeug zur Verarbeitung von Walzgut, eine Walzstraße und eine Gieß-Walz-Verbund-Anlage mit einem solchen Rotationswerkzeug sowie ein Betriebsverfahren für die Gieß-Walz-Verbund-Anlage und ein Verfahren zur Leistungssteigerung anzugeben, welches/welche vermittels seines/ihres Antriebskonzeptes die metallurgischen und Herstellungsprozesse beim Walzen vereinfachen, verbessern und/ oder flexibler gestalten lässt/lassen.The object of the present invention is to provide a rotary tool for processing rolling stock, a rolling train and a cast-rolling composite plant with such a rotary tool and an operating method for the cast-rolling composite plant and a method for improving performance, which / which by means of his / her drive concept the metallurgical simplify, improve and / or make more flexible roll manufacturing processes.
In Bezug auf das Rotationswerkzeug wird die erfindungsgemäße Aufgabe gelöst durch ein Rotationswerkzeug mit den Merkmalen nach Anspruch 1. Hinsichtlich der Walzstraße wird die erfindungsgemäße Aufgabe gelöst durch eine Walzstraße mit den Merkmalen nach Anspruch 9. Bezüglich der Gieß-Walz-Verbund-Anlage wird die erfindungsgemäße Aufgabe gelöst durch eine Gieß-Walz-Verbund-Anlage nach Anspruch 16, in Bezug auf das Betriebsverfahren durch ein Verfahren nach Anspruch 19 und in Bezug auf das Verfahren zur Leistungssteigerung durch ein Verfahren nach Anspruch 20.With respect to the rotary tool, the object of the invention is achieved by a rotary tool having the features of claim 1. With regard to the rolling mill, the object of the invention is achieved by a rolling mill with the features of claim 9. With respect to the casting-rolling composite plant, the inventive The problem solved by a cast-rolling composite plant according to
Das erfindungsgemäße Rotationswerkzeug zur Verarbeitung von Walzgut in einer Walzstraße, ist von einem Elektromotor angetrieben, der elektrisch supraleitende Wicklungen aufweist.The rotary tool according to the invention for processing rolling stock in a rolling train is driven by an electric motor having electrically superconducting windings.
Als Walzgut kommen beispielsweise Brammen, Warmband, Kaltband, Grob- oder Feinbleche, Rohre, etc. aus Eisen, Stahl, Nichteisenmetallen wie beispielsweise Aluminium, etc. in Betracht. Unter einem Rotationswerkzeug zur Verarbeitung von Walzgut werden alle rotierend angetriebenen Werkzeuge, Maschinen, Apparate oder Einrichtungen verstanden, welche unmittelbar in den Bearbeitungsprozess des Walzgutes eingreifen. Beispiele sind: Walzgerüste, Haspeln, Trommelscheren, Zwischenspeicher etc..As rolling stock, for example, slabs, hot strip, cold strip, coarse or thin sheets, pipes, etc. of iron, steel, non-ferrous metals such as aluminum, etc. into consideration. Under a rotary tool for processing of rolling all rotationally driven tools, machines, apparatus or devices are understood, which engage directly in the machining process of the rolling stock. Examples are: rolling stands, reels, drum shears, temporary storage etc.
Ein Elektromotor mit supraleitenden Wicklungen soll im Folgenden kurz als HTS-Motor bezeichnet werden. Unter einem HTS-Motor ist sowohl eine Maschine, deren Rotorwicklung supraleitend und deren Ständerwicklung normalleitend ist, als auch eine Maschine, sogenannte voll supraleitende Maschinen, bei der sowohl die Rotor- als auch die Ständerwicklung unter Verwendung von supraleitendem Material hergestellt ist, zu verstehen.An electric motor with superconducting windings will be referred to as HTS motor in the following. Under an HTS motor, both a machine whose rotor winding is superconducting and whose stator winding is normally conducting, and a machine, so-called fully superconducting machines, in which both the rotor and the stator winding is made using superconducting material to understand.
Der erfindungsgemäßen Konstruktion des Rotationswerkzeugs liegen die folgenden Überlegungen zugrunde:
- Zum Betrieb eines Rotationswerkzeugs in einer Walzstraße werden hohe Leistungen bzw. Drehmomente benötigt, die lediglich von entsprechend großen/voluminösen Elektromotoren erbracht werden können. Diese müssen vielfach zur weiteren Erhöhung des Drehmoments mit einem Getriebe versehen werden. Entsprechend weist der Antrieb des Rotationswerkzeugs eine große Baugröße auf. Die große räumliche Ausdehnung von Getriebe und Motor sowie deren hohes Gewicht führt dazu, dass die Konstruktion einer kompakten Walzstrasse bislang nur bedingt möglich ist.
- To operate a rotary tool in a rolling mill high powers or torques are required, which can be provided only by correspondingly large / voluminous electric motors. These must often be provided to further increase the torque with a gear. Accordingly, the drive of the rotary tool on a large size. The large spatial extent of gear and motor and their high weight means that the construction of a compact rolling mill is so far only partially possible.
Erfindungsgemäß wurde erkannt, dass durch den Einsatz von HTS-Motoren, welche bei gleicher Leistung gegenüber konventionellen Elektromotoren eine wesentlich geringere Baugröße aufweisen, die vorstehenden technischen Probleme überwunden werden können. Außerdem wurde erkannt, dass der Einsatz eines HTS-Motors - insbesondere in einem Walzwerk - erhebliche Energieeinsparpotentiale (niedrigere Verlustleistung) und wegen möglicher verminderter Aggregatsabstände auch Kostenvorteile mit sich bringt. Von besonderem Vorteil ist dies bei Gieß-Walz-Verbundanlagen.According to the invention it has been recognized that the above technical problems can be overcome by the use of HTS motors, which have a much smaller size with the same power compared to conventional electric motors. In addition, it was recognized that the use of an HTS engine - especially in a rolling mill - considerable energy savings (lower power dissipation) and because of possible reduced aggregate distances also brings cost advantages. This is particularly advantageous in cast-rolled composite systems.
Nach einer ersten Ausführungsform handelt es sich bei dem Rotationswerkzeug um ein Walzgerüst, welches zumindest zwei Arbeitswalzen aufweist, zwischen denen das Walzgut bearbeitbar ist, und wobei zumindest eine der Arbeitswalzen von dem HTS-Motor angetrieben ist. Ein solches Walzgerüst ist sowohl in Warm- als auch in Kaltwalzstraßen einsetzbar. Während es in einer Warmwalzstraße beispielsweise zum Auswalzen von Brammen verwendet wird, dient ein Walzgerüst in einer Kaltwalzstraße dem Herunterwalzen von Warmband auf die vom Kunden gewünschte Dicke. Das Walzgerüst kann beispielsweise als Duo- oder als Quartowalzgerüst oder als Sextowalzgerüst ausgestaltet sein. Da der Antrieb des Walzgerüstes über einen bei gleicher Leistung kompakteren HTS-Motor erfolgt, können die Abstände zwischen den Walzgerüsten geringer gewählt und die gesamte Walzstraße somit kürzer oder kompakter gebaut werden. Die Erfinder haben erkannt, dass eine Verwendung eines HTS-Motors im Walzwerk somit erhebliche Kostenreduktionen als auch technologische Vorteile infolge einer verminderten Abkühlung des durchlaufenden Walzguts mit sich bringt.According to a first embodiment, the rotary tool is a rolling stand which has at least two work rolls between which the rolling stock is machinable, and wherein at least one of the work rolls is driven by the HTS motor. Such a rolling stand can be used both in hot and cold rolling mills. For example, while used in a hot rolling mill for slab rolling, a rolling stand in a cold rolling mill is used to roll down hot strip to the thickness desired by the customer. The rolling stand can be designed, for example, as a duo or as a quarto-rolling mill or as a hexagonal rolling mill. Since the rolling mill is driven by a more compact HTS motor with the same power, the distances between the rolling stands can be selected smaller and the entire rolling train can be made shorter or more compact. The inventors have recognized that use of an HTS motor in the rolling mill thus brings with it significant cost reductions as well as technological advantages as a result of reduced cooling of the continuous rolling stock.
Ein HTS-Motor hat ein stabileres, steifes Betriebsverhalten (z.B. kleiner Polradwinkel) und reagiert im Vergleich zu einem konventionellen Elektromotor darüber hinaus auch schneller auf Änderungen von Führungsgrößen. Dieser Fall tritt beim Walzen häufig auf. Im Vergleich zu einem konventionellen Elektromotor ist ein HTS-Motor also schneller regelbar, was insbesondere bei dessen Einsatz in einer Walzstraße ein verbessertes und/ oder schnelleres Anstichverhalten und/ oder eine verbesserte Ski-Regelung erlaubt. Besonders vorteilhaft ist dies in schweren Warmwalz-Reversierstraßen. Als "Ski" wird ein ungewolltes Verformen des Bandes nach oben oder unten, d.h. senkrecht zur Transportrichtung bezeichnet.An HTS engine has a more stable, stiff performance (e.g., small rotor angle) and also reacts faster to changes in command values than a conventional electric motor. This case occurs frequently during rolling. In comparison to a conventional electric motor, an HTS motor is thus able to be regulated more quickly, which allows an improved and / or faster puncture behavior and / or an improved ski control particularly when it is used in a rolling train. This is particularly advantageous in heavy hot rolling reversing lines. As a "ski" is an unintentional deformation of the band up or down, i. referred to perpendicular to the transport direction.
Gemäß einer Weiterbildung ist zumindest eine der Arbeitswalzen getriebelos oder mittels einem im Vergleich zu einem konventionellen Elektroantrieb verkleinerten Getriebe mit der Welle des Elektromotors verbunden. Mit anderen Worten erfolgt bei der ersten Variante die mechanische Verbindung zwischen der Welle des HTS-Motors und der Arbeitswalze des Walzgerüstes unter Verzicht auf drehmomentwandelnde mechanische Zwischenelemente (Getriebe). Beispielsweise kann die Welle des Elektromotors mit der Arbeitswalze über eine gemeinsame Welle oder eine Spindel verbunden sein. Als Spindel wird z.B. eine Doppelgelenkwelle mit zwei endseitig vorhandenen Kardangelenken verstanden, die der Drehmomentenübertragung zwischen der Antriebswelle des Motors und der Arbeitswalze des Walzgerüsts dient. Der Verzicht auf ein Getriebe bringt nicht nur einen Kostenvorteil mit sich, sondern erhöht auch die Zuverlässigkeit und die Variabilität des Walzgerüstes. Gemäß der Eigenschaft des HTS-Motors im Vergleich zu einem konventionellen Motor bei vergleichbarer Baugröße ein erhöhtes Drehmoment bereitstellen zu können, kann - als zweite Variante - die Größe des Getriebes verkleinert werden. Beide Varianten erlauben eine Kostenminderung des Gesamtsystems. Die Variante ohne Getriebe ist wartungsärmer.According to a development at least one of the work rolls is gearless or connected by means of a reduced compared to a conventional electric drive gear with the shaft of the electric motor. In other words, in the first variant, the mechanical connection between the shaft of the HTS motor and the work roll of the rolling mill is carried out while dispensing with torque-converting mechanical intermediate elements (gear). For example, the shaft of the electric motor may be connected to the work roll via a common shaft or a spindle. The spindle is understood to mean, for example, a double-jointed shaft with two universal joints present at the end, which serves to transmit torque between the drive shaft of the motor and the work roll of the rolling mill stand. The absence of a gear not only brings a cost advantage, but also increases the reliability and variability of the mill. According to the property can provide the HTS engine compared to a conventional engine with a comparable size increased torque can - be reduced - as a second variant - the size of the transmission. Both variants allow a cost reduction of the entire system. The variant without gearbox requires less maintenance.
Eine spezielle Konfiguration des Walzgerüstes, in welcher erfindungsgemäß der HTS-Motor vorteilhaft zum Einsatz kommt, sind die sogenannten Zwillingsantriebe ("Twin-Drives"), bei denen jede der Arbeitswalzen von einem Elektromotor angetrieben wird. Entsprechend ist nach einer weiteren Ausführungsform das Walzgerüst so ausgestaltet, dass dieses mehrere HTS-Motoren umfasst, wobei jede der Arbeitswalzen - vorzugsweise wie vorbeschrieben direkt oder mit verkleinertem Getriebe - mit der Welle eines der HTS-Motoren mechanisch verbunden ist. Da im Vergleich mit konventionellen Elektromotoren die HTS-Motoren bei gleichem Drehmoment eine geringere Baugröße aufweisen, z.B. bedingt durch einen kleineren Ständerdurchmesser, kann der Abstand der Antriebswellen der Motoren zueinander verringert werden. Dies macht sich auch noch dadurch positiv bemerkbar, dass gleichzeitig die vorhandene Neigung der Spindeln verringert werden kann oder bei gleichbleibender Spindelneigung das Drehmoment der Motoren erhöht werden kann. Durch eine Reduzierung der Spindelneigung kann deren Verschleiß, insbesondere in den Kardangelenken, verringert werden. Als dritte Maßnahme/ Variante kann auch die Spindellänge verkürzt werden mit der Folge eines besseren Regelverhaltens, denn lange Spindeln wirken wie Federn.A special configuration of the rolling stand, in which according to the invention the HTS motor is advantageously used, are the so-called twin drives in which each of the work rolls is driven by an electric motor. Accordingly, according to a further embodiment, the rolling stand is configured such that it comprises a plurality of HTS motors, wherein each of the work rolls - preferably as described above directly or with a reduced gearbox - is mechanically connected to the shaft of one of the HTS motors. Since, compared to conventional electric motors, the HTS motors are smaller in size for the same torque, e.g. due to a smaller stator diameter, the distance between the drive shafts of the motors can be reduced to each other. This is also positively noticeable that at the same time the existing inclination of the spindles can be reduced or the torque of the motors can be increased while maintaining the spindle angle. By reducing the spindle tilt their wear, especially in the universal joints, can be reduced. As a third measure / variant, the spindle length can be shortened with the result of a better control behavior, because long spindles act like springs.
Bei einem Twin-Drive sind die Elektromotoren unmittelbar nebeneinander oder örtlich übereinander (zueinander versetzt) angeordnet. Nach einer weiteren Ausführungsform weisen diese daher vorteilhaft ein gemeinsames Kühlsystem auf.In a twin drive, the electric motors are arranged directly next to one another or locally above one another (offset from each other). According to a further embodiment, these therefore advantageously have a common cooling system.
Der Einsatz eines HTS-Motors ist jedoch nicht nur bei direkt angetriebenen Walzgerüsten, wie den vorgenannten Twin-Drives vorteilhaft, sondern auch bei einem Walzgerüst, welches nach einer weiteren Ausführungsform zwei Arbeitswalzen umfasst, die über ein Verzweigungsgetriebe mechanisch gekoppelt sind, wobei dieses antriebsseitig an die Welle des Elektromotors gekoppelt ist. Gemäß einer Weiterbildung handelt es sich bei dem Verzweigungsgetriebe um ein Kammwalzengetriebe, da dieses hohen Drehmomenten standhält.However, the use of an HTS motor is not only advantageous in directly driven rolling stands, such as the aforementioned twin drives, but also in a roll stand, which after a further embodiment comprises two work rolls, which are mechanically coupled via a branching gear, said drive side is coupled to the shaft of the electric motor. According to a development, the branching gear is a pinion gear, since this withstands high torques.
Gemäß einer weiteren Ausführungsform handelt es sich bei dem Rotationswerkzeug um eine Haspel. Alternativ handelt es sich bei dem Rotationswerkzeug um eine Trommelschere. Sowohl bei einer Haspel als auch bei einer Trommelschere müssen hohe Drehmomente in der kurzen Zeit der Beschleunigungs- und/oder Abbremsphase aufgebracht werden, um das Rotationswerkzeug auf die gewünschte Betriebsdrehzahl zu beschleunigen oder abzubremsen. Aufgrund seines geringen Trägheitsmomentes und überlegenen Regelverhaltens ist ein HTS-Motor besonders geeignet.According to a further embodiment, the rotary tool is a reel. Alternatively, the rotary tool is a drum shears. In both a reel and a drum shear, high torques must be applied in the short time of the acceleration and / or deceleration phase to accelerate or decelerate the rotary tool to the desired operating speed. Due to its low moment of inertia and superior control behavior, an HTS engine is particularly suitable.
Das Material der Wicklungen des HTS-Motors umfasst nach einer weiteren Ausführungsform metallisches LTC-Supraleitermaterial ("LTC"= Low Temperature Conducting). Geeignet ist beispielsweise wismutbasiertes Supraleitermaterial, welches technisch erprobt, widerstandsfähig und somit leicht zu verarbeiten ist. Das Supraleitermaterial für die Wicklungen des HTS-Motors kann so ausgewählt werden, dass dieses eine kritische Stromdichte von mehr als 300 A/mm2 bei einer Betriebstemperatur von 4,2 K aufweist.The material of the windings of the HTS motor according to a further embodiment comprises metallic LTC superconductor material ("LTC" = Low Temperature Conducting). For example, bismuth-based superconducting material which is technically proven, resistant and thus easy to process is suitable. The superconducting material for the windings of the HTS motor may be selected to have a critical current density of more than 300 A / mm 2 at an operating temperature of 4.2K.
Zur Reduzierung des kühltechnischen Aufwandes ist es zweckmäßig, dass das Material der Wicklungen des HTS-Motors metalloxidisches HTC-Supraleitermaterial ("HTC" = High Temperature Conducting) enthält. Als HTC-Supraleitermaterial ist beispielsweise YBCuO geeignet, welches eine höhere Sprungtemperatur als metalloxidisches LTC-Supraleitermaterial aufweist. Der kühltechnische Aufwand beim Betrieb eines HTS-Motors mit Wicklungen aus HTC-Supraleitermaterial, ist daher entsprechend geringer.To reduce the cooling expense, it is expedient that the material of the windings of the HTS motor contains metal oxide HTC superconductor material ("HTC" = High Temperature Conducting). As HTC superconductor material, for example YBCuO is suitable, which has a higher transition temperature than metal oxide LTC superconductor material. The cooling overhead in the operation of a HTS motor with windings of HTC superconductor material is therefore correspondingly lower.
Vorzugsweise wird daher eine Betriebstemperatur zwischen 10 und 40 K, vorzugsweise zwischen 20 und 30 K, für die Wicklungen des HTS-Motors vorgesehen. In dem genannten Temperaturbereich weist metalloxidisches HTC-Supraleitermaterial außerdem eine hohe kritische Stromdichte und ein hohes kritisches Feld auf.Preferably, therefore, an operating temperature between 10 and 40 K, preferably between 20 and 30 K, provided for the windings of the HTS motor. In the stated temperature range, metal oxide HTC superconductor material also has a high critical current density and a high critical field.
Die erfindungsgemäße Walzstraße dient der Bearbeitung von Walzgut mit dem erfindungsgemäßen Rotationswerkzeug. Wesentliche im Zusammenhang mit dem Rotationswerkzeug genannte Vorteile treffen in gleicher Weise auf die erfindungsgemäße Walzstraße zu. Die Walzstraße weist wenigstens ein ("1") Walzgerüst auf.The rolling mill according to the invention serves for the processing of rolling stock with the rotary tool according to the invention. Essential advantages mentioned in connection with the rotary tool apply in the same way to the rolling train according to the invention. The rolling train has at least one ("1") mill stand.
Gemäß einer Weiterbildung handelt es sich bei dem Rotationswerkzeug um ein Walzgerüst, wobei die Walzstraße eine Mehrzahl von in einer Walzrichtung unmittelbar benachbarten Walzgerüsten, insbesondere im Tandembetrieb, umfasst.According to a development, the rotary tool is a rolling mill, wherein the rolling train comprises a plurality of rolling stands immediately adjacent in a rolling direction, in particular in tandem operation.
Die Walzstrasse ist entweder eine Vorstrasse und - mit besonderem Vorteil - eine Fertigstrasse eines Warmwalzwerks.The rolling train is either a roughing train and - with particular advantage - a finishing mill of a hot rolling mill.
Dabei umfasst die Walzstrasse, die insbesondere eine Fertigstrasse eines Warmwalzwerkes oder Warmbandwalzwerkes ist, zweckmäßigerweise mehrere Elektromotoren mit supraleitenden Wicklungen und es ist bei mindestens drei oder mindestens vier der Walzgerüste jeweils wenigstens eine der Arbeitswalzen getriebelos mit der Welle eines der Elektromotoren verbunden.In this case, the rolling train, which is in particular a finishing mill of a hot rolling mill or hot strip rolling mill, expediently comprises a plurality of electric motors with superconducting windings and at least three or at least four of the rolling stands respectively at least one of the work rolls gearless connected to the shaft of one of the electric motors.
Es wurde erkannt, dass die Walzgerüste in einer Walzstrasse, bedingt durch die räumliche Ausdehnung von Walzgerüst, Getriebe und Elektromotoren, einen Mindestabstand einhalten müssen, der minimale Abstand der Walzgerüste ist durch die Größe der Gerüstständer, von ggf. nötigen Zwischengerüsttransporteinrichtungen, von Elektromotoren bzw. Getriebe begrenzt. Durch die Verwendung von Walzgerüsten, deren Antrieb über einen HTS-Motor erfolgt, kann der minimale Abstand unmittelbar benachbarter Walzgerüste und so beispielsweise die unerwünschte Abkühlung des Walzguts durch verringerte thermische Abstrahlung vermindert werden.It was recognized that the rolling stands in a rolling mill, due to the spatial extent of rolling stand, gear and electric motors, must comply with a minimum distance, the minimum distance of the rolling stands by the size of the scaffold stands of possibly necessary Zwischengerüsttransporteinrichtungen, electric motors or Gear limited. By using rolling stands driven by a HTS motor, the minimum distance can be immediate adjacent rolling stands and so, for example, the unwanted cooling of the rolling stock can be reduced by reduced thermal radiation.
Besonders vorteilhaft weisen in einer solchen Anordnung, gemäß einer weiteren Ausführungsform, benachbarte Walzgerüste ein gemeinsames Kühlsystem auf.In such an arrangement, according to a further embodiment, adjacent rolling mills have particularly advantageously a common cooling system.
Besonders bei kontinuierlichen Warmwalzstrassen bedingt der Abstand zwischen den Walzgerüsten unerwünschte Veränderungen der Zustandsgrößen des Walzgutes. Der Gerüstabstand heutiger Warmwalzwerke in konventioneller Bauweise beträgt typischerweise mehr als 5,0 m bis 5,5 m. Infolge solcher Abstände kann sich das Walzgut beispielsweise zwischen den einzelnen Walzstichen zu stark abkühlen oder Zunder auf der Oberfläche bilden. Solche Effekte müssen durch zusätzliche Aggregate wie beispielsweise einem Induktionsofen oder einem Entzunderungsaggregat kompensiert werden. Der Einsatz solcher Zusatzaggregate sowie ihre Integration in die Walzstrasse ist einerseits teuer zum anderen resourcen-intensiv.Particularly in the case of continuous hot rolling mills, the distance between the rolling mills causes undesirable changes in the state variables of the rolling stock. The stand spacing of today's hot rolling mills in conventional construction is typically more than 5.0 m to 5.5 m. As a result of such distances, the rolling stock may, for example, cool down too much between the individual rolling passes or form scales on the surface. Such effects must be compensated by additional units such as an induction furnace or a Entzunderungsaggregat. The use of such additional units and their integration in the rolling mill is expensive on the one hand and resource-intensive on the other hand.
Der Abstand der Walzgerüste kann durch den Einsatz von Antriebsmotoren mit supraleitenden Wicklungen verringert werden, wodurch zusätzliche Aggregate z.B. zur Entzunderung oder zum Aufheizen des Walzgutes entfallen können.The distance of the rolling stands can be reduced by the use of drive motors with superconducting windings, whereby additional aggregates, e.g. can be omitted for descaling or for heating the rolling stock.
Gemäß einer bevorzugten Ausführungsform sind bei der Walzstrasse, bei der es sich insbesondere um eine Warmbreitbandstrasse oder/und um eine Fertigstrasse eines Warmbandwalzwerks, vorzugsweise in Tandem-Ausführung, handelt, zumindest zwei der Walzgerüste für eine maximale Walzkraft von mehr als 1500 t, insbesondere von mehr als 2000 t, mehr als 2500 t, mehr als 3000 t, mehr als 3500 t oder mehr als 4000 t, ausgelegt und diese beiden Walzgerüste weisen hierbei in Walzrichtung voneinander einen Abstand von weniger als 5,0 m, vorzugsweise von weniger als 4,5 m, weniger als 4,3 m, weniger als 4,0 m, weniger als 3,9 m, weniger als 3,7 m oder weniger als 3,5 m auf.According to a preferred embodiment, in the rolling train, which is in particular a hot strip mill or / and a finishing train of a hot strip rolling mill, preferably in tandem, at least two of the rolling stands for a maximum rolling force of more than 1500 t, in particular of more than 2,000 t, more than 2,500 t, more than 3,000 t, more than 3,500 t or more than 4,000 t, and these two rolling mills have a spacing of less than 5.0 m, preferably less than 4, in the rolling direction , 5 m, less than 4.3 m, less than 4.0 m, less than 3.9 m, less than 3.7 m or less than 3.5 m.
Der Abstand der Walzgerüste bestimmt sich hierbei als Abstand der Drehachsen der Arbeitswalzen benachbarter Walzgerüste in Walzrichtung.The distance of the rolling stands is determined here as the distance of the axes of rotation of the work rolls of adjacent rolling stands in the rolling direction.
Weiterhin bevorzugt weist die Walzstrasse eine - zum Beispiel als Teil der Prozessautomatisierung ausgebildete - Steuer-und/ oder Regeleinrichtung auf, insbesondere zur Steuerung einer Heizeinrichtung, einer Kühlstrecke, einer Fertigstaffel und/ oder einer Geschwindigkeit der Walzstrasse, die derart ausgebildet ist, dass ein infolge der HTS-Motoren gegenüber einer Verwendung konventioneller Motoren reduzierter Wärmeverlust im Walzgut berücksichtigt ist. Dies kann durch Implementierung in einem zugrundeliegenden Modell erfolgen. Besonders zweckmäßig ist die Berücksichtigung des verminderten Wärmeverlusts im Prozessautomatisierungssystem der Fertigstaffel, unter anderem bei der Regelung auf die Fertigbandtemperatur und/ oder auf die Haspeltemperatur.Furthermore, the rolling train preferably has a control and / or regulating device-designed, for example, as part of the process automation, in particular for controlling a heating device, a cooling section, a finishing stack and / or a speed of the rolling train, which is designed such that a result HTS engines are considered less expensive than conventional engines for reduced heat loss in the rolling stock. This can be done by implementation in an underlying model. Particularly appropriate is the consideration of the reduced heat loss in the process automation system of the finishing scale, including in the regulation of the finished strip temperature and / or on the reel temperature.
Mit Vorzug ist eine optionale - ggf. zwischen den Walzgerüsten vorhandene - Transporteinrichtung als vertikaler Schlingenheber ausgebildet. Damit wird eine weitere Verringerung des Gerüstabstandes erreicht.With preference, an optional - possibly existing between the rolling stands - transport device is designed as a vertical loop lifter. This achieves a further reduction in the distance between the stands.
Gemäß einer weiteren, bevorzugten Ausführungsform ist die Walzstraße Teil einer Gieß-Walz-Verbund-Anlage zur kontinuierlichen Herstellung von Warmband. Die Verarbeitungsgeschwindigkeit einer Gieß-Walz-Verbund-Anlage ist durch die Geschwindigkeit der Gießeinrichtung (Caster) bestimmt. Die zwischen den einzelnen Walzstichen auftretenden Zustandsveränderungen des Walzgutes, beispielsweise dessen Abkühlung, können folglich nicht in einfacher Weise durch eine Erhöhung der Walzgeschwindigkeit kompensiert werden. Die Erfinder haben erkannt, dass eine Verringerung des Abstands der Walzgerüste somit eine sehr vorteilhafte Möglichkeit darstellt, zwischengeschaltete Aggregate, wie beispielsweise Entzunderungsanlagen oder Induktionsöfen wirksam zu vermeiden oder weniger aufwändig auszugestalten. Ein verringerter Abstand der Walzgerüste kann durch Einsatz eines HTS-Motors erreicht werden.According to a further preferred embodiment, the rolling train is part of a cast-rolling composite plant for the continuous production of hot strip. The processing speed of a cast-rolling composite plant is determined by the speed of the caster. Consequently, the state changes of the rolling stock occurring between the individual rolling passes, for example the cooling thereof, can not be compensated in a simple manner by increasing the rolling speed. The inventors have recognized that a reduction in the distance of the rolling stands thus represents a very advantageous possibility of effectively avoiding intermediate units, such as descaling systems or induction furnaces, for example, or making them less complicated. A reduced distance The rolling stands can be achieved by using a HTS engine.
Vorzugsweise ist bei der Gieß-Walz-Verbund-Anlage, die eine vor oder nach der Walzstraße angeordnete Heizeinrichtung zur Erwärmung des von einer Gießeinrichtung gegossenen Bandes aufweist, die Heizeinrichtung bezüglich ihrer Heizleistung unter Berücksichtigung eines infolge der verwendeten Elektromotoren reduzierten Wärmeverlustes im Walzgut oder Band hergerichtet.Preferably, in the cast-rolling composite plant having a heating means arranged before or after the rolling mill for heating the belt cast from a casting apparatus, the heater is adjusted for heating power in consideration of a reduced heat loss in the rolling stock or strip due to the electric motors used ,
Im Grenzfall kann die Gieß-Walz-Verbund-Anlage ganz ohne eine solche Heizeinrichtung ausgeführt werden.In the limit case, the cast-rolling composite plant can be carried out completely without such a heater.
Die verfahrensbezogene Aufgabe wird gemäß der Erfindung gelöst durch ein Verfahren zum Betrieb einer Gieß-Walz-Verbundanlage, wobei Walz- oder Bandgut - vorzugsweise aus Stahl - mit einem Massendurchsatz (m als Masse pro Zeit) durch die Walzstraße transportiert wird und wobei die Heizeinrichtung mit einer Heizleistung (P) betrieben wird gemäß:
wobei für den Faktor k gilt: k = 0,14(MW·h/t), insbesondere k = 0,13(MW·h/t), k = 0,12(MW·h/t) oder k = 0,11(MW·h/t). Dabei steht MW für Megawatt, h für Stunden und t für (metrische) Tonnen.The method-related object is achieved according to the invention by a method for operating a cast-rolled composite plant, wherein rolling or strip material - preferably steel - is transported through the mill train at a mass flow rate (m as mass per time) and wherein the heater with a heating power (P) is operated according to:
where k = 0.14 (MW × h / t), in particular k = 0.13 (MW × h / t), k = 0.12 (MW × h / t) or k = 0 for the factor k , 11 (MW · h / t). Here, MW stands for megawatts, h for hours and t for (metric) tons.
Im Rahmen der Erfindung liegt auch ein Verfahren zur Leistungssteigerung einer bestehenden Walzstrasse umfassend mindestens ein Walzgerüst mit nicht-supraleitendem und in einem begrenzten Bauraum angeordnetem Motorantrieb. Bei dem Leistungssteigerungsverfahren wird der nicht-supraleitende Motor durch einen die Bauraumbegrenzung nicht überschreitenden HTS-Motor, also einen Elektromotor mit supraleitenden Wicklungen, ersetzt, der derart ausgelegt ist, dass das maximale Walzmoment im Walzgerüst gegenüber der bestehenden Walzstrasse vergrößert ist. Es wird entweder nur der Rotor supraleitend ausgelegt, oder nur der Stator, oder beide.In the context of the invention is also a method for increasing the performance of an existing rolling mill comprising at least one rolling stand with non-superconducting and arranged in a limited space motor drive. In the power enhancement method, the non-superconducting motor is replaced by a HTS motor that does not exceed the installation space limitation, ie an electric motor with superconducting windings, which is designed such that the maximum rolling moment in the rolling stand is increased compared to the existing rolling line is. It is designed either superconducting only the rotor, or only the stator, or both.
Im Folgenden wird die Erfindung anhand von in der Zeichnung dargestellten Ausführungsbeispielen näher erläutert. Dabei zeigt deren
- Figur 1
- eine Kaltwalz-Tandemstraße in schematischer Per- spektivansicht,
- Figur 2
- eine schematisierte Warmwalzstraße in Perspektivan- sicht,
- Figur 3
- einen Zwillingsantrieb ("Twin-Drive") eines Walzge- rüsts in einer schematischen Querschnittsansicht,
Figur 4- eine schematisierte Tandemwalzstraße in (geschnit- tener) Draufsicht,
Figur 5- eine schematisch dargestellte Gieß-Walz- Verbundanlage,
- Figur 6
- ein Walzkraft-Gerüstabstands-Diagramm, und
- Figur 7
- eine Walzgerüstausführung mit Schlingenheber, in einem schematischem Längsschnitt.
- FIG. 1
- a cold rolling tandem mill in a schematic perspective view,
- FIG. 2
- a schematic hot rolling mill in perspective,
- FIG. 3
- a twin drive of a rolling stand in a schematic cross-sectional view,
- FIG. 4
- a schematized tandem rolling mill in (cut) plan view,
- FIG. 5
- a schematically illustrated cast-rolled composite plant,
- FIG. 6
- a rolling force stand distance diagram, and
- FIG. 7
- a rolling mill version with looper, in a schematic longitudinal section.
Eine Tandemkaltwalzstraße 2, wie sie
Alternativ können, wie bei dem in Walzrichtung W folgenden Walzgerüst 10 dargestellt ist, die Arbeitswalzen 12 über das Kammwalzengetriebe 22, welches antriebsseitig wiederum mit einem (hier nur einzigen) HTS-Motor 20 verbunden ist, angetrieben werden.Alternatively, as shown in the roll stand 10 following in the rolling direction W, the work rolls 12 can be driven via the
Die Auf- und Abhaspeln 16,6 sowie die Walzgerüste 10 sind mit einer gemeinsamen Steuer- und/oder Regeleinrichtung 105 verbunden, auf welche später im Detail eingegangen werden soll.The rewinding and reeling 16.6 and the rolling stands 10 are connected to a common control and / or regulating
Die HTS-Motoren 20 weisen ein gemeinsames Kühlsystem 26 auf, mit dem ihre supraleitenden Wicklungen gekühlt werden. Bei dem Kühlsystem 26 handelt es sich um ein allgemein aus der Kryotechnik bekanntes, isoliertes Rohrsystem, in welchem ein Kältemittel zirkuliert und in welches eine Kälteeinheit 28 integriert ist. Diese umfasst üblicherweise einen Vorratsbehälter für das Kältemittel, bei dem es sich beispielsweise um flüssiges Helium, Neon, Stickstoff oder ein Gemisch dieser Gase handelt. Die Kälteeinheit 28 umfasst außerdem einen Kompressor oder einen Kaltkopf zur Verflüssigung des Kühlmittels. Die Zirkulation des Kühlmittels in dem Kühlsystem 26 kann mit Hilfe einer Pumpe erfolgen oder durch einen Thermosiphoneffekt getrieben sein.The
Die Arbeitswalzen 12 werden von den HTS-Motoren 20 direkt angetrieben, d.h. die Welle 23 der Arbeitswalze 12 und die Motorwelle 25 der HTS-Motoren 20 bilden ein gemeinsames Bauteil. Die HTS-Motoren 20 der unmittelbar nebeneinander angeordneten Walzgerüste 10 weisen ein gemeinsames Kühlsystem 26 mit einer intergrierten Kälteeinheit 28 auf.The work rolls 12 are driven directly by the
Infolge der kompakteren Ausführung und engeren Bauweise sind die Wärmeverluste erheblich verringert. Dies kann in einem für die Walzstraße in einem übergeordneten (nicht explizit gezeichneten) Leitsystem ablaufenden Kühlmodell zur Beinflussung der metallurgischen Veränderungen im Walzgut während des Walzens vorteilhaft berücksichtigt werden.Due to the more compact design and narrower design, the heat losses are significantly reduced. This can be advantageously taken into account in a cooling model for the rolling mill in a superordinate (not explicitly drawn) control system for influencing the metallurgical changes in the rolling stock during rolling.
Es folgen eine Heizeinrichtung 52, eine Entzunderungseinrichtung 54, eine zweite Walzstraße 56 ("Finishing Mill"), eine Kühlstrecke 58, eine Endschere 60 zum Schneiden auf gewünschte Produktlänge sowie eine Aufwickelvorrichtung 62 für das fertige Produkt ("coil"). Die Antriebe der Walzen der zweiten Walzstraße 56 sind als HTS-Motoren ausgeführt, was ebenso wie bei den Walzen der ersten Walzstraße 46 besondere Platzvorteile mit sich bringt.This is followed by a
Durch die entsprechend kompakte und kurze Bauweise kann auf Einrichtungen zur Zufuhr zusätzlicher Wärme (z.B. "bar heater"), um ein unerwünschtes frühzeitiges Auskühlen des Bandes zu vermeiden, entweder ganz verzichtet werden oder die entsprechenden Einrichtungen werden kleiner dimensioniert als ohne Einsatz von HTS-Motoren. In der
Die Erfindung hat nicht nur Auswirkungen auf die Dimensionierung einer Walzanlage, sondern auch auf die Ansteuerung der Anlage und ihrer Komponenten. Daher ist eine Steuer- und/ oder Regeleinrichtung 105 (
Die Gerade 102 kann beschrieben werden durch folgende Gleichung:
Erfindungsgemäß, d.h. bei Verwendung eines oder mehrerer HTS-Motoren, wird für eine bestimmte von dem Walzgerüst aufzubringende Walzkraft F der Abstand B der Walzgerüste kleiner gewählt als sich der aus der Formel ergebende Wert für Bmax:
Claims (20)
wobei für den Faktor k gilt: k = 0,14(MW·h/t), insbesondere k = 0,13(MW·h/t), k = 0,12 (MW·h/t) oder k = 0, 11 (MW·h/t) .A method of operating a cast-roller composite plant (40) according to claim 18, wherein rolling stock - preferably of steel - with a mass flow rate (m) through the rolling line (46) is transported and wherein the heating device (54) with a heating power (P). is operated according to:
where k = 0.14 (MW × h / t), in particular k = 0.13 (MW × h / t), k = 0.12 (MW × h / t) or k = 0 for the factor k , 11 (MW · h / t).
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP09161954A EP2258491A1 (en) | 2009-06-04 | 2009-06-04 | Rotation tool for a mill train and method for operating a casting-roller compound assembly |
PCT/EP2010/057524 WO2010139659A1 (en) | 2009-06-04 | 2010-05-31 | Energy-saving rolling mill train and energy-saving process for operating a combined casting and rolling station |
EP10724421.2A EP2437900B1 (en) | 2009-06-04 | 2010-05-31 | Energy-saving rolling mill train and energy-saving process for operating a combined casting and rolling station |
BRPI1010788A BRPI1010788A2 (en) | 2009-06-04 | 2010-05-31 | "energy saving rolling mill and energy saving process for operating a combined rolling and casting plant" |
RU2011153722/02A RU2011153722A (en) | 2009-06-04 | 2010-05-31 | ENERGY-SAVING ROLLING MACHINE AND ENERGY-SAVING METHOD OF OPERATION OF THE INSTALLATION FOR COMBINED CONTINUOUS CASTING AND ROLLING |
US13/376,312 US9174255B2 (en) | 2009-06-04 | 2010-05-31 | Energy-saving rolling mill train and energy-saving process for operating a combined casting and rolling station |
CN201080024434.5A CN102802825B (en) | 2009-06-04 | 2010-05-31 | Energy-saving rolling mill train and energy-saving process for operating a combined casting and rolling station |
Applications Claiming Priority (1)
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EP09161954A EP2258491A1 (en) | 2009-06-04 | 2009-06-04 | Rotation tool for a mill train and method for operating a casting-roller compound assembly |
Publications (2)
Publication Number | Publication Date |
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EP2258491A1 true EP2258491A1 (en) | 2010-12-08 |
EP2258491A8 EP2258491A8 (en) | 2011-03-16 |
Family
ID=41323423
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09161954A Withdrawn EP2258491A1 (en) | 2009-06-04 | 2009-06-04 | Rotation tool for a mill train and method for operating a casting-roller compound assembly |
EP10724421.2A Not-in-force EP2437900B1 (en) | 2009-06-04 | 2010-05-31 | Energy-saving rolling mill train and energy-saving process for operating a combined casting and rolling station |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
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EP10724421.2A Not-in-force EP2437900B1 (en) | 2009-06-04 | 2010-05-31 | Energy-saving rolling mill train and energy-saving process for operating a combined casting and rolling station |
Country Status (6)
Country | Link |
---|---|
US (1) | US9174255B2 (en) |
EP (2) | EP2258491A1 (en) |
CN (1) | CN102802825B (en) |
BR (1) | BRPI1010788A2 (en) |
RU (1) | RU2011153722A (en) |
WO (1) | WO2010139659A1 (en) |
Cited By (4)
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WO2012080368A1 (en) * | 2010-12-16 | 2012-06-21 | Sms Siemag Ag | Rolling mill for producing steel for tubes and thin strip |
WO2015169576A1 (en) * | 2014-05-06 | 2015-11-12 | Siemens Aktiengesellschaft | Cooling device for at least two components to be cooled, rail vehicle and method for cooling |
EP2982453A1 (en) * | 2014-08-06 | 2016-02-10 | Primetals Technologies Austria GmbH | Adjustment of a targeted temperature profile on the strip head and strip foot before transversally cutting a metal strip |
WO2019034677A1 (en) * | 2017-08-18 | 2019-02-21 | Sms Group Gmbh | Direct drive for rollers, rolls and winches in the steel/nonferrous industry |
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EP2258491A1 (en) | 2009-06-04 | 2010-12-08 | Siemens Aktiengesellschaft | Rotation tool for a mill train and method for operating a casting-roller compound assembly |
EP2524971A1 (en) | 2011-05-20 | 2012-11-21 | Siemens VAI Metals Technologies GmbH | Method and device for preparing steel milled goods before hot rolling |
CN103920709B (en) * | 2014-04-03 | 2015-12-30 | 青岛圣合钢管制品有限公司 | A kind of continous way automatic pressing milling train |
WO2021115900A1 (en) * | 2019-12-11 | 2021-06-17 | Sms Group Gmbh | Modular rolling train, particularly hot rolling train, preferably in conjunction with an upstream casting facility |
CN112077146A (en) * | 2020-08-18 | 2020-12-15 | 上海双张新材料科技有限公司 | Device and method for continuous casting and rolling of high-precision special-shaped copper strip |
EP4019157A1 (en) | 2020-12-23 | 2022-06-29 | Primetals Technologies Austria GmbH | Production system for producing rolled product and method for assembling and disassembling the production system |
CN114309072B (en) * | 2021-11-18 | 2023-11-03 | 中冶赛迪工程技术股份有限公司 | Layered accident handling method and device after endless rolling and lower swinging shearing of plate strip |
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-
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- 2010-05-31 US US13/376,312 patent/US9174255B2/en not_active Expired - Fee Related
- 2010-05-31 RU RU2011153722/02A patent/RU2011153722A/en not_active Application Discontinuation
- 2010-05-31 EP EP10724421.2A patent/EP2437900B1/en not_active Not-in-force
- 2010-05-31 WO PCT/EP2010/057524 patent/WO2010139659A1/en active Application Filing
- 2010-05-31 BR BRPI1010788A patent/BRPI1010788A2/en not_active Application Discontinuation
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Also Published As
Publication number | Publication date |
---|---|
BRPI1010788A2 (en) | 2016-03-29 |
EP2437900B1 (en) | 2014-06-25 |
WO2010139659A1 (en) | 2010-12-09 |
RU2011153722A (en) | 2013-07-20 |
US20120073345A1 (en) | 2012-03-29 |
CN102802825A (en) | 2012-11-28 |
EP2437900A1 (en) | 2012-04-11 |
CN102802825B (en) | 2015-02-04 |
EP2258491A8 (en) | 2011-03-16 |
US9174255B2 (en) | 2015-11-03 |
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