WO2005051569A1 - 連続鋳造鋳片の凝固完了位置検知方法及び検知装置並びに連続鋳造鋳片の製造方法 - Google Patents
連続鋳造鋳片の凝固完了位置検知方法及び検知装置並びに連続鋳造鋳片の製造方法 Download PDFInfo
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- WO2005051569A1 WO2005051569A1 PCT/JP2004/017824 JP2004017824W WO2005051569A1 WO 2005051569 A1 WO2005051569 A1 WO 2005051569A1 JP 2004017824 W JP2004017824 W JP 2004017824W WO 2005051569 A1 WO2005051569 A1 WO 2005051569A1
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- completion position
- ultrasonic sensor
- shear wave
- wave
- longitudinal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
- B22D11/18—Controlling or regulating processes or operations for pouring
- B22D11/181—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level
- B22D11/186—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level by using electric, magnetic, sonic or ultrasonic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/02—Analysing fluids
- G01N29/024—Analysing fluids by measuring propagation velocity or propagation time of acoustic waves
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F7/00—Magnets
- H01F7/02—Permanent magnets [PM]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/02881—Temperature
Definitions
- the present invention relates to a method and an apparatus for online detecting the solidification completion position of a continuous structure piece manufactured by a continuous structure machine, and a method of manufacturing a continuous structure piece.
- the coagulation completion position moves to the downstream side in the production direction of the cinnamon pieces. If the solidification completion position exceeds the range of the cryop support roll, the flake will expand due to the action of the static iron pressure (hereinafter referred to as "bulging"), and if the internal quality is deteriorated or huge bulging occurs, the structure will be damaged. Problems such as suspension occur. Therefore, if the solidification completion position is not clearly known, the production speed cannot be increased unnecessarily.
- a commonly used method is to calculate heat transfer in the solidification process of ⁇ and estimate the position where the temperature at the center of the ⁇ becomes the solidus line as the solidification completion position (for example, , Patent Document 1).
- Patent Document 2 discloses that longitudinal waves are transmitted to a piece by an electromagnetic ultrasound transmitter and a receiver, Using the following formula (1), based on the longitudinal propagation time, the thickness of the piece, and the longitudinal wave propagation arbitration in the solid phase region and liquid phase region determined in advance by measuring A method for determining the thickness of a solid phase and a liquid phase is disclosed.
- d is the thickness of the solid phase
- t is the propagation time
- D is the thickness of the piece
- ⁇ ⁇ is the average velocity of longitudinal waves in the liquid phase
- V s is the average of longitudinal waves in the solid phase.
- the propagation speed is the propagation speed.
- a method for estimating the position is disclosed.
- Patent Document 4 considers that the propagation speed of longitudinal waves in a solid phase has temperature dependence, and considers the average value of the propagation velocity from the temperature distribution of the solid phase. And a method for accurately determining the solid phase thickness by using this average value.
- the transverse wave of the ultrasonic wave is propagated to the piece by the transmitter and the receiver of the electromagnetic ultrasound, and the transverse wave does not propagate in the liquid phase.
- a method for determining whether the solidification completion position has reached or has not reached the installation position has also been proposed (for example, see Patent Documents 5 and 6).
- Patent Document 1 JP-A-5-123842
- Patent Document 2 Japanese Patent Laid-Open No. 55-158506
- Patent defect 3 Japanese Patent Laid-Open No. 57-32863
- Patent Document 4 Japanese Patent Laid-Open No. 55909/1990
- Patent Document 5 JP-A-63-313643
- Patent Document 6 JP-A-2002-14083 DISCLOSURE OF THE INVENTION
- the solid phase thickness is calculated using the propagation speeds of the longitudinal waves in the solid and liquid phases, but this propagation speed differs depending on the steel type. Since this propagation speed is not known for all steel grades, it is necessary to drive the casting into the slab to calibrate the measured values obtained from the propagation time. Therefore, it is practically impossible to calibrate all steel types, as in the method using heat transfer calculations.
- the present invention has been made in order to solve the above-mentioned problems, and an object of the present invention is to eliminate the need for calibration by driving a piece into a piece, and to determine a coagulation completion position only from a value measured by a sensor.
- the present invention provides a method and a device for detecting the solidification completion position of a continuous cast metal piece that can be accurately detected, and at the same time, the solidification obtained by the solidification completion position detection method and the detection device.
- An object of the present invention is to provide a method of manufacturing an intermittently manufactured piece that makes it possible to enhance productivity or quality by using information on a completed position.
- the present inventors have conducted intensive studies and researches to solve the above problems.
- the study and research results are described below.
- the propagation speed in the liquid phase is Since the propagation speed is slower than the propagation speed, the propagation time W measured by the longitudinal ultrasonic sensor changes with high sensitivity according to the solid phase thickness, and the measured solid phase thickness and the solidification derived from this solid phase thickness It was found that the relative measurement accuracy of the completion position was extremely high.
- the formula for calculating the coagulation completion position such as equation (1) is calibrated, or the physical properties used for heat transfer calculation are calibrated. Coagulation completed using longitudinal ultrasonic waves with excellent relative measurement accuracy It was found that the method of estimating the position and the method of estimating the solidification completion position by heat transfer calculation can be used as a detection means with excellent absolute accuracy. In addition, according to this method, there is also a problem that the coagulation completion position cannot be measured under the condition of cycling where the coagulation completion position is downstream of the shear wave ultrasonic sensor in the manufacturing direction when only the shear wave ultrasonic wave is used. It turned out to be resolved.
- the coagulation completion position is determined by the propagation time Will be calibrated.
- heat transfer calculation is performed under manufacturing conditions where the solidification completion position is set as the position of the shear wave ultrasonic sensor, and the physical property values are set so that the solidification completion position based on the heat transfer calculation is the position of the shear wave ultrasonic sensor. Once determined, the heat transfer equation will be calibrated.
- a second shear wave ultrasonic sensor is provided downstream of the shear wave ultrasonic sensor, which is the first calibration point, in the manufacturing direction. Even under the casting conditions where the position of the second shear wave ultrasonic sensor is set to the solidification completion position, the formula for calculating the solidification completion position, such as equation (1), can be calibrated to obtain the solidification completion position. It was found that the measurement accuracy was greatly improved.
- the solidification completion position when the solidification completion position is located downstream of the longitudinal ultrasonic sensor in the direction of the cryogenic structure and the liquid phase is included in the propagation path of the longitudinal ultrasonic wave, the propagation velocity in the liquid phase is reduced.
- the propagation speed is much slower than the propagation speed in the solid phase, and the propagation time changes with good sensitivity according to the thickness of the solid phase, but the solidification completion position is located upstream of the longitudinal ultrasonic sensor in the manufacturing direction.
- the liquid phase if the liquid phase is not included in the propagation path of the longitudinal ultrasonic wave, the propagation time does not change with high sensitivity even if the manufacturing conditions change.
- the coagulation completion position is calculated when the coagulation completion position is upstream or downstream of the position where the longitudinal ultrasonic sensor is arranged. It turned out that it is preferable to use a different calculation formula as the calculation formula.
- the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor must be integrated. It is desirable to do. Therefore, the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor are integrated.
- ⁇ A longitudinal wave coil that has three or more magnetic poles in the width direction of the piece and is arranged so as to wind around the inner magnetic pole, and a transverse wave coil that is arranged so as to overlap the magnetic pole surface It has been found that it is possible to integrate the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor by configuring the integrated sensor having the following structure.
- a propagation time measuring sensor for measuring the propagation time of a longitudinal wave or a transverse wave is installed with the same force as that of the above-mentioned transverse wave ultrasonic sensor or separately, and various methods are used.
- the measured value of the propagation time under the manufacturing conditions is obtained, and at the same time, the solidification completion position is obtained using the calibrated heat transfer formula, and a relational expression or table between the obtained solidification completion position and the measured propagation time is created. It was found that by using the created relational expression or table, the solidification completion position can be accurately obtained from the measured value of the propagation time without performing the heat transfer calculation each time.
- the present invention has been made based on the above-described examination results, and a method for detecting a solidification completion position of a continuous cast metal piece according to the first invention is to transmit transverse ultrasonic waves to a discontinuous cast metal piece; A transverse ultrasonic sensor for receiving the transmitted transverse ultrasonic wave; and a longitudinal ultrasonic sensor for transmitting the longitudinal ultrasonic wave to the continuous casting and receiving the transmitted longitudinal ultrasonic wave. It is placed at the same position on the continuous machine or at the same position in the width direction of two pieces separated in the manufacturing direction, and the coagulation complete position of the piece is determined by the change in the strength of the received signal of the shear wave ultrasonic sensor.
- the longitudinal wave is set so that the coagulation completion position calculated from the propagation time of the longitudinal ultrasonic wave at that time coincides with the position of the transverse ultrasonic sensor.
- Finding the coagulation completion position from the ultrasonic propagation time Calibrate the formula, after calibration, based on the calibrated calculation formula, and is characterized in obtaining the solidification completion position from the propagation time of the longitudinal ultrasonic waves.
- the method for detecting a coagulation completion position of a continuous structure piece according to a second invention is the method according to the first invention, further comprising the step of: A shear wave ultrasonic sensor is arranged, and it is detected that the coagulation completion position of the piece coincides with the position where the second shear wave ultrasonic sensor is arranged based on a change in the intensity of the received signal of the second shear wave ultrasonic sensor. Then, the coagulation completion position is determined from the propagation time of the longitudinal ultrasonic wave so that the coagulation completion position calculated from the propagation time of the longitudinal ultrasonic wave at that time coincides with the position where the second transverse ultrasonic sensor is arranged. It is characterized by further calibrating the calculated formula.
- the solidification completion position detecting method of the interrupted cast slab according to the third invention is the same as the first or second invention.
- the calculation formula for obtaining the solidification completion position from the propagation time of the longitudinal ultrasonic wave is based on the case where the solidification completion position is on the upstream side and the downstream side in the casting direction of the position where the longitudinal ultrasonic sensor 1 is arranged. It is characterized by a different formula.
- a solidification completion position detecting method for a continuous cast piece is a method for transmitting a transverse ultrasonic wave to a continuous cast piece and receiving the transmitted transverse ultrasonic wave to a continuous form machine. Based on a change in the intensity of the received signal of the shear wave ultrasonic sensor, it is detected that the coagulation completion position of the mirror piece coincides with the position where the shear wave ultrasonic sensor is arranged, and the transmission using the structural conditions at that time is detected.
- the physical property values used in the heat transfer calculation are calibrated so that the solidification completion position calculated by the heat calculation matches the position where the shear wave ultrasonic sensor is arranged, and after calibration, each ⁇ is used using the calibrated physical property values. It is characterized in that the solidification completion position under the manufacturing conditions is obtained by heat transfer calculation.
- a method for detecting a solidification completion position of a continuous structure piece comprising: a transverse wave sensor for transmitting a transverse wave ultrasonic wave to the continuous cast piece and receiving the transmitted transverse wave ultrasonic wave; And detects that the coagulation completion position of the piece coincides with the position where the shear wave ultrasonic sensor is located based on the change in the intensity of the received signal of the shear wave ultrasonic sensor, and uses the structural conditions at that time.
- the physical properties used in the heat transfer calculation were calibrated so that the solidification completion position calculated by the heat transfer calculation matched the position where the shear wave ultrasonic sensor 1 was placed, and then calibrated under various conditions
- the solidification completion position is determined by heat transfer calculation using physical property values
- the propagation time is measured by the shear wave ultrasonic sensor
- the solidification completion position determined by heat transfer calculation is measured by the shear wave ultrasonic sensor.
- a method for detecting the coagulation completion position of an interrupted structure comprising: a first shear wave ultrasonic sensor that transmits a shear wave ultrasonic wave to a continuous structure piece and receives the transmitted shear wave ultrasonic wave; A longitudinal ultrasonic sensor for transmitting longitudinal ultrasonic waves to the continuous structure and receiving the transmitted longitudinal ultrasonic waves; or, transmitting a longitudinal ultrasonic wave and receiving the transmitted transverse ultrasonic waves. And at least one of the second shear wave ultrasonic sensors to be disposed in the continuous machine, and the coagulation completion position of the piece is set to the first position based on the change in the intensity of the reception signal of the first shear wave ultrasonic sensor.
- the position coincides with the position where the shear wave ultrasonic sensor 1 is arranged, and the solidification completion position calculated by heat transfer calculation using the molding conditions at that time is determined by the first shear wave ultrasonic sensor 1.
- the physical property values used in the ripening calculation are calibrated, and then, under various molding conditions, the solidification completion position is determined by heat transfer calculation around the calibrated physical property values, and the longitudinal wave ultrasonic sensor or the second shear wave is used.
- a method for detecting a solidification completion position of a continuous cast slab wherein the calibration is performed using a calculation formula calibrated by a method described in any one of the first to third methods.
- the solidification completion position in the continuous casting machine is obtained from the propagation time of the longitudinal ultrasonic wave by the longitudinal ultrasonic sensor arranged in another different cycling machine that is the same as or different from the continuous molding machine that has been implemented. It is.
- the solidification completion position detecting method for a continuous cast piece according to an eighth invention is a method for detecting the solidification completion position of a continuous cast piece, wherein the physical property value calibrated by the method described in the fourth invention is different from or different from that of the continuous cast machine that has performed the calibration.
- the heat transfer calculation is performed using the bell forming conditions of the continuous machine and the solidification completion position in the discontinuous machine is obtained.
- a method for detecting a solidification completion position of a continuous structure piece according to a ninth invention includes a solidification completion position obtained from heat transfer calculation and an ultrasonic sensor obtained by the method described in the fifth or sixth invention. Based on the relationship with the measured propagation time, the ultrasonic wave generated by the shear wave ultrasonic sensor or the longitudinal wave ultrasonic sensor arranged in another continuous machine that is the same as or different from the continuous machine whose relationship was determined. The method is characterized in that a solidification completion position in the continuous chin machine is obtained from the propagation time.
- a method of manufacturing a continuous molded piece according to the tenth aspect of the present invention includes the step of detecting the completion of solidification of a continuous molded piece according to any one of the first to sixth aspects.
- the method is characterized in that the position is determined, and based on the result of the determination, the casting speed or the secondary cooling strength of the cast piece is adjusted.
- An apparatus for detecting a coagulation completion position of a continuous artificial piece includes a shear wave transmitter that transmits a shear wave ultrasonic wave to a continuous structure piece and a shear wave receiver that receives the transmitted shear wave ultrasonic wave. And a discontinuous structure installed at the same position in the continuous casting machine or at the same position in the width direction of the plywood separated in the forming direction from the disposition position of the transverse wave ultrasonic sensor.
- Longitudinal wave ultrasonic wave for cypress A longitudinal wave ultrasonic sensor comprising a longitudinal wave transmitter for transmitting and a longitudinal wave receiver for receiving the transmitted longitudinal wave ultrasonic wave, and a calculation formula based on the received signal received by the longitudinal wave ultrasonic sensor.
- the solidification completion position detection device for a continuous production piece according to a twelfth aspect of the present invention is the device according to the eleventh aspect, further comprising a second component located at the same position in the mold width direction downstream of the shear wave ultrasonic sensor in the production direction. That the position of the second shear wave ultrasonic sensor and the position where the coagulation of the piece has been completed are matched by a change in the intensity of the received signal of the second shear wave ultrasonic sensor. At the time of confirmation, the calculation formula is further calibrated so that the coagulation completion position calculated by the calculation formula matches the arrangement position of the second shear wave ultrasonic sensor.
- the solidification completion position detection device for a continuous structure piece according to a thirteenth invention is characterized in that, in the first or the second invention, the transverse wave transmitter and the longitudinal wave transmitter are arranged on one side with a mold piece interposed therebetween.
- the shear wave receiver and the longitudinal wave receiver are arranged on opposite sides of a mirror piece, and the shear wave transmitter and the longitudinal wave transmitter, and the shear wave receiver and the longitudinal wave receiver are combined.
- An integral structure having three or more magnetic poles in the width direction of the piece and having a longitudinal wave coil arranged so as to wind around the inner magnetic pole, and a transverse wave coil arranged so as to overlap the magnetic pole surface It is characterized by comprising an electromagnetic ultrasonic sensor.
- the continuous coagulation coagulation completion position detecting device includes a shear wave transmitter for transmitting shear wave ultrasonic waves to a discontinuous structure piece and a shear wave reception for receiving the transmitted shear wave ultrasonic waves. And a heat transfer calculation unit for performing heat transfer calculation based on the manufacturing conditions and physical property values to obtain the solidification completion position of the shinki pieces.
- a coagulation completion position detecting device wherein it was confirmed that the arrangement position of the shear wave ultrasonic sensor and the coagulation completion position of the piece coincided by a change in the intensity of the reception signal of the shear wave ultrasonic sensor ⁇ ".
- the physical property values used in the heat transfer calculation are calibrated so that the solidification completion lightning calculated by the heat transfer calculation unit matches the arrangement position of the shear wave ultrasonic sensor. .
- the solidification completion position detecting device for a cast metal slab according to the fifteenth aspect of the present invention, A shear wave sensor that consists of a shear wave transmitter that transmits wave ultrasonic waves and a shear wave receiver that receives transmitted shear wave ultrasonic waves, and performs heat transfer calculation based on mirroring conditions and physical property values
- the heat transfer calculation unit for determining the solidification completion position of the cast, and the solidification completion position of the cast using the relationship between the received signal received by the shear wave ultrasonic sensor and the solidification completion position calculated by the heat transfer calculation unit.
- the position of the shear wave ultrasonic sensor is determined by a change in the intensity of the reception signal of the shear wave ultrasonic sensor.
- a coagulation completion position detecting device for a continuous plywood piece comprises a shear wave transmitter for transmitting a shear wave ultrasonic wave to the continuous plywood piece and a shear wave receiver for receiving the transmitted shear wave ultrasonic wave.
- a longitudinal wave ultrasonic sensor comprising a longitudinal wave ultrasonic sensor, a longitudinal wave transmitter for transmitting longitudinal wave ultrasonic waves to a continuous structure, and a longitudinal wave receiver for receiving transmitted longitudinal wave ultrasonic waves.
- a coagulation completion position estimating unit that obtains the coagulation completion position of the piece using the relationship with the coagulation completion position calculated in step 1.
- the position of the shear wave ultrasonic sensor and the position of the ⁇ At the time when it is confirmed that the coagulation completion position of the piece matches, the heat transfer calculation is performed so that the coagulation completion position calculated by the heat transfer calculation unit matches the arrangement position of the shear wave ultrasonic sensor.
- the physical property values used are calibrated, and after the physical property values are calibrated, the relationship between the received signal received by the longitudinal ultrasonic sensor in the coagulation completion position estimating unit and the coagulation completion position calculated by the heat transfer calculation unit is calculated.
- the coagulation completion position is obtained from the propagation time measured by the longitudinal wave ultrasonic sensor based on the determined fb and the relationship.
- the same position in the mirror piece width direction in the present invention means within a range in which the change in the casting direction at the solidification completion position can be considered to be almost non-existent.
- the solidification completion position may differ in the width direction of the slab.
- the shape in the width direction of the solidification at the solidification completion position can be regarded as flat, the shape may be separated by several hundred millimeters. If it has changed significantly, it must be within several tens of Omm. This is because the wavelength of the ultrasonic wave used for this purpose is several 10 mm and the size of the sensor is about several 10 mm. If they exist, they can be regarded as the same position.
- the same position in the continuous machine means not only the same position in the one piece width direction but also the same position in the machine direction. ⁇ Same position in the manufacturing direction ⁇ means that the position of the sensor placement hole is the same.
- FIG. 1 is a diagram showing a first embodiment of the present invention.
- FIG. 2 is a diagram showing the configuration and operation of an electromagnetic ultrasonic sensor for generating and detecting longitudinal and transverse ultrasonic waves at the same position.
- FIG. 3 is a diagram illustrating the operation of the shear wave transmission intensity detection unit.
- FIG. 4 is a diagram illustrating an example of the operation of the solidification completion position reaching detection unit.
- FIG. 5 is a diagram illustrating the operation of the longitudinal wave propagation time detector.
- FIG. 6 is a diagram illustrating the operation of the solidification completion position calculation unit according to the first embodiment.
- FIG. 7 is a diagram showing a configuration in which four magnetic poles of one electromagnetic ultrasonic sensor for generating and detecting longitudinal ultrasonic waves and transverse ultrasonic waves at the same position.
- FIG. 8 is a diagram showing a second embodiment of the present invention.
- FIG. 9 is a diagram showing a third embodiment of the present invention.
- FIG. 10 is a diagram illustrating the operation of the solidification completion position calculation unit according to the third embodiment.
- FIG. 11 is a diagram showing a fourth embodiment of the present invention.
- FIG. 12 is a diagram illustrating another example of the operation of the solidification completion position arrival detection unit.
- FIG. 13 is a diagram showing the fist movement of the solidification completion position when the thermal conductivity used in the heat transfer calculation is changed.
- FIG. 14 is a diagram showing a comparison between the solidification completion position obtained by the heat transfer calculation and the solidification completion position confirmed by ⁇ driving.
- FIG. 15 is a diagram showing a fifth embodiment of the present invention.
- FIG. 16 is a diagram illustrating an example of a processing function of a coagulation completion position estimation unit.
- FIG. 17 is a diagram showing a sixth embodiment of the present invention.
- Shear wave ultrasonic transmitter 7 Shear wave ultrasonic transmitter, 8 Shear wave ultrasonic receiver, 9 Shear wave ultrasonic receiver, 10 Shear wave transmission intensity detector, 1 1 Coagulation completion position arrival detector, 1 2 Shear Wave propagation time detector, 13 Solidification completion position calculator, 14 Physical property storage, 15 Heat transfer calculator, 16 Solidification completion position estimator, 17 Shear wave propagation time detector, 20 Molten steel surface, 3 1 Magnet, 3 2 Longitudinal wave coil, 3 3 Shear wave coil, 3 4 Magnetic field lines,
- FIG. 1 is a view showing a first embodiment of the present invention relating to a method and an apparatus for detecting a coagulation completion position from the propagation time of longitudinal ultrasonic waves measured by a longitudinal ultrasonic sensor
- FIG. 1 is a schematic view of a continuous slab casting machine provided with a solidification completion position detecting device according to the present invention, in which an ultrasonic sensor and a longitudinal ultrasonic sensor are arranged at the same position on a continuous forming machine.
- FIG. 1 1 is a piece, 2 is a solid phase, 3 is a liquid phase, and 4 is a solidification completed position.
- the molten steel injected into the mold 101 of the continuous machine is a mold 101
- the coagulated part 2 is formed at the part that is cooled by the heat and forms contact with the mold 101, the surrounding part is the solidified part 2, and the inside is the unsolidified liquid phase part 3. While being supported by a plurality of pairs of shingle support rolls 102 arranged facing downward, it is pulled out below the ⁇ -shaped mold 101.
- a secondary cooling zone consisting of an air mist spray nozzle or water spray nozzle that sprays cold water toward the surface of ⁇ piece 1 (not shown).
- piece 1 is downstream in the manufacturing direction. It is cooled in the secondary cooling zone while being pulled out, and solidifies completely to the center.
- the position where the solidification is completed up to this center is the solidification completion position 4.
- the slab 1 after solidification is cut to a predetermined length by a sliver cutting machine 104 installed downstream of the slab support roll 102, and the slab 1A is transported as a roll 1 0 3 Is carried out by
- the solidification completion position detecting device In the continuous slab machine having such a configuration, the solidification completion position detecting device according to the present invention is provided.
- the coagulation completion position detecting device is opposed to a shear wave ultrasonic sensor including a shear wave ultrasonic transmitter 6 and a shear wave ultrasonic receiver 8 which are arranged to face each other with the piece 1 therebetween.
- a longitudinal wave ultrasonic sensor composed of the longitudinal wave ultrasonic transmitter 7 and the longitudinal wave ultrasonic receiver 9 arranged, and an electric signal is applied to the transverse wave ultrasonic transmitter 6 and the longitudinal wave ultrasonic transmitter 7 to perform molding.
- Ultrasound transmitter 5 which is an electric circuit for transmitting ultrasonic waves to piece 1, and shear wave transmission intensity for processing received signals received by shear wave ultrasonic receiver 8 and longitudinal wave ultrasonic receiver 9.
- a detection unit 10, a coagulation completion position arrival detection unit 11, a longitudinal wave propagation time detection unit 12, and a coagulation completion position calculation unit 13 are provided.
- the ultrasonic waves transmitted by the shear wave ultrasonic transmitter 6 and the longitudinal wave ultrasonic transmitter 7 pass through the piece 1, and are received by the shear wave ultrasonic receiver 8 and the longitudinal wave ultrasonic receiver 9, respectively. Converted to electrical signals.
- Shear wave transmission intensity detection ⁇ 15 1 0 is a device for detecting the strength of the shear wave ultrasonic signal received by the shear wave ultrasonic receiver 8, and the coagulation completion position arrival detection unit 11 is a shear wave transmission intensity detection unit 10 From the change in the transmission signal of the shear wave ultrasonic wave detected in the above, it is determined whether the solidification completion position 4 is upstream or downstream in the casting direction from the position where the shear wave ultrasonic transmitter 6 and the shear wave ultrasonic receiver 8 are arranged. It is a device to determine.
- the longitudinal wave propagation time detection unit 12 is a device that detects the propagation time of the longitudinal wave ultrasonic wave transmitted through the symmetrical piece 1 from the received signal received by the longitudinal wave ultrasonic wave receiver 9, and calculates the coagulation completion position.
- the unit 13 is a device that calculates the coagulation completion position 4 from the propagation time of the longitudinal ultrasonic wave detected by the longitudinal wave propagation time detecting unit 12.
- the shear wave transmission intensity detection unit 10 the coagulation completion position arrival detection unit 11, the longitudinal wave propagation time detection unit 12, and the coagulation completion position calculation unit 13 are calculated by a computer.
- the shear wave ultrasonic transmitter 6 and the longitudinal wave ultrasonic transmitter 7 are integrally formed, and similarly, the shear wave ultrasonic receiver 8 and the longitudinal wave ultrasonic The receiver 9 is integrally formed.
- FIG. 2 is a diagram illustrating the configuration and operation of an electromagnetic ultrasonic sensor for generating and detecting longitudinal ultrasonic waves and transverse ultrasonic waves at the same position.
- 31 is a magnet. This may be either a permanent magnet or an electromagnet, but a permanent magnet is preferable because the size of the electromagnetic ultrasonic sensor can be reduced.
- Reference numeral 32 denotes a longitudinal wave coil, which is a pancake coil disposed so as to wind around the inner magnetic pole.
- 33 is a shear wave coiler, which is a pancake coil arranged so as to overlap the magnetic pole surface.
- Numeral 34 indicates the lines of magnetic force from the magnet 31.
- the eddy current 35 and 36 show the eddy current generated in the piece 1 from the longitudinal wave coil 32 and the transverse wave coil 33, respectively.
- the eddy current 35 and the eddy current 36 are It is generated when a high-frequency current flows from the ultrasonic wave transmitting unit 5 to the longitudinal wave coil 32 and the transverse wave coil 33.
- the eddy current 35 and the eddy current 36 generated in the piece 1 generate Lorentz force between the eddy current 35 and the eddy current 36 shown by the magnetic field lines 34 and the static magnetic field.
- shear wave ultrasonic waves 38 are generated.
- Receiving ultrasonic waves is the reverse of transmission, and it is known that eddy currents are generated in piece 1 by vibrating piece 1 in a static magnetic field with ultrasonic waves.Coils for longitudinal waves 32 and coils for shear waves 33 The detection is performed in 3 and the same configuration as that of transmission can be used.
- Electromagnetic ultrasonic sensors are well known, but no compact electromagnetic ultrasonic sensor that can generate and detect longitudinal and transverse ultrasonic waves at the same location has been proposed. .
- the magnets 32 are arranged side by side in the width direction of the piece 1 so that three or more than three magnetic poles can be provided.
- longitudinal ultrasonic waves and transverse ultrasonic waves can be generated and detected at the same location.
- by reducing the number of installed sensors not only installation costs but also maintenance and inspection costs can be reduced.
- the area of the magnetic poles is desirably in the range of about 10 mm XI 0 mm-30 mm X 30 mm, and the interval between the magnetic poles is 5 mo!
- a range of about 3 to about 300 nm is appropriate, and it is appropriate to have a magnetic force such that the horizontal magnetic field between the magnetic poles is 0.1 T or more.
- Magnetic When a permanent magnet is used as the stone 31, it is preferable to use a rare earth magnet, and the height may be about 20 mm to 100 mm.
- the number of turns of the coil is suitably in the range of about 100 turns to 100 turns.
- the width of the sensor in the manufacturing direction can be reduced by bending the coil, but if it is bent immediately from the magnetic pole, the horizontal magnetic field in the manufacturing direction is effective. It is not possible to use the magnetic pole and the sensitivity is reduced.
- the width of the protrusion is about 3 mm, the effect of preventing a decrease in sensitivity is small, and when the width is 1 Omm or more, there is not much meaning in reducing the width of the sensor in the manufacturing direction. About 10 mm is appropriate.
- the specifications required for the electric circuit are that the voltage of the transmitted signal is approximately 1 kV or more (current is 2 OA or more), and the gain of the receiving amplifier is 60 dB ⁇ Generated if 80 dB or more.Detection is possible, and the frequency of the transmitted signal is 5 OkHz to l50 kHz for the shear wave, and 100 kHz to 40 kHz for the longitudinal wave. A range of about 0 kHz is appropriate.
- the transmission signal waveform may be any of a modulated signal such as a tone burst wave in which a sine wave is generated for a short period of time or a trapped wave whose amplitude or phase is changed within a predetermined time width.
- the electromagnetic ultrasonic sensor for generating and detecting the longitudinal wave and the shear wave ultrasonic wave at the same position is not necessarily required. It is not necessary to use them. If the arrangement interval between the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor is within the range where it is considered that there is almost no change in the cycling direction at the coagulation completion position 4, specifically, If it is 10 mm or less, the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor may be separately arranged.
- FIG. 3 is a diagram showing the operation of the shear wave transmission intensity detection unit 10 and shows a received signal waveform corresponding to one transmission signal.
- the first wave in FIG. 3 is a transmission signal that has leaked into the transverse ultrasonic receiver 8 electrically, and the second wave is a transmitted signal of the transverse ultrasonic wave.
- the time position at which the transmitted signal of the shear wave ultrasonic wave appears is roughly known from the thickness of the cast piece 1, the approximate temperature of the strip 1, and the propagation speed of the shear wave ultrasonic wave.
- a gate for extracting the signal is provided, and the maximum value of the signal in the gate is obtained. In this process, the waveform of the received signal Four
- the method of obtaining the maximum value of the signal may be either an absolute value based on 0 V or a peak-to-peak value.
- the transmitted signal is repeated at a period of several 10 Hz to several 10 OH z, so that the average of each waveform is obtained and the transmission intensity of the transverse ultrasonic wave is obtained. It is effective to average the transmission intensity of each waveform to reduce the effect of fluctuation due to noise.
- FIG. 4 is a diagram showing an example of the operation of the solidification completion position arrival detection unit 11.
- the shear wave transmission intensity detection unit 10 changes the manufacturing conditions over the number of continuous manufacturing operations 10 minutes.
- FIG. 7 is a chart diagram of detection of the intensity of the transmitted signal of the transmitted transverse ultrasonic wave.
- the intensity of the shear wave transmitted signal changes according to the change of the cycling conditions in the continuous production operation.
- the intensity of the transmitted signal is extremely small, and the coagulation completion position 4 is located downstream of the arrangement position of the shear wave ultrasonic transmitter 6 and the shear wave ultrasonic receiver 8 in the structure direction. It represents the state that exists on the side.
- the coagulation completion position arrival detection unit 11 determines that the coagulation completion position 4 has passed the position where the shear wave ultrasonic sensor is disposed when the intensity of the transmitted signal crosses a predetermined determination threshold.
- This determination threshold may be either a fixed value determined in advance, or a fluctuation threshold using the noise level obtained from the signal level in the time domain where the transmitted signal of the shear wave does not appear, and may be used. .
- FIG. 5 is a diagram illustrating the operation of the longitudinal wave propagation time detection unit 12, and is a diagram illustrating a waveform of a reception signal corresponding to one transmission signal.
- the first wave in FIG. 5 is a transmission signal leaked into the longitudinal ultrasonic receiver 9 electrically, and the second wave is a transmitted signal of the longitudinal ultrasonic wave.
- the longitudinal wave propagation time detector 12 detects the time from the transmission timing of the transmission signal to the appearance timing of the transmission signal of the longitudinal ultrasonic wave.
- the method of detecting the transmission signal of the longitudinal ultrasonic wave may be either the time when the threshold value is exceeded or the time when the maximum value in the gate is reached.
- This processing can be easily realized by calculation processing by taking the waveform of the received signal into the computer by AZD conversion as in the case of the shear wave transmission intensity detection unit 10. Also, in fact, Since the transmitted signal is repeated at a period of several OHz to several hundred Hz, each waveform is averaged and then the propagation time of longitudinal ultrasonic waves is calculated. It is effective to average the propagation time to reduce the effect of fluctuation due to noise.
- FIG. 6 is a diagram showing the operation of the coagulation completion position calculation unit 13 in the first embodiment, and illustrates an approximate expression for calculating the coagulation completion position 4 from the propagation time of longitudinal ultrasonic waves.
- the distance CE is the molten steel surface 2 0 in ⁇ to the freezing completion position 4
- ⁇ t is the propagation time of the longitudinal ultrasonic waves, a t and a. Is the coefficient of the polynomial.
- CE a At + a 0 ⁇ (2)
- the line indicated by A represents the approximate expression before calibration.
- the coagulation completion position calculation unit 13 outputs the longitudinal wave at that time.
- CE the coefficient of formula
- equation (3) is the distance from the molten steel surface 20 in the mold ⁇ ⁇ to the position where the shear wave ultrasonic sensor is located, and ⁇ ⁇ ⁇ is that the solidification completion position 4 has passed through the position where the shear wave ultrasonic sensor is located. This is the propagation time of the longitudinal ultrasonic wave at the time of determination.
- a 0 CE -a ] -At 1 3 (3)
- the approximate equation for finding the solidification completion position 4 is calibrated, for example, after the calibration indicated by B in FIG. After calibration, using the approximate expression after calibration shown in B, based on the propagation time of longitudinal ultrasonic waves,
- the solidification completion position 4 can be detected online during production with high accuracy.
- Calibration may be performed only once each time a new steel type is produced, every time the solidification completion position 4 crosses the position of the shear wave ultrasonic sensor during the operation of the intermittent construction, or Any time at the appropriate time according to the judgment!
- FIG. 7 is a diagram showing a configuration of an example in which four magnetic poles of an electromagnetic ultrasonic sensor for generating and detecting longitudinal ultrasonic waves and transverse ultrasonic waves at the same position.
- the longitudinal wave coil 32 and the shear wave coil 33 which are actually arranged in an overlapping manner, are drawn separately so that the arrangement with respect to the magnetic poles can be easily understood.
- the arrangement diagram of the longitudinal wave coil 32 is shown, and the right side is the arrangement diagram of the shear wave coil 33.
- the longitudinal wave coil 32 is arranged so as to wind around the inner magnetic pole, and the transverse wave coil 33 is arranged so as to overlap the magnetic pole surface.
- the number of magnetic poles is not limited to four, and even more can be implemented. In this case, the strength of the horizontal magnetic field with respect to the longitudinal wave coil 32 is increased, so that the sensitivity of the longitudinal ultrasonic wave is increased, and the generation and detection positions of the transverse ultrasonic wave and the longitudinal ultrasonic wave are almost equal. It has the effect of becoming.
- the propagation time depends on the propagation speed of the ultrasonic wave in the solid phase part 2. Since the propagation speed of the ultrasonic wave depends on the temperature of the solid phase part 2, the propagation time of the longitudinal ultrasonic wave and the transverse ultrasonic wave changes depending on the temperature of the piece 1.
- the temperature of the piece changes. That is, the temperature of the piece decreases as the coagulation completion position 4 is further upstream from the position where the electromagnetic ultrasonic sensor is disposed. (5) The lower the temperature of the piece, the shorter the propagation time because the propagation speed of the ultrasonic wave increases.
- the calculation formula used to determine the coagulation completion position 4 from the propagation time differs between the case where the coagulation completion position 4 exists on the upstream side of the longitudinal wave ultrasonic sensor 1 and the case where it exists on the downstream side. Is preferred.
- a method using an empirical formula (an expression as shown in FIG. 6) that directly links the propagation time and the coagulation completion position is used.
- any method of estimating the internal temperature or axial temperature of the piece from the propagation time and estimating the solidification completion position from the value may be used.
- a method using an empirical formula that directly links the propagation time and the coagulation completion position (expression as shown in FIG.
- the arrival detection unit 11 also performs the following determination. That is, if the transmission intensity of the shear wave ultrasonic wave is greater than the determination threshold, the coagulation completion position 4 is determined to be upstream, and conversely, if it is less than the determination threshold, the coagulation completion position 4 is determined to be downstream.
- the signal is sent to the coagulation completion position calculation unit 13.
- the coagulation completion position calculation unit 13 selects a calculation formula for calculating the coagulation completion position 4 based on the result, and calculates the coagulation completion position 4 using the selected calculation formula.
- the longitudinal wave propagation time detector 1 It is necessary to provide a shear wave propagation time detection unit having the same function as 2 on the output side of the shear wave ultrasonic sensor.
- FIG. 8 is a diagram showing a second embodiment of the present invention, in which a shear wave ultrasonic sensor and a longitudinal wave ultrasonic sensor are separated from each other in two machine width directions in the direction of the structure of a continuous cinch machine. Solidification according to the present invention, arranged at the same position It is the schematic of the slab discontinuous casting machine provided with the completion position detection apparatus.
- a shear wave ultrasonic sensor 1 including a shear wave ultrasonic transmitter 6 and a shear wave ultrasonic receiver 8, a longitudinal wave ultrasonic transmitter 7, and a longitudinal wave ultrasonic receiver
- a longitudinal wave ultrasonic sensor composed of the vessel 9 is separately arranged at two locations in the manufacturing direction.
- the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor do not need to be sensors that generate and detect the longitudinal ultrasonic wave and the shear wave ultrasonic wave at the same position as shown in FIG.
- the electromagnetic ultrasonic sensor can be used.
- the electromagnetic ultrasonic sensor shown in FIG. 2 can also be used.
- the coagulation completion position 4 may be different in the width direction of the cymbal 1, so the coagulation completion position 4 detected by the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor is It is necessary to arrange the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor within the range in the width direction where there is almost no change. Specifically, as described above, if the secondary cooling is appropriate and the shape in the width direction of the solidification completion position 4 can be regarded as flat, it may be separated by several hundred millimeters. If the shape in the width direction at position 4 is greatly changed, it is necessary to keep it within several Omm, and in order to correspond to any of them, it is necessary to make it within several ten mm .
- the operations of the shear wave transmission intensity detection unit 10, the coagulation completion position arrival detection unit 11, the longitudinal wave propagation time detection unit 12, and the coagulation completion position calculation unit 13 are the same as those in the first embodiment, and the coagulation is completed.
- the coagulation completion position calculation unit 13 transmits the longitudinal wave propagation time at that time. (A t,) is obtained, and the coefficient (E) is set by the above equation (3) so that the distance (CE) from the molten steel surface 20 to the solidification completion position 4 becomes the position where the shear wave ultrasonic sensor 1 is arranged. a Correct 0.
- the arrangement position of the shear wave ultrasonic sensor is located downstream of the arrangement position of the longitudinal wave ultrasonic sensor, but may be arranged upstream.
- the accuracy of detecting the coagulation completion position 4 on the upstream side of the longitudinal wave ultrasonic sensor with the longitudinal wave ultrasonic sensor is not so high, so the arrival of the coagulation completion position 4 was detected by the shear wave ultrasonic sensor.
- FIG. 9 is a view showing a third embodiment of the present invention, in which a second shear wave ultrasonic sensor is arranged at the same position in the one piece width direction away from the downstream side in the manufacturing direction.
- FIG. 1 is a schematic view of a continuous slap forming machine provided with a solidification completion position detecting device according to the present invention.
- a second wave comprising a transverse ultrasonic transmitter 6A and a transverse ultrasonic receiver 8A is located downstream of the position of the electromagnetic ultrasonic sensor capable of generating longitudinal ultrasonic waves and transverse ultrasonic waves comprising the receiver 9.
- the shear wave ultrasonic sensor is installed.
- the second shear wave ultrasonic sensor does not need to be a sensor that generates and detects the longitudinal ultrasonic wave and the shear wave ultrasonic wave at the same position as shown in FIG. Sensors can be used.
- the second shear wave ultrasonic sensor 1 includes a shear wave ultrasonic wave transmitter 6 and a shear wave ultrasonic The sensor (hereinafter referred to as the “first shear wave sensor”) is installed at the same position in the width direction of the slab. Then, the received signal of the shear wave ultrasonic receiver 8A is sent to the shear wave transmission intensity detection unit 1OA, and the signal of the shear wave transmission intensity detection unit 1OA is sent to the coagulation completion position arrival detection unit 11A.
- the shear wave transmission intensity detector 1OA and the coagulation completion position arrival detector 11A are respectively It has the same function as the shear wave transmission intensity detection unit 10 and the coagulation completion position arrival detection unit 11 in the first embodiment, and the coagulation completion position 4 is set to the arrangement position of the second shear wave ultrasonic sensor. By passing, the coagulation completion position arrival detection unit 11A sends a timing signal to the coagulation completion position calculation unit 13.
- Transverse wave transmission intensity detection unit 10 The operation of the unit 11 and the longitudinal wave propagation time detecting unit 12 is the same as that of the first embodiment, but the operation of the coagulation completion position calculation unit 13 is different. Will be described with reference to FIG.
- FIG. 10 is a diagram showing the operation of the coagulation completion position calculation unit 13 in the third embodiment, and illustrates an approximate expression for calculating the coagulation completion position 4 from the propagation time of the longitudinal ultrasonic wave.
- the coagulation completion position 4 is calculated from the propagation time of the longitudinal ultrasonic wave using the equation (2) as in the first embodiment.
- the line indicated by A represents an approximate expression before calibration.
- the timing signal of the passage determination of the coagulation completion position 4 at the first shear wave sensor position is sent from the coagulation completion position arrival detection unit 11 to the coagulation completion position calculation unit 13, the coagulation completion position calculation unit 1 In step 3, the propagation time (mm) of the longitudinal ultrasonic wave at that time is stored.
- the solidification completion position 4 is extended to the downstream side in the production direction by changing the manufacturing speed, the secondary cooling strength, etc., and the solidification completion position 4 passes through the position where the second shear wave ultrasonic sensor is arranged. Then, a timing signal for determining the passage of the coagulation completion position 4 from the coagulation completion position arrival detection unit 11 A to the coagulation completion position calculation unit 13 is sent.
- the solidification completion position calculation unit 13 calculates the propagation time ( ⁇ t 2 ) of the longitudinal ultrasonic wave at that time. Then, the simultaneous equations of the following equations (4) and (5) are solved, and the constants ( ai ) and (a.) Of the equation (2) are corrected.
- equations (4) and (5) is the distance from the molten steel surface 20 in the mold ⁇ ⁇ to the position of the first transverse wave sensor, ⁇ t, is the solidification completion position 4 is the first longitudinal ultrasonic wave propagation time of the time it is determined that has passed the position of the shear wave sensor, the distance CE 2 from molten steel surface 2 0 in ⁇ to placement position of the second transverse ultrasonic wave sensor, delta 1 2 is the coagulation completion position 4 is the position of the second shear wave ultrasonic sensor This is the propagation time of the longitudinal ultrasonic wave at the time when it is determined that the time has passed.
- the approximate expression for determining the solidification completion position 4 is calibrated, and becomes, for example, a line indicated by B in FIG.
- the solidification completion position 4 can be detected on-line with high accuracy based on the propagation time of the longitudinal ultrasonic wave by using the approximate expression after the calibration indicated by B.
- the coagulation completion position 4 can be detected with higher accuracy than in the first embodiment. Changing the calculation formula for calculating the coagulation completion position 4 based on the calibration timing and whether the coagulation completion position 4 is on the upstream side of the longitudinal ultrasonic sensor is described in the first embodiment described above. It will be performed according to the explanation in the form.
- FIG. 11 is a view showing a fourth embodiment of the present invention relating to a method and an apparatus for detecting a solidification completion position by heat transfer calculation, and shows a slurp provided with a solidification completion position detection device according to the invention. It is a schematic diagram of a continuous machine.
- the solidification completion position detecting device which detects the solidification completion position 4 by heat transfer calculation from the manufacturing conditions and the physical property values, as shown in FIG.
- a shear wave ultrasonic sensor composed of a sound wave transmitter 6 and a shear wave ultrasonic receiver 8, and an ultrasonic wave which is an electric circuit for sending an electric signal to the shear wave ultrasonic transmitter 6 and transmitting ultrasonic waves to the piece 1.
- Transmitter 5 shear wave transmission intensity detector 10 for processing the received signal received by shear wave ultrasonic receiver 8, and coagulation completion position arrival detector 11, and for storing physical property values for heat transfer calculation
- a heat transfer calculation unit 15 for performing heat transfer calculation.
- the shear wave transmission intensity detector 10 is a device that detects the intensity of the shear wave ultrasonic signal received by the shear wave ultrasonic receiver 8. From the change in the transmission signal of the shear wave ultrasonic wave detected, it is determined whether the solidification completion position 4 is upstream or downstream in the casting direction from the arrangement position of the shear wave ultrasonic transmitter 6 and the shear wave ultrasonic receiver 8 It is a device that performs.
- the shear wave transmission intensity detector 10 and the coagulation completion position arrival detector 11 are calculated by a computer. Is done. Note that an ultrasonic signal amplifier, an AZD converter for taking a waveform into a computer, and the like are required between the shear wave ultrasonic receiver 8 and this computer, but are omitted in the figure.
- the physical property storage unit 14 and the heat transfer calculation unit 15 are also configured by a computer.
- the following describes how to process the received signal.
- the operation of the shear wave transmission intensity detection unit 10 will be described.
- the operation of the shear wave transmission intensity detection unit 10 is basically the same as that of the shear wave transmission intensity detection unit 10 in the first embodiment, and will be described with reference to FIG.
- the first wave in the figure is a transmission signal that has leaked into the transverse ultrasonic receiver 8 electrically
- the second wave is a transmitted signal of the transverse ultrasonic wave.
- the time position at which the transmitted signal of the shear wave ultrasonic wave appears is roughly known from the thickness of the piece 1, the approximate temperature of the cross piece 1, and the propagation speed of the shear wave ultrasonic wave.
- This processing can be easily realized by calculation processing by taking the waveform of the received signal into the computer by AZD conversion.
- the maximum value of the signal may be determined by an absolute value based on O V or a peak-to-peak value.
- the transmission signal is repeated at a period of several 10 Hz to several 100 Hz, so that the transmission intensity of the transverse ultrasonic wave is obtained after averaging each waveform. It is effective to average the transmission intensity of each waveform to reduce the effect of fluctuation due to noise.
- FIG. Fig. 12 is a diagram showing another example of the operation of the solidification completion position arrival detection unit 11, and the transverse wave transmission intensity when the manufacturing speed is increased in four steps from a to d.
- FIG. In the figure, in the range of X, since the shear wave transmission intensity exceeds the determination threshold value, the piece 1 is determined to be solidified at the position where the shear wave ultrasonic sensor 1 is disposed.
- the shear wave transmission intensity falls below the determination threshold value, so it is determined that the solidification completion position 4 has reached the position where the shear wave ultrasonic sensor 1 is disposed.
- ⁇ ⁇ In the range of Y, which is the steady part of the forging speed c, the shear wave transmission intensity fluctuates above and below the threshold value. It is located at the position of the acoustic wave sensor, and shows that it fluctuates slightly upstream and downstream of the shear wave ultrasonic sensor due to slight fluctuation.
- the shear wave transmission intensity is always lower than the determination threshold, and it is determined that the cypress 1 is not coagulated at the position where the shear wave ultrasonic sensor is arranged.
- the solidification completion position arrival detection unit 1 1 When it is determined that the coagulation completion position 4 has passed the position where the shear wave ultrasonic sensor 1 is disposed, a timing signal is sent to the physical property storage unit 14.
- the physical property storage unit 14 stores physical property values used in heat transfer calculation.
- the main ones are the density of cypress 1, enthalpy, thermal conductivity, solidus temperature, heat removal in type 101, heat transfer coefficient of secondary cooling zone, molten steel temperature, etc. .
- the manufacturing conditions include the thickness and width of the slab 1, the manufacturing speed, the steel type, and the like, which are given to the heat transfer calculation unit 15 together with the physical property values.
- the heat transfer calculation unit 15 calculates the temperature change starting from the molten steel temperature in the drawing direction of the piece 1.
- the solidification completion position 4 is obtained as a position where the axial temperature of the piece 1 crosses the solidus line.
- the heat transfer calculation unit 15 The heat transfer calculation is performed using the structural conditions when the completion position 4 is the installation position of the shear wave ultrasonic sensor 1, and the solidification completion position based on the heat transfer calculation matches the installation position of the shear wave ultrasonic sensor. Then, the physical property value is changed. Specifically, for example, by changing the thermal conductivity in several steps, the position of solidification completion is determined by heat transfer calculation, and as shown in Fig. 13, the position of solidification completion by heat transfer calculation is determined by installing a shear wave acoustic sensor. What is necessary is just to find the thermal conductivity under the condition that matches the position.
- Fig. 13 the position of solidification completion by heat transfer calculation is determined by installing a shear wave acoustic sensor. What is necessary is just to find the thermal conductivity under the condition that matches the position.
- FIG. 13 is a diagram showing the behavior of the solidification completion position when the thermal conductivity used in the heat transfer calculation is changed.When the thermal conductivity increases, the solidification completion position changes from the molten steel surface 20 to the solidification completion position 4. This shows schematically how the distance to is reduced.
- the thermal conductivity is taken as an example, but other physical properties such as the heat transfer coefficient of the secondary cooling zone can be used as the physical properties used for the calibration.
- the calibrated physical property values are input from the heat transfer calculation unit 15 to the physical property value storage unit 14 and stored. After that, heat transfer calculation will be performed using the calibrated physical property values. As described above, the heat transfer calculation is calibrated.
- Calibration may be performed only once each time a new steel grade is manufactured, or every time the solidification completion position 4 crosses the position of the shear wave ultrasonic sensor during the operation of the broken cypress, or an operator. It may be at any appropriate time according to the judgment.
- Figure 14 shows the solidification completion position obtained by changing the manufacturing speed in several steps using the heat transfer calculation calibrated in this way, and the operation when the manufacturing speed was changed in several steps in the same manner. Then, a metal ⁇ is cast into the slab 1, and the results are compared with the results of judgment of solidification and non-solidification at multiple points in the longitudinal direction of the slab 1. It can be seen that the coagulation completion position obtained by the ripening calculation and the coagulation completion position confirmed by ⁇ driving are in good agreement. From this, it was confirmed that the solidification completion position 4 can be estimated with high accuracy by the present invention.
- FIG. 15 is a view showing a fifth embodiment of the present invention, and is a schematic view of a continuous slab machine equipped with the solidification completion position detecting device according to the present invention.
- a shear wave ultrasonic sensor including a shear wave ultrasonic transmitter 6 and a shear wave ultrasonic An electric signal is transmitted to a longitudinal ultrasonic sensor comprising a longitudinal ultrasonic transmitter 7 and a longitudinal ultrasonic receiver 9 which are arranged opposite to each other, and to a transverse ultrasonic transmitter 6 and a longitudinal ultrasonic transmitter 7.
- an ultrasonic transmitter 5 which is an electric circuit for transmitting ultrasonic waves to the cast piece 1 and a shear wave transmission intensity detector 10 for processing a received signal received by the shear wave ultrasonic receiver 8 and Solidification completion position arrival detection unit 11, Longitudinal wave propagation time detection unit 12 for processing the received signal received by longitudinal wave ultrasonic wave receiver 9, and storage for physical property values for heat transfer calculation Physical property storage unit 14, Heat transfer calculation unit 15 that performs heat transfer calculation, Longitudinal wave propagation time detection unit 12, and Heat transfer calculation unit And a coagulation completion position estimating unit 16 for processing the signal from 15.
- the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor are sensors that generate and detect the longitudinal wave and the transverse wave ultrasonic wave at the same time as shown in FIG. A sonic sensor can be used.
- the longitudinal wave transit time detector 12 is a device that detects the transit time of the longitudinal ultrasonic wave passing through the clevis 1 from the received signal received by the longitudinal ultrasonic receiver 9, and a coagulation completion position estimator 16 determines the relationship between the propagation time of the longitudinal wave detected by the longitudinal wave propagation time detector 12 and the solidification completion position calculated by the heat transfer calculator 15, and based on the determined relationship, This device indirectly estimates the coagulation completion position 4 from the sound wave propagation time.
- the longitudinal wave propagation time detector 12 and the solidification completion position estimator 16 are configured by a computer.
- the other shear wave transmission intensity detection unit 10, solidification completion position arrival detection unit 11, physical value storage unit 14, and heat transfer calculation unit 15 are the same device as in the fourth embodiment, and are the same. The function is provided, and the description is omitted here.
- the signal processing method in the shear wave transmission intensity detector 10, solidification completion position arrival detector 11, physical property storage unit 14, and heat transfer calculator 15 is as follows. Since this is the same as the fourth embodiment, a description thereof will be omitted here.
- the operation of the longitudinal wave propagation time detector 12 is basically the same as the operation of the longitudinal wave propagation time detector 12 in the first embodiment, and will be described with reference to FIG.
- the first wave in the figure is a transmission signal that has leaked into the longitudinal ultrasonic receiver 9 electrically
- the second wave is a transmitted signal of the longitudinal ultrasonic wave.
- the longitudinal wave propagation time detector 12 detects the time from the transmission timing of the transmission signal to the appearance timing of the longitudinal wave transmission signal.
- the method of detecting the transmission signal of the longitudinal ultrasonic wave may be either the time when the threshold value is exceeded or the time when the maximum value in the gate is reached.
- This processing can be easily realized by calculation processing by taking the waveform of the received signal into a computer by A / D conversion, similarly to the shear wave transmission intensity detection unit 10. Also, in practice, the transmitted signal is repeated at a period of several 10 Hz to several 100 Hz, so the average of each waveform is obtained and the propagation time of the longitudinal ultrasonic wave is obtained. It is effective to average the propagation time of each waveform to reduce the effect of fluctuation due to noise.
- FIG. 16 is a diagram showing an example of the processing function of the coagulation completion position estimating unit 16.
- the coagulation completion position 4 is calculated from the propagation time of the longitudinal ultrasonic wave created by the coagulation completion position estimating unit 16. This is a diagram illustrating an approximate expression.
- the horizontal axis is the measured value of the propagation time by the longitudinal wave propagation time detector 12, and the vertical axis is the distance from the molten steel surface 20 to the solidification completion position 4. Can be obtained at the speed of cycling.
- the coagulation completion position 4 can be obtained from the propagation time of the longitudinal ultrasonic wave by creating an approximate expression or a table from the plot points obtained in this way.
- the approximate expression may be a linear expression or a polynomial expression.
- the physical property values used in the heat transfer calculation can be calibrated only once each time a new steel type is manufactured, or the solidification completion position 4 crosses the position of the shear wave ultrasonic sensor during continuous manufacturing operation. Every time or at an appropriate time according to the judgment of the operator.
- the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor are arranged at the same position.
- the present invention can be implemented at a position separated in the casting pulling direction.
- FIG. 17 is a view showing a sixth embodiment of the present invention, and is a schematic view of a continuous slab machine equipped with the solidification completion position detecting device according to the present invention.
- a shear wave ultrasonic sensor (hereinafter, referred to as “transverse wave ultrasonic sensor”) including a shear wave ultrasonic transmitter 6 and a shear wave ultrasonic The first shear wave ultrasonic sensor ”), and the shear wave ultrasonic transmitter 6 B and the shear wave ultrasonic receiver 8 B, which are arranged on the downstream side of the first shear wave ultrasonic sensor with the piece 1 interposed therebetween.
- a second transverse ultrasonic sensor, and an ultrasonic transmission which is an electric circuit for transmitting an electric signal to the transverse ultrasonic transmitter 6 and the transverse ultrasonic transmitter 6B to transmit ultrasonic waves to the piece 1.
- Section 5 a transverse wave transmission intensity detector 10 and a coagulation completion position arrival detector 11 for processing a received signal received by the transverse ultrasonic receiver 8, and received by the transverse ultrasonic receiver 8B
- Shear wave propagation time detector 17 for processing the received signal, and for storing physical property values for heat transfer calculation
- Heat transfer calculation unit 15 that performs heat transfer calculation, shear wave propagation time detection unit 17 and estimation of solidification completion position for processing signals from heat transfer calculation unit 15 Part 16 is provided.
- the shear wave propagation time detector 17 detects the cryop 1 from the received signal received by the shear wave ultrasonic receiver 8B. It is a device that detects the propagation time of transmitted transverse ultrasonic waves and is composed of a computer.
- the other shear wave transmission intensity detection unit 10, solidification completion position arrival detection sound [3 11, physical property value storage unit 14, heat transfer calculation unit 15, and solidification completion position estimation unit 16 are the fifth embodiment. This is the same device as the example and has the same function, and the description is omitted here.
- the signal processing method in the shear wave transmission intensity detection unit 10, the solidification completion position arrival detection unit 11, the physical property value storage unit 14, and the heat transfer calculation unit 15 is the same as that of the fifth embodiment. Here, the description is omitted.
- the operation of the shear wave propagation time detection unit 17 is basically the same as the operation of the longitudinal wave propagation time detection unit 12 in the fifth embodiment.
- the time from the transmission timing to the appearance timing of the shear wave transmission signal is detected.
- the method of detecting the transmitted signal of the shear wave ultrasonic wave either at the time when the signal exceeds the threshold value or at the time when the signal reaches the maximum value in the gate as shown in FIG.
- the solidification completion position estimating unit 16 calculates the relationship between the propagation time of the shear wave ultrasonic wave measured by the shear wave propagation time detection unit 17 and the solidification completion position calculated by the heat transfer calculation unit 15, for example, in the fifth example.
- the coagulation completion position 4 is determined from the propagation time of the shear wave ultrasonic wave measured by the shear wave propagation time detection unit 17 based on the determined relationship between the two and determined as shown in FIG. 16 described in the embodiment. That is, in the sixth embodiment, the coagulation completion position 4 is obtained by using the propagation time of the transverse ultrasonic wave instead of the propagation time of the longitudinal ultrasonic wave in the fifth embodiment. is there. Therefore, the calibration of the physical properties used in the heat transfer calculation is performed according to the fifth embodiment.
- the second shear wave ultrasonic sensor is installed to obtain the propagation time of the shear wave ultrasonic wave.
- the installation of the second shear wave ultrasonic sensor is not always necessary.
- the shear wave ultrasonic sensor for measuring the gap the first shear wave ultrasonic sensor including the shear wave ultrasonic transmitter 6 and the shear wave ultrasonic receiver 8 can also be used.
- the range of the coagulation completion position is determined when the coagulation completion position 4 is on the upper Ryu side of the position where the shear wave ultrasonic sensor is installed. Therefore, it is important to pay attention to the installation position.
- the solidification completion position 4 can be accurately grasped online, and the operation parameters can be adjusted. Enables the control of the solidification completion position 4. As a result, solidification completion position 4 It is possible to improve productivity by positioning the machine as close as possible to the end of the helicopter, or to reduce center segregation so that it always stays in the low pressure zone.
- Operation parameters that can be applied to control of solidification completion position 4 include: ⁇ production speed, secondary cooling water amount (increase / decrease in total, water amount distribution pattern in the longitudinal direction, water amount distribution pattern in the width direction), roll gap pattern, electromagnetic stirring intensity , The change of monoredo powder (brand), the degree of superheat of molten steel (control by a heat insulation lid and heat generation powder), etc.
- the relationship between these production conditions and the solidification completion position 4 is experimentally or theoretically determined in advance.
- the solidification completion position 4 can be accurately controlled by adjusting these operation parameters.
- the present invention is not limited to the range described above, and can be variously modified without departing from the gist thereof.
- an electromagnetic ultrasonic sensor for transmitting and receiving longitudinal ultrasonic waves, a method of bringing a piezoelectric vibrator into contact with water or a laser-ultrasonic method is used. You may. Transmitting by the laser ultrasonic method and receiving by the electromagnetic ultrasonic method are also useful because they increase the measurement sensitivity.
- the shear wave ultrasonic transmitter 6 and the shear wave ultrasonic receiver 8, or the longitudinal wave ultrasonic transmitter 7 and the longitudinal wave ultrasonic receiver 9, are arranged on the same surface of the cypress piece 1 and the measurement is performed by the reflection method using the echo on the opposite face of the ⁇ piece 1. It may be.
- the ultrasonic sensor according to the present invention includes any of these forms.
- the calibrated formula, physical property value, or propagation time and solidification completion for a new ultrasonic sensor that has been replaced due to a failure or update is also possible to input and use an approximate expression or a table with the position.
- the coagulation completion position 4 is directly obtained from the propagation time of the longitudinal ultrasonic wave by using the linear expression
- a polynomial such as a quadratic or a cubic
- the thickness of the solid phase part 2 may be obtained from the propagation time of the longitudinal ultrasonic wave
- the solidification completion position may be obtained from the obtained thickness of the solid phase part 2 and the manufacturing speed.
- the solid phase thickness (d) obtained by the above equation (1) becomes 1 Z 2 of the slab thickness (D). If you calibrate it,
- the longitudinal and transverse coils are not separately arranged, and the polarity of the magnetic pole of the sensor is not used.
- the same coil can be used for the longitudinal wave coil and the shear wave coil.
- the determination in the coagulation completion position arrival detection unit 11 may be left to the operator's judgment, and the operator may instruct the coagulation completion position calculation unit 13 about the timing of the passage determination of the coagulation completion position. Furthermore, after collecting the data, it may be possible to manually perform the determination of the passage of the coagulation completed position, the calibration, and the estimation of the coagulation completed position on a desk. .
- the heat transfer calculation is performed by changing the manufacturing speed stepwise so that the solidification completion position becomes the position of the shear wave ultrasonic sensor in the steady part.
- the heat transfer calculation is calibrated by using the heat transfer calculation that also takes into account the unsteady part Is possible.
- the solidification completion position of the cast piece when the solidification completion position of the cast piece is detected by the shear wave ultrasonic sensor, the solidification completion position determined from the propagation time of the longitudinal ultrasonic wave measured by the longitudinal ultrasonic sensor, or Since the solidification completion position obtained from the heat transfer calculation is calibrated, It is possible to accurately detect the coagulation completion position of the piece from only the measured values of the shear wave ultrasonic sensor and the longitudinal wave ultrasonic sensor without performing a complicated calibration work. As a result, it is possible to accurately grasp the solidification completion position during manufacturing under various manufacturing conditions of all steel types, improve productivity by maximizing the length of the continuous manufacturing machine, and reduce light pressure. , Etc., to produce a cast piece with reduced center segregation, which has an industrially beneficial effect.
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE602004025510T DE602004025510D1 (de) | 2003-11-27 | 2004-11-24 | Verfahren zur erfassung der erstarrungsbeendigungsposition eines stranggussteils, detektor und verfa |
EP04799884A EP1707290B1 (en) | 2003-11-27 | 2004-11-24 | Method for detecting solidification completion position of continuous casting cast piece, detector, and method for producing continuous casting cast piece |
US10/579,943 US7740051B2 (en) | 2003-11-27 | 2004-11-24 | Method and apparatus for detecting crater end of continuously cast product, and method for producing continuously cast product |
US12/657,692 US7971630B2 (en) | 2003-11-27 | 2010-01-26 | Method and apparatus for detecting a crater end of a continuously cast product |
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US10/579,943 A-371-Of-International US7740051B2 (en) | 2003-11-27 | 2004-11-24 | Method and apparatus for detecting crater end of continuously cast product, and method for producing continuously cast product |
US12/657,692 Division US7971630B2 (en) | 2003-11-27 | 2010-01-26 | Method and apparatus for detecting a crater end of a continuously cast product |
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PCT/JP2004/017824 WO2005051569A1 (ja) | 2003-11-27 | 2004-11-24 | 連続鋳造鋳片の凝固完了位置検知方法及び検知装置並びに連続鋳造鋳片の製造方法 |
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US (2) | US7740051B2 (ja) |
EP (2) | EP2172289B1 (ja) |
JP (1) | JP5051204B2 (ja) |
KR (1) | KR100768395B1 (ja) |
CN (1) | CN100364695C (ja) |
DE (1) | DE602004025510D1 (ja) |
TW (1) | TWI247636B (ja) |
WO (1) | WO2005051569A1 (ja) |
Families Citing this family (19)
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WO2005051569A1 (ja) * | 2003-11-27 | 2005-06-09 | Jfe Steel Corporation | 連続鋳造鋳片の凝固完了位置検知方法及び検知装置並びに連続鋳造鋳片の製造方法 |
WO2008054333A1 (en) * | 2006-11-01 | 2008-05-08 | Cihat Celik Basar | Sonic state control sensor |
TWI404928B (zh) * | 2008-05-06 | 2013-08-11 | China Steel Corp | Continuous casting of water mist ultrasonic detection method |
JP4505536B2 (ja) * | 2008-07-08 | 2010-07-21 | 新日本製鐵株式会社 | 鋳片表面温度の測定装置および鋳片表面温度の測定方法 |
CN101704079B (zh) * | 2009-09-28 | 2012-05-09 | 田陆 | 用于连铸坯浇铸的控制方法 |
EP2676143B1 (en) | 2011-02-15 | 2023-11-01 | Hemosonics, Llc | Characterization of blood hemostasis and oxygen transport parameters |
CN102500747B (zh) * | 2011-11-15 | 2014-04-02 | 田志恒 | 在线检测连铸坯固相内边界及凝固末端位置的系统和方法及该系统的信号处理方法 |
ITMI20121185A1 (it) * | 2012-07-05 | 2014-01-06 | Danieli Off Mecc | Metodo di determinazione della posizione di chiusura del cono liquido nella colata continua di prodotti metallici |
KR101709623B1 (ko) * | 2012-08-14 | 2017-02-23 | 제이에프이 스틸 가부시키가이샤 | 응고 완료 위치 제어 방법 및 응고 완료 위치 제어 장치 |
DE102013223083A1 (de) | 2013-11-13 | 2015-05-13 | Sms Siemag Ag | Verfahren und Vorrichtung zur kontaktlosen Überprüfung der Beschaffenheit eines metallurgischen Gießproduktes |
JP6358035B2 (ja) * | 2014-10-14 | 2018-07-18 | 新日鐵住金株式会社 | 測定装置、測定方法、プログラム及び記憶媒体 |
CN104439144B (zh) * | 2014-12-19 | 2017-02-22 | 山东钢铁股份有限公司 | 一种基于超声波的钢坯凝固检测系统及检测方法 |
US9726647B2 (en) | 2015-03-17 | 2017-08-08 | Hemosonics, Llc | Determining mechanical properties via ultrasound-induced resonance |
CN106556363B (zh) * | 2015-09-28 | 2019-05-28 | 宝山钢铁股份有限公司 | 连铸坯壳厚度在线检测方法与装置 |
CN105522131A (zh) * | 2016-02-02 | 2016-04-27 | 吉林大学 | 一种镁合金棒材功率超声半连续铸造及探伤装置和方法 |
CN109696472B (zh) * | 2017-10-23 | 2020-12-22 | 北新集团建材股份有限公司 | 一种测定建筑石膏凝结时间的方法 |
CN107931554B (zh) * | 2017-11-30 | 2020-07-10 | 山信软件股份有限公司 | 一种连铸坯定位计算方法 |
CN108061756B (zh) * | 2017-12-07 | 2020-03-20 | 四川升拓检测技术股份有限公司 | 基于冲击弹性波的炉体衬砌无损检测方法 |
CA3116810C (en) * | 2018-12-13 | 2024-03-12 | Arcelormittal | Method to determine the crater end location of a cast metal product |
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JPS62148850A (ja) * | 1985-12-24 | 1987-07-02 | Kawasaki Steel Corp | 鋳片の凝固状態検出方法 |
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JP2664572B2 (ja) | 1991-11-06 | 1997-10-15 | 株式会社神戸製鋼所 | 連続鋳造における鋳片未凝固部分の温度予測方法 |
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JP2003103351A (ja) | 2001-09-26 | 2003-04-08 | Nkk Corp | 連続鋳造鋳片の製造方法 |
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WO2005051569A1 (ja) * | 2003-11-27 | 2005-06-09 | Jfe Steel Corporation | 連続鋳造鋳片の凝固完了位置検知方法及び検知装置並びに連続鋳造鋳片の製造方法 |
JP4483538B2 (ja) | 2003-11-27 | 2010-06-16 | Jfeスチール株式会社 | 連続鋳造鋳片の凝固完了位置検知方法及び検知装置並びに連続鋳造鋳片の製造方法 |
JP4228960B2 (ja) | 2004-03-25 | 2009-02-25 | 株式会社デンソー | 負荷駆動装置及び負荷駆動装置の高電圧印加試験方法 |
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2004
- 2004-11-24 WO PCT/JP2004/017824 patent/WO2005051569A1/ja not_active Application Discontinuation
- 2004-11-24 KR KR1020067010189A patent/KR100768395B1/ko active IP Right Grant
- 2004-11-24 CN CNB2004800351464A patent/CN100364695C/zh active Active
- 2004-11-24 DE DE602004025510T patent/DE602004025510D1/de active Active
- 2004-11-24 EP EP09013900.7A patent/EP2172289B1/en active Active
- 2004-11-24 EP EP04799884A patent/EP1707290B1/en active Active
- 2004-11-24 US US10/579,943 patent/US7740051B2/en active Active
- 2004-11-25 TW TW093136254A patent/TWI247636B/zh active
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2009
- 2009-10-13 JP JP2009235991A patent/JP5051204B2/ja active Active
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2010
- 2010-01-26 US US12/657,692 patent/US7971630B2/en active Active
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JPS62148850A (ja) * | 1985-12-24 | 1987-07-02 | Kawasaki Steel Corp | 鋳片の凝固状態検出方法 |
JPS63313643A (ja) * | 1987-06-15 | 1988-12-21 | Kawasaki Steel Corp | 連続鋳造における完全凝固位置制御方法 |
JPH01127161A (ja) * | 1987-11-11 | 1989-05-19 | Kawasaki Steel Corp | 連続鋳造におけるクレータエンド凝固プロフィール測定方法 |
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Also Published As
Publication number | Publication date |
---|---|
CN100364695C (zh) | 2008-01-30 |
US7740051B2 (en) | 2010-06-22 |
US20070102134A1 (en) | 2007-05-10 |
KR100768395B1 (ko) | 2007-10-18 |
US20100163206A1 (en) | 2010-07-01 |
CN1886215A (zh) | 2006-12-27 |
KR20060087610A (ko) | 2006-08-02 |
EP1707290A1 (en) | 2006-10-04 |
EP2172289A1 (en) | 2010-04-07 |
JP2010005700A (ja) | 2010-01-14 |
JP5051204B2 (ja) | 2012-10-17 |
TWI247636B (en) | 2006-01-21 |
DE602004025510D1 (de) | 2010-03-25 |
EP1707290B1 (en) | 2010-02-10 |
EP1707290A4 (en) | 2007-04-04 |
TW200531763A (en) | 2005-10-01 |
EP2172289B1 (en) | 2015-08-12 |
US7971630B2 (en) | 2011-07-05 |
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