WO2011122069A1 - Metal plate rolling machine and rolling method - Google Patents
Metal plate rolling machine and rolling method Download PDFInfo
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- WO2011122069A1 WO2011122069A1 PCT/JP2011/050784 JP2011050784W WO2011122069A1 WO 2011122069 A1 WO2011122069 A1 WO 2011122069A1 JP 2011050784 W JP2011050784 W JP 2011050784W WO 2011122069 A1 WO2011122069 A1 WO 2011122069A1
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- rolling
- roll
- work roll
- force
- bending force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B29/00—Counter-pressure devices acting on rolls to inhibit deflection of same under load, e.g. backing rolls ; Roll bending devices, e.g. hydraulic actuators acting on roll shaft ends
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B13/00—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories
- B21B13/14—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories having counter-pressure devices acting on rolls to inhibit deflection of same under load; Back-up rolls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/28—Control of flatness or profile during rolling of strip, sheets or plates
- B21B37/38—Control of flatness or profile during rolling of strip, sheets or plates using roll bending
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B13/00—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories
- B21B13/02—Metal-rolling stands, i.e. an assembly composed of a stand frame, rolls, and accessories with axes of rolls arranged horizontally
- B21B2013/025—Quarto, four-high stands
Definitions
- the present invention relates to a rolling mill for metal sheets, and relates to a rolling mill having high responsiveness and capable of imparting a strong roll bending force.
- the present invention relates to a rolling mill that is suitable for a thick plate rolling mill or a thin sheet hot rolling rough rolling mill and that can provide a large maximum opening between upper and lower work rolls and can impart a strong roll bending force.
- the present invention also relates to a rolling method using the above rolling mill, which can provide a high response and a strong plate crown / shape control function.
- the crown and shape of the rolled plate are important quality indicators, and many techniques related to plate crown and shape control have been disclosed.
- a rolling mill that manufactures a thick product by multi-pass reverse rolling such as a thick plate rolling mill or a thin plate hot rolling rough rolling mill
- the gap between the upper and lower work rolls (roll opening) It must be larger than the thickness of the rolled material. For this reason, restrictions on the rolling mill equipment design are imposed on the plate crown / shape control device.
- Patent Document 1 in thick plate rolling in which a plurality of passes are rolled to a predetermined plate thickness, a work roll bending device is used as a shape control device, and the roll bending force is controlled based on the result of rolling in the previous pass.
- a rolling method is disclosed.
- the rolling mill type disclosed in Patent Document 1 is a four-high rolling mill, and the rolling mill type has a structure shown in FIG.
- the rolling mill shown in FIG. 10 is obtained by arranging a decrease bending apparatus in the rolling mill of FIG. Both rolling mills have basically the same structure.
- the upper work roll chock 3-1 is held by the arm portion that connects the upper reinforcement roll chock 4-1.
- Increase bending apparatuses 6-1 and 6-2 of the upper work roll 1-1 are incorporated in this arm portion. By setting it as such a format, a big roll opening degree can be taken.
- the increment bending apparatuses 6-3 and 6-4 of the lower work roll 1-2 are incorporated in a project block connected to the rolling mill housing 9.
- the rolling roll chocks 4-1 and 4-2 hold the work roll chock 3-1 and 3-2 on both the upper and lower sides. There is also a machine.
- the increment bending apparatus means a hydraulic apparatus that applies a force in the direction of increasing the roll opening degree to the work roll chock.
- the increment bending apparatus is a general term for apparatuses including a hydraulic cylinder as an actuator.
- the increment bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified.
- a force applied to the work roll by the increase bending apparatus is referred to as an increase bending force.
- a hydraulic device that applies a force in the direction of decreasing the roll opening degree to the work roll chock is referred to as a decrease bending device, and a force applied to the work roll by this is referred to as a decrease bending force.
- the decrease bending apparatus is a general term for apparatuses including a hydraulic cylinder as an actuator.
- the decrease bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified.
- Patent Document 2 discloses a rolling mill in which work bending increase bending apparatuses 6-1 and 6-2 are incorporated in work roll chock 3-1 and 3-2 as shown in FIG.
- Patent Document 3 discloses a roll-cross type rolling mill. Also in this rolling mill, as shown in FIG. 12, the increment bending apparatuses 6-1 and 6-2 are incorporated in the work roll chock 3-1 and 3-2.
- Patent Document 4 discloses a rolling mill having a work roll shift function as shown in FIG.
- the increment bending apparatuses 6-1 and 6-2 are incorporated in project blocks 5-1 and 5-2 integrated with the rolling mill housing.
- a plurality of hydraulic cylinders of the increment bending apparatus are arranged in the roll axis direction, and are devised so that an uneven load is not applied when the work roll is shifted.
- a thick steel plate rolling machine does not have a decrease bending apparatus as shown in FIG. (See Patent Documents 1, 2, 3, and 4)
- the rolling mill according to the present invention is premised on having a decrease bending apparatus in order to provide a powerful plate crown / shape control function. Therefore, FIG. 10, FIG. 11, FIG. 12, and FIG. 13 show cases where a decrease bending apparatus is provided.
- a typical thick plate mill as disclosed in Patent Document 1 (the rolling mill shown in FIGS. 10 and 11) is designed with the highest priority being given to a large roll opening. That is, the arm portion connected to the upper reinforcing roll chock 4-1 whose vertical position is set and controlled by the reduction device 11 is configured to hold the upper work roll chock 3-1.
- the increment bending apparatuses 6-1 and 6-2 are incorporated into the arm portion, which is structurally limited in size, it is difficult to incorporate a large capacity hydraulic cylinder. For this reason, a strong roll bending force cannot be imparted.
- a work roll bending apparatus having a capacity exceeding 200 tf / chock has been put into practical use even in a hot strip mill finish rolling mill having a work roll diameter of about 800 mm.
- a work roll bending apparatus having a work roll diameter of about 200 tf / check has been put to practical use even in a thick plate mill having a work roll diameter of about 1000 mm. From the contrast of the roll diameter, it is clear that a higher capacity roll bending force is required.
- the roll deflection as an index of the roll bending effect is inversely proportional to the roll secondary moment when the applied bending moment is the same. Therefore, the roll bending effect of the thick plate mill with a work roll diameter of 1000 mm is inferior by about 60% compared to the hot strip mill finish rolling mill with a work roll diameter of 800 mm.
- the rolling mills disclosed in Patent Documents 2 and 4 are incorporated in project blocks 5-1 and 5-2 in which the increment bending apparatuses 6-1 and 6-2 are connected to the rolling mill housing 9. Yes. For this reason, it is not necessary to attach or detach the hydraulic piping of the increment bending apparatus every time the roll is reassembled. Therefore, this rolling mill can be a roll responsive apparatus with high responsiveness. Therefore, it is frequently used in hot strip mill finish rolling mills. However, in this rolling mill, it is the contact surface between the work roll chock 3-1 and the project block 5-2 that supports the rolling direction force such as offset component force acting on the upper work roll 1-1.
- the problem to be solved by the present invention is to provide a rolling mill which can take a large opening between the upper and lower work rolls and can provide a high response and a strong roll bending force.
- the present inventors have intensively studied, and as a result, shifted the project block protruding inward from the housing to the lower side with respect to the pass line, and moved up and down with respect to the pass line. It has been found that the installation can be made asymmetrical to enable the following.
- An upper and lower increase bending apparatus can be incorporated in the project block. Thereby, it is possible to provide a powerful bending device with a large capacity and a large stroke.
- a metal sheet material rolling mill having a pair of upper and lower work rolls and a pair of upper and lower reinforcing rolls that respectively support the work rolls, and a hydraulic cylinder that applies an incremental bending force to the upper and lower work rolls, respectively, Rolling direction force is applied to the lower work roll body, which is provided on the project block projecting inward, and is applied to the upper work roll body by the contact surface between the project block and the lower work roll chock.
- the metal plate rolling machine wherein the force is supported by a contact surface between a rolling mill housing window and an upper work roll chock located above the project block.
- the increment bending apparatus is a general term for apparatuses including a hydraulic cylinder as an actuator.
- the increment bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified.
- the decrease bending apparatus is a general term for an apparatus including a hydraulic cylinder which is an actuator thereof.
- the decrease bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified.
- a hydraulic cylinder that applies a decrease bending force to the lower work roll is attached to the lower reinforcement roll chock or the second project block (for example, 5-3 and 5-4 in FIG. 4) located below the project block.
- the increase bending force is changed to the work roll chock as a resultant force while changing the increase bending force while continuing the control of maintaining the decrease bending force during the predetermined rolling.
- make it work During rolling, performing the rolling so as to maintain the work roll bending force during the predetermined rolling, Thereafter, at the end of rolling, the increment bending force is changed, and the roll bending force corresponding to the roll balance force is applied to the work roll chock as a resultant force with the decrease bending force, and the rolling of the metal plate material is finished in this state. Thereafter, the decrease bending force and the increase bending force are decreased so as to maintain the roll balance force as the resultant force.
- This step also maintains the decrease bending force during the specified rolling, and the increase bending force is set so that the resultant balance of the decrease bending force and the increase bending force becomes the roll balance force. Can be omitted if it works. It is the rolling method of the metal plate material characterized by the above.
- the rolling mill according to the present invention applies a rolling direction force applied to the body portion of the upper work roll 1-1 to a housing window above the upper work roll chock 3-1 and the project block 5-2. Is supported by the contact surface. Therefore, a large roll opening degree can be obtained and a strong roll bending force can be obtained. And it is not necessary to attach or detach the hydraulic piping of the increment bending apparatus every time the work roll is reassembled. For this purpose, it is possible to connect to each hydraulic control valve via fixed hydraulic piping to the incremental bending device, and it is possible to adopt a servo valve for high response hydraulic control, highly responsive incremental bending It can be a device.
- the rolling method according to the present invention compensates for this by a highly responsive incremental bending apparatus even when a declining bending apparatus having low responsiveness must be provided.
- a crown / shape control function can be added. Therefore, it is possible to build a good plate crown and shape against disturbances that change during rolling, such as the rolled material entry side thickness and the rolled material temperature, which can greatly improve product quality and yield. .
- FIG. 1 It is a figure which shows another example of the operation flow of the rolling method which concerns on this invention. It is a figure which shows time-sequential changes, such as roll bending force accompanying the operation flow of FIG.
- FIG. 1 is a side view showing an example of the structure of a rolling mill according to the present invention.
- a rolling mill according to the present invention includes a pair of upper and lower work rolls 1-1 and 1-2 and a pair of upper and lower reinforcing rolls 2-1 and 2-2 for supporting them. It is.
- the rolling mill according to the present invention provides the upper bending machine 6-1 and 6-2 that applies the increase bending force to the upper work roll 1-1, and the increase bending force to the lower work roll 1-2.
- This is a rolling mill in which lower incremental bending apparatuses 6-3 and 6-4 to be loaded are arranged in project blocks 5-1 and 5-2 protruding inside the housing 9.
- the rolling mill according to the present invention performs a fundamental review and solves the problems of the conventional rolling mill shown in FIG. That is, the position of the project blocks 5-1 and 5-2 and the shape of the upper work roll chock 3-1 were changed from the viewpoint of structural design of the rolling mill, particularly from the viewpoint of increasing the roll opening.
- the conventional rolling mill shown in FIG. 13 cannot take a large roll opening.
- the project blocks 5-1 and 5-2 are arranged so as to be almost vertically symmetrical with respect to a position (pass line) through which the material to be rolled 10 passes.
- the rolling direction force such as offset component force acting on the upper work roll 1-1 by the contact surface where the upper work roll chock 3-1 and the project block 5-2 are in contact, that is, the material to be rolled 10 and the upper reinforcement.
- the structure supports the rolling direction force applied to the body of the upper work roll 1-1 from the roll 2-1 or the like.
- the rolling mill according to the present invention solves the above problems.
- the rolling mill according to the present invention arranges project blocks 5-1 and 5-2 projecting inward from the housing 9 at positions shifted downward with respect to the pass line. That is, unlike the conventional rolling mill shown in FIG. 13, the project blocks 5-1 and 5-2 are arranged so as to be vertically asymmetric with respect to the pass line. Further, the upper work roll chock 3-1 does not contact the project block 5-2 and support the rolling force, but contacts the housing window to support the rolling force.
- a rolling mill in which upper and lower increase bending apparatuses are arranged in a project block is well known.
- the rolling mill according to the present invention performs a fundamental review of the positions of the project blocks 5-1 and 5-2 and the shape of the upper work roll chock 3-1, Since the applied rolling direction force is supported by the contact surface between the upper work roll chock 3-1 and the housing window 12 above the project block 5-2, a large roll opening can be obtained.
- the upper bending apparatus 6-1 and 6-2 for applying the increase bending force to the upper work roll 1-1, and the increase bending force to the lower work roll 1-2 are examples of the rolling mill according to the present invention.
- the lower increase bending apparatuses 6-3 and 6-4 to be loaded are arranged in the project blocks 5-1 and 5-2 protruding inside the housing 9. Therefore, it is not necessary to attach or detach the hydraulic piping of the increment bending apparatus every time the work rolls are reassembled, and an increase bending responsive apparatus can be obtained. This is because each hydraulic control valve can be connected via a fixed hydraulic pipe, and a servo valve for high response hydraulic control can be employed.
- the rolling direction force applied to the body portion of the lower work roll 1-2 is supported by the contact surface between the lower work roll chock 3-2 and the project block 5-2.
- the rolling mill according to the present invention shown in FIG. 1 increases the height of the portion sandwiched between the project blocks 5-1 and 5-2 of the lower work roll chock 3-2.
- the roll opening is adjusted mainly by moving the upper work roll chock up and down, the amount of movement of the lower work roll chock up and down is small. Therefore, the posture of the lower work roll does not become unstable as the roll opening degree increases.
- FIG. 2 is a sectional plan view showing an arrangement example of the upper and lower increase bending apparatuses. That is, it is a cross-sectional view of the pass line height of the project blocks 5-1 and 5-2.
- the upper and lower increase bending apparatuses are shifted from each other on the sectional plan view of the project block.
- the upper increment bending devices 6-1 and 6-2 and the lower increment bending devices 6-3 and 6-4 are shifted in the axial direction of the work roll 1-2. It is desirable to deploy in a relationship. In this way, the upper and lower increase bending apparatuses do not interfere with each other.
- each of the lower increase bending apparatuses 6-3 and 6-4 has two hydraulic cylinders on the input side and the output side.
- the same effect can be obtained by arranging one hydraulic cylinder at different positions in the axial direction of the work roll 1-2 so as not to interfere with the upper increment bending apparatuses 6-1 and 6-2.
- FIG. 3 is also a cross-sectional plan view showing an arrangement example of the upper and lower increase bending apparatuses. That is, it is a sectional view of the pass line height of the project blocks 5-1 and 5-2.
- the upper increment bending apparatuses 6-1 and 6-2 and the lower increase bending apparatuses 6-3 and 6-4 may be in a positional relationship shifted in the rolling direction. Even in such an arrangement, the upper and lower increase bending apparatuses do not interfere with each other. It is possible to increase the stroke of the upper increment bending devices 6-1 and 6-2, and to take a larger roll opening.
- a large-capacity / large-stroke upper increment bending apparatus is provided on project blocks 5-1 and 5-2 projecting inward from the housing 9 of the rolling mill. 6-1, 6-2 can be deployed.
- the upper reinforcing roll chock 4-1 does not include an arm portion like the rolling mill shown in FIGS.
- the large capacity upper decrease bending apparatuses 7-1 and 7-2 can be provided at positions that do not interfere with the bearings of the upper reinforcing roll of the upper reinforcing roll chock 4-1. As a result, it is possible to apply a large decrease bending force to the upper work roll 1-1.
- each of the increment bending apparatuses 6-1 to 6-4 can be connected to each hydraulic control valve via a fixed hydraulic pipe, and employs a servo valve for high response hydraulic control. be able to. Therefore, it is possible to provide an incremental bending apparatus with high responsiveness.
- FIG. 4 is a side view showing another example of a rolling mill according to the present invention.
- the upper roll system has the same configuration as that of FIG. 1, but the lower roll system has a different configuration.
- lower decrease bending apparatuses 7-3 and 7-4 that apply a decrease bending force to the lower work roll are provided in the lower reinforcing roll chock 4-2.
- the lower decrease bending apparatuses 7-3 and 7-4 are arranged in dedicated project blocks 5-3 and 5-4 located below the project blocks 5-1 and 5-2. Has been deployed.
- the fluctuation of the hydraulic pressure may be absorbed or alleviated because of the flexible structure. Therefore, when the upper decrease bending devices 7-1 and 7-2 are provided in the upper reinforcing roll chock 4-1, the response of the roll bending device is less than when the fixed piping and the servo valve are used. It must be lowered.
- the decrease bending force cannot be applied during idling when no rolling load is applied. Therefore, when applying the decrease bending force, it is necessary to quickly set the decrease bending force from the idle state in which the roll balance is achieved to the start of rolling, and to quickly return to the roll balance state at the end of rolling. Therefore, when the roll bending force is changed by the control of the decrease bending device having poor responsiveness, there is a possibility that the predetermined defect bending force is not applied to the leading end of the rolled material and the defective shape portion becomes long. .
- the rolling method according to the present invention solves the above problems. That is, it is a rolling method using the rolling mill according to the present invention in which the upper decrease bending apparatuses 7-1 and 7-2 are arranged in the upper reinforcing roll chock 4-1, and solves the above-described problems that may occur in the rolling mill. It is a rolling method.
- the response of the decrease bending apparatus may be deteriorated.
- the upper increment bending apparatuses 6-1 and 6-2 are arranged in the project blocks 5-1 and 5-2 protruding in the inner direction from the housing 9, Large increase and large stroke upper increment bending apparatuses 6-1 and 6-2 can be used.
- a change in roll bending force at the start of rolling and at the end of rolling is performed with a highly responsive increase. This is performed by using a bending apparatus and compensates for the response of the decrease bending apparatus.
- FIG. 5 is a diagram showing an example of an operation flow of the rolling method according to the present invention. That is, it is a diagram showing an operation flow of an increase bending apparatus having a high response and a decrease bending apparatus having a slightly lower response than the above.
- FIG. 6 shows time-series changes such as roll bending force for one rolled material in this rolling method.
- FIG. 6 shows the rolling load, the output of the increment bending apparatus, the output of the decrease bending apparatus, and the time series change of the work roll bending force, which is the resultant force, from the top.
- FIGS First start rolling before, then rolled settings F R of the rolling work roll bending force corresponding to operation and output to the rolling.
- F R is a negative value, that is, those which are calculated as decrease-bending force.
- the increase bending force (the force in the increase direction (the direction in which the roll is opened)) is a positive value
- the decrease bending force (the force in the decrease direction (the direction in which the upper and lower work rolls are pressed)) is negative. Value.
- both the increase bending force and the decrease bending force are applied, and the roll bending force on the increase side corresponding to the roll balance force (F B ) is applied to the work roll chock as a resultant force. That is, at idle before rolling, the increment bending device output is I B (> 0), the decrease bending device output is D B ( ⁇ 0), and I B + D B is the roll balance force F B (> 0).
- Roll balancing force F B is rolls as a work roll and a driven which are driven by an electric motor in the idling state is determined as a force that does not slip. This time D B may be set at a level of minimum hydraulic actuator decrease-bending device is not Shimawa away from the work roll chock.
- the work in a given rolling roll bending force F R is to act on the work roll chock as resultant force. That is, when the start of rolling (b point on the time axis), is changed to I R ink bending device output from the I S. While such decrease-lease low response by the bending device output D S, the control of the quick-bending apparatus responsive, the work roll bending force of the resultant force from the roll balancing force F B (> 0) It is possible to quickly switch to the work roll bending force F R ( ⁇ 0) during rolling.
- the rolling start time (b) refers to the time point when the rolling is started, and the detection thereof, for example, the load detected by the load cell for measuring the rolling load of the rolling mill exceeds 30% of the predicted rolling load. You can decide by the method of time.
- a roll bending force corresponding to the roll balance force (F B ) is applied to the work roll chock as a resultant force, and the rolling is ended. That is, when completion of rolling (c point on the time axis), decrease-bending device output varies the fast-bending device output response from the I R in I S remain D S. By doing in this way, the work roll bending force as a resultant force can be quickly switched from the work roll bending force during rolling (F R ( ⁇ 0)) to the roll balance force (F B (> 0)).
- the end of rolling (c) refers to the end of rolling.
- the load detected by the load cell for measuring the rolling load of the rolling mill is less than 50% of the actual rolling load average value. What is necessary is just to decide by the method of timing.
- the roll bending force is changed at the start of rolling and at the end of rolling using an incremental bending apparatus with high responsiveness. For this reason, even if it is necessary to deploy a decrease bending device having a relatively low response, a highly responsive increase bending device compensates for this.
- a shape control function can be provided. Furthermore, even when the rolling load changes due to various factors (disturbances) during rolling, it is possible to quickly control to maintain the optimal work roll bending force with a highly responsive incremental bending device. It is.
- the control for changing the work roll bending force during rolling may be performed according to, for example, the measured value of the rolling load. That is, according to the rolling method of the present invention, it is possible to build a good plate crown and shape against disturbances that vary during rolling, such as the rolled material entry side plate thickness and the rolled material temperature. Thereby, product quality and yield can be greatly improved.
- FIG. 7 is a diagram showing time-series changes in roll bending force and the like when the response of the decrease bending apparatus is low (especially when the reaction force is reduced and the pressure drops when the reaction force is released). Similar to FIG. 6, changes in time series such as a roll bending force accompanying a rolling operation on a single rolled material are shown in accordance with the operation flow of the increment bending apparatus and the decrease bending apparatus shown in FIG. 5. That is, an example in which the response speed of the decrease bending apparatus is slower than in the case of FIGS.
- FIG. 8 is a diagram showing an operation flow in the case of having an increase bending device with high responsiveness and a decrease bending device with low responsiveness.
- the decrease bending force or the hydraulic pressure in the hydraulic piping connected to the apparatus is constantly measured by a load cell installed in the decrease bending apparatus, and the incremental bending apparatus is controlled based on the measured value.
- the output of the increase-bending device, decrease-bending force or decrease-lease Control according to the hydraulic pressure of the bending equipment.
- the other control is the same as the rolling method shown in FIG.
- the increase bending device compensates for fluctuations in the output of the decrease bending device, and the work roll bending force is optimized to achieve high-response control. Can be realized.
- the present invention can be used for rolling a steel sheet, particularly a reverse rolling mill that requires a large opening.
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Abstract
Description
さらに、本発明は、高応答で、かつ強力な板クラウン・形状制御機能を付与できる、上記圧延機を用いた圧延方法にも関する。 The present invention relates to a rolling mill for metal sheets, and relates to a rolling mill having high responsiveness and capable of imparting a strong roll bending force. In particular, the present invention relates to a rolling mill that is suitable for a thick plate rolling mill or a thin sheet hot rolling rough rolling mill and that can provide a large maximum opening between upper and lower work rolls and can impart a strong roll bending force.
Furthermore, the present invention also relates to a rolling method using the above rolling mill, which can provide a high response and a strong plate crown / shape control function.
しかしながら、例えば、厚板圧延機あるいは薄板熱間圧延の粗圧延機のように板厚の厚い製品を多パスのリバース圧延で製造する圧延機では、上下作業ロール間の間隙(ロール開度)を圧延素材の板厚よりも大きくとる必要がある。このため板クラウン・形状制御装置には圧延機設備設計上の制約が課せられる。 In the rolling operation of a metal plate material, the crown and shape of the rolled plate are important quality indicators, and many techniques related to plate crown and shape control have been disclosed.
However, for example, in a rolling mill that manufactures a thick product by multi-pass reverse rolling, such as a thick plate rolling mill or a thin plate hot rolling rough rolling mill, the gap between the upper and lower work rolls (roll opening) It must be larger than the thickness of the rolled material. For this reason, restrictions on the rolling mill equipment design are imposed on the plate crown / shape control device.
特許文献1に開示されている圧延機型式は4段圧延機であり、その圧延機形式は図14に示す構造である。図14の圧延機にディクリースベンディング装置を配置したのが図10に示す圧延機となる。両圧延機は、基本的には同じ構造である。すなわち、上作業ロールチョック3−1を上補強ロールチョック4−1に繋がるアーム部が保持する形式である。このアーム部に上作業ロール1−1のインクリースベンディング装置6−1、6−2が組み込まれている。このような形式とすることで、大きなロール開度をとることができる。 For example, in Patent Document 1, in thick plate rolling in which a plurality of passes are rolled to a predetermined plate thickness, a work roll bending device is used as a shape control device, and the roll bending force is controlled based on the result of rolling in the previous pass. A rolling method is disclosed.
The rolling mill type disclosed in Patent Document 1 is a four-high rolling mill, and the rolling mill type has a structure shown in FIG. The rolling mill shown in FIG. 10 is obtained by arranging a decrease bending apparatus in the rolling mill of FIG. Both rolling mills have basically the same structure. In other words, the upper work roll chock 3-1 is held by the arm portion that connects the upper reinforcement roll chock 4-1. Increase bending apparatuses 6-1 and 6-2 of the upper work roll 1-1 are incorporated in this arm portion. By setting it as such a format, a big roll opening degree can be taken.
一方、ロール開度を小さくする方向の力を作業ロールチョックに与える油圧装置をディクリースベンディング装置、そして、これによって作業ロールに負荷される力をディクリースベンディング力と称する。また、ディクリースベンディング装置とは、そのアクチュエータである油圧シリンダーを含む装置の総称である。しかし、本発明では、説明を簡単にするため、ディクリースベンディング装置とは、特に断りの無い限り、そのアクチュエータである油圧シリンダーを指すものとする。 The increment bending apparatus means a hydraulic apparatus that applies a force in the direction of increasing the roll opening degree to the work roll chock. The increment bending apparatus is a general term for apparatuses including a hydraulic cylinder as an actuator. However, in the present invention, in order to simplify the description, the increment bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified. A force applied to the work roll by the increase bending apparatus is referred to as an increase bending force.
On the other hand, a hydraulic device that applies a force in the direction of decreasing the roll opening degree to the work roll chock is referred to as a decrease bending device, and a force applied to the work roll by this is referred to as a decrease bending force. The decrease bending apparatus is a general term for apparatuses including a hydraulic cylinder as an actuator. However, in the present invention, in order to simplify the description, the decrease bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified.
なお、一般的に厚鋼板の圧延機は、図14に示すようにディクリースベンディング装置がない。(特許文献1、2、3,4参照)
しかし、本発明に係る圧延機は、強力な板クラウン・形状制御機能を付与するため、ディクリースベンディング装置を有することを前提としている。そのため、図10、図11、図12、図13は、ディクリースベンディング装置を有している場合を示している。 Patent Document 4 discloses a rolling mill having a work roll shift function as shown in FIG. In this rolling mill, the increment bending apparatuses 6-1 and 6-2 are incorporated in project blocks 5-1 and 5-2 integrated with the rolling mill housing. In the rolling mill disclosed in Patent Document 4, a plurality of hydraulic cylinders of the increment bending apparatus are arranged in the roll axis direction, and are devised so that an uneven load is not applied when the work roll is shifted.
In general, a thick steel plate rolling machine does not have a decrease bending apparatus as shown in FIG. (See Patent Documents 1, 2, 3, and 4)
However, the rolling mill according to the present invention is premised on having a decrease bending apparatus in order to provide a powerful plate crown / shape control function. Therefore, FIG. 10, FIG. 11, FIG. 12, and FIG. 13 show cases where a decrease bending apparatus is provided.
しかしながら、ロールクロス機能やロールシフト機能は、圧延中に迅速に設定変更することが困難である。従って、圧延中の外乱因子を取り除くことが不可能であるため、形状制御端としては不完全と言わざるを得ない。 For this reason, a roll cross function and a roll shift function have been put into practical use and mainly used as a plate crown / shape control device of a thick plate rolling mill. Work roll bending devices are rarely used.
However, it is difficult to quickly change the settings of the roll cloth function and the roll shift function during rolling. Therefore, since it is impossible to remove the disturbance factor during rolling, it must be said that the shape control end is incomplete.
一方、作業ロール1−1、1−2は圧延操業によって補強ロールより損耗しやすいために定期的なロール組み替えが必要である。このため、その組み替え作業の度にインクリースベンディング装置の油圧配管を着脱しなければならない。これによってロール組み替え時間が長くなるだけでなく、配管着脱時に油圧配管内に微小異物が混入する可能性が高くなる。
このため、この圧延機では、高応答油圧制御のためのサーボバルブを採用することができない。また、配管着脱を容易にするために柔構造かつ着脱自在な油圧配管(フレキシブル配管等)を介してそれぞれの油圧制御弁に接続しなければならない。また、フレキシブル配管を採用すると、柔構造であるが故に油圧の変動を吸収緩和してしまうこともある。したがって、応答性の高いロールベンディング装置とすることが困難となる。 On the other hand, when the increment bending apparatuses 6-1 and 6-2 are incorporated in the work roll chock 3-1 and 3-2 as in the rolling mill disclosed in Patent Documents 2 and 3 (FIG. 12). The hydraulic cylinder stroke can be taken longer. Thereby, a large roll opening degree can be realized. In addition, since it is possible to incorporate a large capacity hydraulic cylinder, a practical work roll bending effect can be expected even with a thick plate mill.
On the other hand, the work rolls 1-1 and 1-2 are more easily worn out than the reinforcing rolls due to rolling operation, and therefore it is necessary to periodically change the rolls. For this reason, it is necessary to attach and detach the hydraulic piping of the increment bending apparatus every time the reassembly work is performed. This not only lengthens the roll reassembly time, but also increases the possibility of minute foreign matter entering the hydraulic piping when the piping is attached or detached.
For this reason, this rolling mill cannot employ a servo valve for high response hydraulic control. In addition, in order to facilitate the attachment / detachment of the pipe, it must be connected to each hydraulic control valve via a flexible and detachable hydraulic pipe (flexible pipe or the like). In addition, when flexible piping is employed, fluctuations in hydraulic pressure may be absorbed and relaxed due to the flexible structure. Therefore, it becomes difficult to obtain a roll bending apparatus with high responsiveness.
しかしながら、この圧延機は、上作業ロール1−1に作用するオフセット分力等の圧延方向力を支持するのは作業ロールチョック3−1とプロジェクトブロック5−2との接触面である。そのため、圧下装置11を操作してロール開度を大きくすると、作業ロールの回転中心が該接触面の外側となって作業ロールチョック3−1の姿勢が不安定となる。結果として、大きなロール開度をとることができない。このため、大きなロール開度が必要な厚板圧延機ではこの圧延機が採用されることはほとんどない。 On the other hand, the rolling mills disclosed in Patent Documents 2 and 4 (FIG. 13) are incorporated in project blocks 5-1 and 5-2 in which the increment bending apparatuses 6-1 and 6-2 are connected to the rolling
However, in this rolling mill, it is the contact surface between the work roll chock 3-1 and the project block 5-2 that supports the rolling direction force such as offset component force acting on the upper work roll 1-1. Therefore, when the roll opening degree is increased by operating the
(a)上作業ロールチョックにかかる圧延方向力を常にハウジングで受ける構造とできること。これにより、ロール開度にかかわらず安定して作業ロールチョックを支えることができる。
(b)上記プロジェクトブロックに、上下インクリースベンディング装置を組み込むことができること。これにより、大容量・大ストロークの強力ベンディング装置を備えることができる。
(c)また、インクリースベンディング装置をプロジェクトブロックに組み込むことで、油圧配管を固定化でき、サーボバルブを適用することができること。これにより高応答のインクリ−スベンディング力の制御が可能となる。
また、これらの装置上の発明により、以下の圧延機操業方法が可能となることも見出した。
(d)応答性の低いディクリースベンディング装置であっても、応答性の速いインクリースベンディング装置との協働により、高応答のベンディング力制御が可能となること。これにより、製品品質、圧延歩留が大きく改善される。
本発明は、これら知見を基に成されたものであり、その要旨は、以下のとおりである。 In order to solve the above-mentioned problems, the present inventors have intensively studied, and as a result, shifted the project block protruding inward from the housing to the lower side with respect to the pass line, and moved up and down with respect to the pass line. It has been found that the installation can be made asymmetrical to enable the following.
(A) A structure in which the rolling direction force applied to the upper work roll chock is always received by the housing. Thereby, it is possible to stably support the work roll chock regardless of the roll opening degree.
(B) An upper and lower increase bending apparatus can be incorporated in the project block. Thereby, it is possible to provide a powerful bending device with a large capacity and a large stroke.
(C) In addition, the hydraulic piping can be fixed and the servo valve can be applied by incorporating the increment bending device into the project block. This makes it possible to control the incremental bending force with high response.
Moreover, it discovered that the invention on these apparatuses enabled the following rolling mill operating methods.
(D) Even in the case of a decrease bending device with low responsiveness, it is possible to control the bending force with high response by cooperating with the incremental bending device with high responsiveness. This greatly improves product quality and rolling yield.
The present invention has been made based on these findings, and the gist thereof is as follows.
前記したように、インクリースベンディング装置とは、そのアクチュエータである油圧シリンダーを含む装置の総称である。しかし、本発明では、説明を簡単にするため、インクリースベンディング装置とは、特に断りの無い限り、そのアクチュエータである油圧シリンダーを指すものとする。 (1) A metal sheet material rolling mill having a pair of upper and lower work rolls and a pair of upper and lower reinforcing rolls that respectively support the work rolls, and a hydraulic cylinder that applies an incremental bending force to the upper and lower work rolls, respectively, Rolling direction force is applied to the lower work roll body, which is provided on the project block projecting inward, and is applied to the upper work roll body by the contact surface between the project block and the lower work roll chock. The metal plate rolling machine, wherein the force is supported by a contact surface between a rolling mill housing window and an upper work roll chock located above the project block.
As described above, the increment bending apparatus is a general term for apparatuses including a hydraulic cylinder as an actuator. However, in the present invention, in order to simplify the description, the increment bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified.
インクリースベンディング装置と同様に、本発明では、ディクリースベンディング装置とは、そのアクチュエータである油圧シリンダーを含む装置の総称である。しかし、本発明では、説明を簡単にするため、ディクリースベンディング装置とは、特に断りの無い限り、そのアクチュエータである油圧シリンダーを指すものとする。
(4)下作業ロールにディクリースベンディング力を負荷する油圧シリンダーが、下補強ロールチョックまたは前記プロジェクトブロックの下方に位置する第2のプロジェクトブロック(例えば、図4の5−3,5−4)に配備されていることを特徴とする(1)~(3)のいずれか1項に記載の金属板の圧延機。 (3) The metal plate rolling mill according to (1) or (2), wherein a hydraulic cylinder that applies a decrease bending force to the upper work roll is provided in the upper reinforcing roll chock.
Similar to the increment bending apparatus, in the present invention, the decrease bending apparatus is a general term for an apparatus including a hydraulic cylinder which is an actuator thereof. However, in the present invention, in order to simplify the description, the decrease bending apparatus refers to a hydraulic cylinder that is an actuator thereof unless otherwise specified.
(4) A hydraulic cylinder that applies a decrease bending force to the lower work roll is attached to the lower reinforcement roll chock or the second project block (for example, 5-3 and 5-4 in FIG. 4) located below the project block. The metal sheet rolling mill according to any one of (1) to (3), wherein the rolling mill is provided.
圧延開始前に、インクリースベンディング力とディクリースベンディング力の双方を作用させ、合力としてロールバランス力に相当するロールベンディング力を作業ロールチョックに作用させる。
その後、ディクリースベンリング力を所定の圧延中ディクリースベンディング力になるように変化させつつ、ディクリースベンディング力とインクリースベンディング力の合力がロールバランス力を維持するようにインクリースベンディング力を、変化させる。このステップは、最初からディクリースベンリング力を所定の圧延中ディクリースベンディング力とし、ディクリースベンディング力とインクリースベンディング力の合力がロールバランス力となるようにインクリースベンディング力を作業ロールチョックに作用させておけば、省略することができる。
その後、圧延開始時に、ディクリースベンディング力を前記所定の圧延中ディクリースベンディング力を保持する制御を継続しつつインクリースベンディング力を変化させ、合力として所定の圧延中作業ロールベンディング力が作業ロールチョックに作用する状態にする。
圧延中は、前記所定の圧延中作業ロールベンディング力を維持するように圧延を行い、
その後、圧延終了時に、インクリースベンディング力を変化させ、ディクリースベンディング力との合力としてロールバランス力に相当するロールベンディング力を作業ロールチョックに作用させ、この状態で金属板材の圧延を終了する。
その後、前記合力としてのロールバランス力を維持するように、ディクリースベンディング力とインクリースベンディング力を減少させる。このステップも、ディクリースベンリング力を所定の圧延中ディクリースベンディング力を維持するようにし、ディクリースベンディング力とインクリースベンディング力の合力がロールバランス力となるようにインクリースベンディング力を作業ロールチョックに作用するのであれば、省略することができる。
以上のことを特徴とする金属板材の圧延方法である。 (5) A method for rolling a metal sheet material using the metal sheet material rolling mill described in (3) above,
Before starting rolling, both the increase bending force and the decrease bending force are applied, and a roll bending force corresponding to the roll balance force is applied to the work roll chock as a resultant force.
After that, while changing the decrease bending force to become the decrease bending force during the predetermined rolling, the increase bending force is maintained so that the combined force of the decrease bending force and the increase bending force maintains the roll balance force. Change. In this step, the increase bending force is applied to the work roll chock so that the decrease bending force is initially set as the decrease bending force during rolling, and the resultant balance of the decrease bending force and the increase bending force becomes the roll balance force. If you let it, you can omit it.
After that, at the start of rolling, the increase bending force is changed to the work roll chock as a resultant force while changing the increase bending force while continuing the control of maintaining the decrease bending force during the predetermined rolling. Make it work.
During rolling, performing the rolling so as to maintain the work roll bending force during the predetermined rolling,
Thereafter, at the end of rolling, the increment bending force is changed, and the roll bending force corresponding to the roll balance force is applied to the work roll chock as a resultant force with the decrease bending force, and the rolling of the metal plate material is finished in this state.
Thereafter, the decrease bending force and the increase bending force are decreased so as to maintain the roll balance force as the resultant force. This step also maintains the decrease bending force during the specified rolling, and the increase bending force is set so that the resultant balance of the decrease bending force and the increase bending force becomes the roll balance force. Can be omitted if it works.
It is the rolling method of the metal plate material characterized by the above.
そして、作業ロールの組み替え作業の度にインクリースベンディング装置の油圧配管を着脱する必要がない。このために、インクリースベンディング装置に固定油圧配管を介してそれぞれの油圧制御弁に接続することができ、高応答油圧制御のためのサーボバルブを採用することができ、応答性の高いインクリースベンディング装置とすることができる。 As shown in FIG. 1, the rolling mill according to the present invention applies a rolling direction force applied to the body portion of the upper work roll 1-1 to a housing window above the upper work roll chock 3-1 and the project block 5-2. Is supported by the contact surface. Therefore, a large roll opening degree can be obtained and a strong roll bending force can be obtained.
And it is not necessary to attach or detach the hydraulic piping of the increment bending apparatus every time the work roll is reassembled. For this purpose, it is possible to connect to each hydraulic control valve via fixed hydraulic piping to the incremental bending device, and it is possible to adopt a servo valve for high response hydraulic control, highly responsive incremental bending It can be a device.
したがって、圧延材入側板厚や圧延材温度等の圧延中に変動する外乱に対しても良好な板クラウン・形状を造り込むことが可能であり、製品品質および歩留を大きく改善することができる。 The rolling method according to the present invention compensates for this by a highly responsive incremental bending apparatus even when a declining bending apparatus having low responsiveness must be provided. A crown / shape control function can be added.
Therefore, it is possible to build a good plate crown and shape against disturbances that change during rolling, such as the rolled material entry side thickness and the rolled material temperature, which can greatly improve product quality and yield. .
図1は本発明に係る圧延機の構造の一例を示す側面図である。当該図に示すように、本発明に係る圧延機は、上下一対の作業ロール1−1、1−2とこれらをそれぞれ支持する上下一対の補強ロール2−1、2−2を備えた圧延機である。
そして、本発明に係る圧延機は、上作業ロール1−1にインクリースベンディング力を負荷する上インクリースベンディング装置6−1、6−2と、下作業ロール1−2にインクリースベンディング力を負荷する下インクリースベンディング装置6−3、6−4を、ハウジング9の内側に突出したプロジェクトブロック5−1、5−2に配備した圧延機である。 Hereinafter, a rolling mill according to the present invention and a rolling method using the rolling mill will be described with reference to FIGS.
FIG. 1 is a side view showing an example of the structure of a rolling mill according to the present invention. As shown in the figure, a rolling mill according to the present invention includes a pair of upper and lower work rolls 1-1 and 1-2 and a pair of upper and lower reinforcing rolls 2-1 and 2-2 for supporting them. It is.
The rolling mill according to the present invention provides the upper bending machine 6-1 and 6-2 that applies the increase bending force to the upper work roll 1-1, and the increase bending force to the lower work roll 1-2. This is a rolling mill in which lower incremental bending apparatuses 6-3 and 6-4 to be loaded are arranged in project blocks 5-1 and 5-2 protruding inside the
この構造では、ロール開度を大きくするにしたがい、上作業ロール1−1の回転中心位置(圧延方向力の作用点)と上作業ロールチョック3−1が上方に移動し、前記圧延方向力を支持するプロジェクトブロック5−2との接触面積が減少する。したがって、ロール開度を大きくするにしたがって上作業ロールチョック3−1の姿勢が不安定となり、大きなロール開度をとることができない。 The conventional rolling mill shown in FIG. 13 cannot take a large roll opening. In this rolling mill, the project blocks 5-1 and 5-2 are arranged so as to be almost vertically symmetrical with respect to a position (pass line) through which the material to be rolled 10 passes. For this reason, the rolling direction force such as offset component force acting on the upper work roll 1-1 by the contact surface where the upper work roll chock 3-1 and the project block 5-2 are in contact, that is, the material to be rolled 10 and the upper reinforcement. This is because the structure supports the rolling direction force applied to the body of the upper work roll 1-1 from the roll 2-1 or the like.
In this structure, as the roll opening degree is increased, the rotation center position (the point of action of the rolling direction force) of the upper work roll 1-1 and the upper work roll chock 3-1 move upward to support the rolling direction force. The contact area with the project block 5-2 is reduced. Therefore, the posture of the upper work roll chock 3-1 becomes unstable as the roll opening degree is increased, and a large roll opening degree cannot be taken.
このような構造にすれば、圧延機の圧下装置11を操作してロール開度を大きくしても、上作業ロールチョック3−1とハウジングウィンドウとが接触する面積は一切変化しない。したがって、上作業ロールチョック3−1の姿勢は、ロール開度にかかわらず常に安定して保持されることになる。 Thereby, in the rolling mill which concerns on this invention, rolling of offset component force etc. which act on the upper work roll 1-1 with the contact surface of the upper work roll chock 3-1 and the
With such a structure, even if the roll opening degree is increased by operating the rolling
さらに、本発明に係る圧延機では、上作業ロール1−1にインクリースベンディング力を負荷する上インクリースベンディング装置6−1、6−2と、下作業ロール1−2にインクリースベンディング力を負荷する下インクリースベンディング装置6−3、6−4を、ハウジング9の内側に突出したプロジェクトブロック5−1、5−2に配備している。そのため、作業ロールの組み替え作業の度にインクリースベンディング装置の油圧配管を着脱する必要がなく、応答性の高いインクリースベンディング装置とすることができる。これは、固定配管された油圧配管を介してそれぞれの油圧制御弁に接続することができ、高応答油圧制御のためのサーボバルブを採用することができるからである。 As shown in FIG. 13, a rolling mill in which upper and lower increase bending apparatuses are arranged in a project block is well known. However, the rolling mill according to the present invention performs a fundamental review of the positions of the project blocks 5-1 and 5-2 and the shape of the upper work roll chock 3-1, Since the applied rolling direction force is supported by the contact surface between the upper work roll chock 3-1 and the
Furthermore, in the rolling mill according to the present invention, the upper bending apparatus 6-1 and 6-2 for applying the increase bending force to the upper work roll 1-1, and the increase bending force to the lower work roll 1-2. The lower increase bending apparatuses 6-3 and 6-4 to be loaded are arranged in the project blocks 5-1 and 5-2 protruding inside the
また、ロール開度は、主に上作業ロールチョックを上下に移動させることにより調整するので、下作業ロールチョックの上下の移動量は少ない。そのため、ロール開度が大きくなるにしたがい、下作業ロールの姿勢が不安定になることはない。 In the rolling mill according to the present invention, the rolling direction force applied to the body portion of the lower work roll 1-2 is supported by the contact surface between the lower work roll chock 3-2 and the project block 5-2. For this reason, the rolling mill according to the present invention shown in FIG. 1 increases the height of the portion sandwiched between the project blocks 5-1 and 5-2 of the lower work roll chock 3-2.
Moreover, since the roll opening is adjusted mainly by moving the upper work roll chock up and down, the amount of movement of the lower work roll chock up and down is small. Therefore, the posture of the lower work roll does not become unstable as the roll opening degree increases.
本発明に係る圧延機では、上下のインクリースベンディング装置を、プロジェクトブロックの断面平面図上で互いにずらして配備することが望ましい。例えば、図2に示すように、上インクリースベンディング装置6−1、6−2と、下インクリースベンディング装置6−3、6−4とを、作業ロール1−2の軸方向にシフトした位置関係となるように配備することが望ましい。このようにすれば、上下のインクリースベンディング装置が互いに干渉しない。上インクリースベンディング装置6−1、6−2のストロークを大きくして、さらに大きなロール開度をとることができる。
なお、図2では下インクリースベンディング装置6−3、6−4は入側、出側それぞれ油圧シリンダーを2本としている。しかし、油圧シリンダーを1本として上インクリースベンディング装置6−1、6−2と干渉しないように作業ロール1−2の軸方向に異なる位置に配置することでも同様の効果を得ることができる。 FIG. 2 is a sectional plan view showing an arrangement example of the upper and lower increase bending apparatuses. That is, it is a cross-sectional view of the pass line height of the project blocks 5-1 and 5-2.
In the rolling mill according to the present invention, it is desirable that the upper and lower increase bending apparatuses are shifted from each other on the sectional plan view of the project block. For example, as shown in FIG. 2, the upper increment bending devices 6-1 and 6-2 and the lower increment bending devices 6-3 and 6-4 are shifted in the axial direction of the work roll 1-2. It is desirable to deploy in a relationship. In this way, the upper and lower increase bending apparatuses do not interfere with each other. It is possible to increase the stroke of the upper increment bending devices 6-1 and 6-2, and to take a larger roll opening.
In FIG. 2, each of the lower increase bending apparatuses 6-3 and 6-4 has two hydraulic cylinders on the input side and the output side. However, the same effect can be obtained by arranging one hydraulic cylinder at different positions in the axial direction of the work roll 1-2 so as not to interfere with the upper increment bending apparatuses 6-1 and 6-2.
しかしながら、これらの従来の圧延機では、強力なロールベンディング力を付与することができない。これは、上補強ロールチョック4−1から下方に突出したアーム部に、上インクリースベンディング装置6−1、6−2を組み込む構造であるため、大容量および大ストロークの上インクリースベンディング装置6−1、6−2を配備することができないからである。また、これらの圧延機は、上補強ロールチョックからアーム部を出すため、上ディクリースベンディング装置の設置スペースがロールの軸心に寄ってしまう。そのため、上補強ロールの軸受けと干渉するので、大容量の上ディクリースベンディング装置7−1、7−2を配備することができないからである。 10 and 11 are both rolling mills according to the prior art, and any rolling mill can take a large roll opening.
However, these conventional rolling mills cannot provide a strong roll bending force. This is a structure in which the upper increase bending devices 6-1 and 6-2 are incorporated in the arm portion that protrudes downward from the upper reinforcing roll chock 4-1, so that the upper increase bending device 6- has a large capacity and a large stroke. This is because 1, 6-2 cannot be deployed. Moreover, since these rolling mills take out an arm part from an upper reinforcement roll chock, the installation space of an upper decrease bending apparatus will approach the axial center of a roll. Therefore, since it interferes with the bearing of the upper reinforcing roll, the large capacity upper decrease bending devices 7-1 and 7-2 cannot be provided.
また、本発明に係る圧延機は、上補強ロールチョック4−1には図10、図11に示す圧延機のようなアーム部を備えない。このため、上補強ロールチョック4−1の上補強ロールの軸受けと干渉しない位置に、大容量の上ディクリースベンディング装置7−1、7−2を配備することができる。これにより、上作業ロール1−1に大きなディクリースベンディング力を負荷することが可能となる。 On the other hand, as shown in FIG. 1, in the rolling mill according to the present invention, a large-capacity / large-stroke upper increment bending apparatus is provided on project blocks 5-1 and 5-2 projecting inward from the
Further, in the rolling mill according to the present invention, the upper reinforcing roll chock 4-1 does not include an arm portion like the rolling mill shown in FIGS. For this reason, the large capacity upper decrease bending apparatuses 7-1 and 7-2 can be provided at positions that do not interfere with the bearings of the upper reinforcing roll of the upper reinforcing roll chock 4-1. As a result, it is possible to apply a large decrease bending force to the upper work roll 1-1.
また、作業ロールの組み替え作業の度にインクリースベンディング装置の油圧配管を着脱する必要がない。このために、それぞれのインクリースベンディング装置6−1~6−4には、固定油圧配管を介してそれぞれの油圧制御弁に接続することができ、高応答油圧制御のためのサーボバルブを採用することができる。したがって、応答性の高いインクリースベンディング装置とすることができる。 That is, a fundamental review of the positions of the project blocks 5-1 and 5-2 and the shape of the upper work roll chock 3-1 is performed, and the rolling direction force applied to the trunk of the upper work roll 1-1 is According to the rolling mill according to the present invention that is supported by the contact surface between the upper work roll chock 3-1 and the
Further, it is not necessary to attach or detach the hydraulic piping of the increment bending apparatus every time the work roll is reassembled. For this reason, each of the increment bending apparatuses 6-1 to 6-4 can be connected to each hydraulic control valve via a fixed hydraulic pipe, and employs a servo valve for high response hydraulic control. be able to. Therefore, it is possible to provide an incremental bending apparatus with high responsiveness.
このために、一般に高応答油圧制御のためのサーボバルブを採用することが困難となる上、フレキシブル配管を一部に採用しなければならない場合もある。
したがって、固定配管やサーボバルブを採用した場合と比較すると、ロールベンディング装置の応答性は低くならざるを得ない。 By the way, when the lower decrease bending apparatuses 7-3 and 7-4 are arranged in the lower reinforcing roll chock 4-2 as in the rolling mill shown in FIG. 1, when the lower reinforcing roll 2-2 is reassembled, the decrease bending apparatus Hydraulic piping must be attached and detached. In other words, there is a high possibility that minute foreign matter will be mixed in the hydraulic piping during attachment / detachment.
For this reason, it is generally difficult to employ a servo valve for high response hydraulic pressure control, and flexible piping may have to be partially employed.
Therefore, the responsiveness of the roll bending apparatus is inevitably lowered as compared with the case where fixed piping and servo valves are employed.
このため、一般に高応答油圧制御のためのサーボバルブを採用することが比較的困難となる。また、配管着脱を容易にするためにフレキシブル配管等のように柔構造かつ着脱自在な油圧配管を介してそれぞれの油圧制御弁に接続しなければならない。フレキシブル配管等の柔構造かつ着脱自在な油圧配管を採用する場合には、柔構造であるが故に油圧の変動を吸収し、または緩和してしまうこともある。
したがって、上ディクリースベンディング装置7−1、7−2を上補強ロールチョック4−1に配備したような場合には、固定配管やサーボバルブを採用した場合と比較すると、ロールベンディング装置の応答性は低くならざるを得ない。 Next, the rolling method according to the present invention will be described. As shown in FIGS. 1 and 4, when the upper decrease bending devices 7-1 and 7-2 are arranged in the upper reinforcement roll chock 4-1, when the upper reinforcement roll 2-1 is reassembled, the hydraulic pressure of the decrease bending device is changed. The pipe must be attached and detached, and there is a high possibility that minute foreign matter will be mixed in the hydraulic pipe when attaching and detaching.
For this reason, it is generally difficult to employ a servo valve for high response hydraulic control. In addition, in order to facilitate the attachment / detachment of the pipe, it is necessary to connect to each hydraulic control valve via a flexible and detachable hydraulic pipe such as a flexible pipe. In the case of adopting a flexible and detachable hydraulic pipe such as a flexible pipe, the fluctuation of the hydraulic pressure may be absorbed or alleviated because of the flexible structure.
Therefore, when the upper decrease bending devices 7-1 and 7-2 are provided in the upper reinforcing roll chock 4-1, the response of the roll bending device is less than when the fixed piping and the servo valve are used. It must be lowered.
したがって、ロールベンディング力の変更を応答性に劣るディクリースベンディング装置による制御で実施すると、圧延材の先尾端において所定のディクリースベンディング力が負荷されずに形状不良部が長くなる可能性がある。 By the way, the decrease bending force cannot be applied during idling when no rolling load is applied. Therefore, when applying the decrease bending force, it is necessary to quickly set the decrease bending force from the idle state in which the roll balance is achieved to the start of rolling, and to quickly return to the roll balance state at the end of rolling.
Therefore, when the roll bending force is changed by the control of the decrease bending device having poor responsiveness, there is a possibility that the predetermined defect bending force is not applied to the leading end of the rolled material and the defective shape portion becomes long. .
しかし、本発明に係る圧延機では、ハウジング9からその内側方向に突出するプロジェクトブロック5−1、5−2に、上インクリースベンディング装置6−1、6−2を配備する構造であるため、大容量・大ストロークの上インクリースベンディング装置6−1、6−2とすることができる。
しかもロール組み替え作業の度にインクリースベンディング装置の油圧配管を着脱する必要がないので、固定油圧配管やサーボバルブを採用することができ、これにより応答性の高いインクリースベンディング装置とすることができる。
本発明に係る圧延方法は、板クラウン・形状制御の目的で作業ロールにディクリースベンディング力を作用させる場合に、圧延開始時および圧延終了時のロールベンディング力の変更を、応答性の高いインクリースベンディング装置を用いて行い、ディクリースベンディング装置の応答性を補償するものである。 As described above, in the rolling mill in which the upper decrease bending apparatuses 7-1 and 7-2 are arranged in the upper reinforcing roll chock 4-1, the response of the decrease bending apparatus may be deteriorated.
However, in the rolling mill according to the present invention, the upper increment bending apparatuses 6-1 and 6-2 are arranged in the project blocks 5-1 and 5-2 protruding in the inner direction from the
In addition, since it is not necessary to attach and detach the hydraulic piping of the increment bending apparatus every time the rolls are changed, it is possible to employ a fixed hydraulic piping or a servo valve, which makes it possible to obtain an increase bending responsive apparatus. .
In the rolling method according to the present invention, when a decrease bending force is applied to a work roll for the purpose of plate crown and shape control, a change in roll bending force at the start of rolling and at the end of rolling is performed with a highly responsive increase. This is performed by using a bending apparatus and compensates for the response of the decrease bending apparatus.
また、図6にこの圧延方法における、一本の圧延材に対するロールベンディング力等の時系列変化を示す。図6は上から、圧延荷重、インクリースベンディング装置の出力、ディクリースベンディング装置の出力、それらの合力である作業ロールベンディング力の時系列変化を示している。以下、図5、6に基づいて説明する。
まずは圧延開始前に、次に圧延する圧延材に対応する圧延中作業ロールベンディング力の設定値FRを演算・出力する。ここではFRが負の値、すなわちディクリースベンディング力と演算されたものとする。なお、本発明では、インクリースベンディング力(インクリース方向(ロールを開く方向)の力)を正の値、ディクリースベンディング力(ディクリース方向(上下作業ロールを押し付ける方向)の力)を負の値とする。 FIG. 5 is a diagram showing an example of an operation flow of the rolling method according to the present invention. That is, it is a diagram showing an operation flow of an increase bending apparatus having a high response and a decrease bending apparatus having a slightly lower response than the above.
FIG. 6 shows time-series changes such as roll bending force for one rolled material in this rolling method. FIG. 6 shows the rolling load, the output of the increment bending apparatus, the output of the decrease bending apparatus, and the time series change of the work roll bending force, which is the resultant force, from the top. Hereinafter, a description will be given with reference to FIGS.
First start rolling before, then rolled settings F R of the rolling work roll bending force corresponding to operation and output to the rolling. Here F R is a negative value, that is, those which are calculated as decrease-bending force. In the present invention, the increase bending force (the force in the increase direction (the direction in which the roll is opened)) is a positive value, and the decrease bending force (the force in the decrease direction (the direction in which the upper and lower work rolls are pressed)) is negative. Value.
すなわち、圧延前のアイドル時には、インクリースベンディング装置出力をIB(>0)、ディクリースベンディング装置出力をDB(<0)とし、IB+DBがロールバランス力FB(>0)として作用する。
ロールバランス力FBは、空転状態においても電動機で駆動される作業ロールと従動となる補強ロールがスリップしない力として決められている。この時DBはディクリースベンディング装置のアクチュエータが作業ロールチョックから離れてしまわない程度の最小の油圧で設定すればよい。 Prior to the start of rolling, both the increase bending force and the decrease bending force are applied, and the roll bending force on the increase side corresponding to the roll balance force (F B ) is applied to the work roll chock as a resultant force.
That is, at idle before rolling, the increment bending device output is I B (> 0), the decrease bending device output is D B (<0), and I B + D B is the roll balance force F B (> 0). Works.
Roll balancing force F B is rolls as a work roll and a driven which are driven by an electric motor in the idling state is determined as a force that does not slip. This time D B may be set at a level of minimum hydraulic actuator decrease-bending device is not Shimawa away from the work roll chock.
すなわち、圧延開始時(時間軸上のb点)において、インクリースベンディング装置出力をISからIRに変更する。このようにすることで応答の遅いディクリースベンディング装置出力はDSのままで、応答の速いインクリースベンディング装置の制御によって、合力としての作業ロールベンディング力をロールバランス力FB(>0)から圧延中作業ロールベンディング力FR(<0)に迅速に切り換えることができる。
なお、圧延開始時(b)とは、圧延を開始した時点をさし、その検出は、例えば圧延機の圧延荷重測定用ロードセルによって検出される荷重が、予測圧延荷重の、30%を超えた時とする方法で決めれば良い。 Then, at the start of rolling, while decrease-bending force holds a constant value, reduce the increase-bending force, the work in a given rolling roll bending force F R is to act on the work roll chock as resultant force.
That is, when the start of rolling (b point on the time axis), is changed to I R ink bending device output from the I S. While such decrease-lease low response by the bending device output D S, the control of the quick-bending apparatus responsive, the work roll bending force of the resultant force from the roll balancing force F B (> 0) It is possible to quickly switch to the work roll bending force F R (<0) during rolling.
In addition, the rolling start time (b) refers to the time point when the rolling is started, and the detection thereof, for example, the load detected by the load cell for measuring the rolling load of the rolling mill exceeds 30% of the predicted rolling load. You can decide by the method of time.
すなわち、圧延終了時(時間軸上のc点)において、ディクリースベンディング装置出力はDSのままで応答の速いインクリースベンディング装置出力をIRからISに変化させる。このようにすることで、合力としての作業ロールベンディング力を圧延中作業ロールベンディング力(FR(<0))からロールバランス力(FB(>0))に迅速に切り換えることができる。
なお、圧延終了時(c)とは、圧延終了時点をさし、その検出は、例えば圧延機の圧延荷重測定用ロードセルによって検出される荷重が、実績圧延荷重平均値の、50%を下回ったタイミングとする方法で決めれば良い。 Then, at the end of rolling, in order to return the roll bending force to the state before the start of rolling, a roll bending force corresponding to the roll balance force (F B ) is applied to the work roll chock as a resultant force, and the rolling is ended.
That is, when completion of rolling (c point on the time axis), decrease-bending device output varies the fast-bending device output response from the I R in I S remain D S. By doing in this way, the work roll bending force as a resultant force can be quickly switched from the work roll bending force during rolling (F R (<0)) to the roll balance force (F B (> 0)).
Note that the end of rolling (c) refers to the end of rolling. For example, the load detected by the load cell for measuring the rolling load of the rolling mill is less than 50% of the actual rolling load average value. What is necessary is just to decide by the method of timing.
さらに、圧延中に種々の要因(外乱)により圧延荷重が変化する場合であっても、高応答なインクリースベンディング装置で、最適な作業ロールベンディング力を維持するように迅速に制御することが可能である。この場合、圧延中作業ロールベンディング力を,例えば圧延荷重の実測値に応じて,変化させる制御を実施すればよい。
すなわち、本発明に係る圧延方法によれば、圧延材入側板厚や圧延材温度等の圧延中に変動する外乱に対しても良好な板クラウン・形状を造り込むことが可能である。これにより、製品品質および歩留を大きく改善することができる。 As shown in FIGS. 5 and 6, in the rolling method according to the present invention, the roll bending force is changed at the start of rolling and at the end of rolling using an incremental bending apparatus with high responsiveness. For this reason, even if it is necessary to deploy a decrease bending device having a relatively low response, a highly responsive increase bending device compensates for this. A shape control function can be provided.
Furthermore, even when the rolling load changes due to various factors (disturbances) during rolling, it is possible to quickly control to maintain the optimal work roll bending force with a highly responsive incremental bending device. It is. In this case, the control for changing the work roll bending force during rolling may be performed according to, for example, the measured value of the rolling load.
That is, according to the rolling method of the present invention, it is possible to build a good plate crown and shape against disturbances that vary during rolling, such as the rolled material entry side plate thickness and the rolled material temperature. Thereby, product quality and yield can be greatly improved.
図8に示す圧延方法では、ディクリースベンディング装置に設置したロードセルでディクリースベンディング力を、あるいは該装置につながる油圧配管内の油圧を常時測定し、この測定値に基づいてインクリースベンディング装置を制御する。すなわち、圧延前後は作業ロールベンディング力がロールバランス力FBとなるように、圧延中は作業ロールベンディング力がFRとなるように、インクリースベンディング装置の出力を、ディクリースベンディング力またはディクリースベンディング装置の油圧に応じて制御する。なお、これ以外の制御は図5に示す圧延方法と同様である。
図8に示す圧延方法で圧延することで、図9に示すように、ディクリースベンディング装置の出力の変動をインクリースベンディング装置が補償して、作業ロールベンディング力を最適に、高応答な制御を実現することができる。
また、圧延中のディクリースベンディング力の測定や、油圧測定によるフィードバック制御をしなくても、ディクリースベンディング装置の出力の変動を予め予測し、それを補償するインクリースベンディング装置の出力を設定することでも、同様の効果を得ることができる。 FIG. 8 is a diagram showing an operation flow in the case of having an increase bending device with high responsiveness and a decrease bending device with low responsiveness. Hereinafter, a description will be given based on the drawing.
In the rolling method shown in FIG. 8, the decrease bending force or the hydraulic pressure in the hydraulic piping connected to the apparatus is constantly measured by a load cell installed in the decrease bending apparatus, and the incremental bending apparatus is controlled based on the measured value. To do. That is, as the work roll bending force before and after rolling is rolled balancing force F B, during rolling as the work roll bending force is F R, the output of the increase-bending device, decrease-bending force or decrease-lease Control according to the hydraulic pressure of the bending equipment. The other control is the same as the rolling method shown in FIG.
By rolling with the rolling method shown in FIG. 8, as shown in FIG. 9, the increase bending device compensates for fluctuations in the output of the decrease bending device, and the work roll bending force is optimized to achieve high-response control. Can be realized.
In addition, it is possible to predict the fluctuation of the output of the decrease bending apparatus in advance and set the output of the increment bending apparatus to compensate for it without the need for measuring the bending bending force during rolling or feedback control by measuring the hydraulic pressure. In this way, the same effect can be obtained.
1−2 下作業ロール
2−1 上補強ロール
2−2 下補強ロール
3−1 上作業ロールチョック
3−2 下作業ロールチョック
4−1 上補強ロールチョック
4−2 下補強ロールチョック
5−1 入側プロジェクトブロック
5−2 出側プロジェクトブロック
5−3 入側下プロジェクトブロック
5−4 出側下プロジェクトブロック
6−1 入側上インクリースベンディング装置
6−2 出側上インクリースベンディング装置
6−3 入側下インクリースベンディング装置
6−4 出側下インクリースベンディング装置
7−1 入側上ディクリースベンディング装置
7−2 出側上ディクリースベンディング装置
7−3 入側下ディクリースベンディング装置
7−4 出側下ディクリースベンディング装置
8−1 入側補強ロールバランス装置
8−2 出側補強ロールバランス装置
9 ハウジング
10 被圧延材
11 圧下装置
12 ハウジングウィンドウ 1-1 Upper Work Roll 1-2 Lower Work Roll 2-1 Upper Reinforcement Roll 2-2 Lower Reinforcement Roll 3-1 Upper Work Roll Chock 3-2 Lower Work Roll Chock 4-1 Upper Reinforcement Roll Chock 4-2 Lower Reinforcement Roll Chock 5- 1 Incoming Project Block 5-2 Outgoing Project Block 5-3 Incoming Lower Project Block 5-4 Outgoing Lower Project Block 6-1 Incoming Upper Increase Bending Device 6-2 Outgoing Upper Increase Bending Device 6- 3 Incoming Lower Increase Bending Device 6-4 Outgoing Lower Increase Bending Device 7-1 Incoming Upper Decrease Bending Device 7-2 Outgoing Upper Decrease Bending Device 7-3 Incoming Lower Decrease Bending Device 7- 4 Outgoing lower decrease bending device 8-1 Entry-side reinforcing roll balance device -2 exit side
Claims (6)
- 上下一対の作業ロールとこれらをそれぞれ支持する上下一対の補強ロールを有する金属板材の圧延機であって、
前記上下作業ロールにそれぞれインクリースベンディング力を負荷する油圧シリンダーが、圧延機ハウジングの内側に突出したプロジェクトブロックに配備され、
下作業ロール胴部に負荷される圧延方向力が、前記プロジェクトブロックと下作業ロールチョックとの接触面によって支持され、
上作業ロール胴部に負荷される圧延方向力が、前記プロジェクトブロックの上方に位置する圧延機ハウジングウィンドウと上作業ロールチョックとの接触面によって支持されることを特徴とする金属板材の圧延機。 A metal plate rolling mill having a pair of upper and lower work rolls and a pair of upper and lower reinforcing rolls that respectively support these,
A hydraulic cylinder that applies an incremental bending force to each of the upper and lower work rolls is provided in a project block that protrudes inside the rolling mill housing,
The rolling direction force applied to the lower work roll body is supported by the contact surface between the project block and the lower work roll chock,
A rolling mill for a metal sheet, wherein a rolling direction force applied to the upper work roll body is supported by a contact surface between a rolling mill housing window and an upper work roll chock located above the project block. - 前記上作業ロールにインクリースベンディング力を負荷する油圧シリンダーと、前記下作業ロールにインクリースベンディング力を負荷する油圧シリンダーとが、前記プロジェクトブロック内において平面図上で異なる位置に配備されていることを特徴とする請求項1に記載の金属板材の圧延機。 The hydraulic cylinder that applies an increase bending force to the upper work roll and the hydraulic cylinder that applies an increase bending force to the lower work roll are disposed in different positions on the plan view in the project block. The metal sheet material rolling mill according to claim 1.
- 前記上作業ロールにディクリースベンディング力を負荷する油圧シリンダーが、前記上補強ロールの上補強ロールチョックに配備されていることを特徴とする請求項1または2に記載の金属板材の圧延機。 3. The metal sheet rolling mill according to claim 1 or 2, wherein a hydraulic cylinder that applies a decrease bending force to the upper work roll is provided in the upper reinforcement roll chock of the upper reinforcement roll.
- 前記下作業ロールにディクリースベンディング力を負荷する油圧シリンダーが、前記下補強ロールの下補強ロールチョックまたは前記プロジェクトブロックの下方に設置する第2のプロジェクトブロックに配備されていることを特徴とする請求項1~3のいずれか1項に記載の金属板材の圧延機。 The hydraulic cylinder for applying a decrease bending force to the lower work roll is provided in a lower reinforcement roll chock of the lower reinforcement roll or a second project block installed below the project block. 4. A rolling machine for a metal sheet according to any one of 1 to 3.
- 請求項3に記載の金属板材の圧延機を用いて行う金属板材の圧延方法であって、
圧延開始前に、インクリースベンディング力とディクリースベンディング力の双方を作用させ、合力としてロールバランス力に相当するロールベンディング力を作業ロールチョックに作用させ、
その後、圧延開始時に、ディクリースベンディング力を前記所定の圧延中ディクリースベンディング力を保持する制御を継続しつつインクリースベンディング力を変化させ、合力として所定の圧延中作業ロールベンディング力が作業ロールチョックに作用する状態にし、
圧延中は、前記所定の圧延中作業ロールベンディング力を維持するように圧延を行い、
その後、圧延終了時に、インクリースベンディング力を変化させ、ディクリースベンディング力との合力としてロールバランス力に相当するロールベンディング力を作業ロールチョックに作用させ、この状態で金属板材の圧延を終了することを特徴とする金属板材の圧延方法。 A method for rolling a metal sheet using the rolling machine for a metal sheet according to claim 3,
Before starting rolling, both the increase bending force and the decrease bending force are applied, and the roll bending force corresponding to the roll balance force is applied to the work roll chock as a resultant force.
After that, at the start of rolling, the increase bending force is changed to the work roll chock as a resultant force while changing the increase bending force while continuing the control of maintaining the decrease bending force during the predetermined rolling. Put it into action,
During rolling, performing the rolling so as to maintain the work roll bending force during the predetermined rolling,
After that, at the end of rolling, the increase bending force is changed, and the roll bending force corresponding to the roll balance force is applied to the work roll chock as a resultant force with the decrease bending force, and the rolling of the metal plate material is finished in this state. A method for rolling a metal sheet. - 前記ディクリースベンディング力を発生する油圧シリンダー内あるいは該油圧シリンダーにつながる油圧配管内の油圧を測定し、その測定値に基づき、合力として作業ロールチョックに作用するロールベンディング力が所定の値になるように前記インクリースベンディング力を制御することを特徴とする請求項5に記載の金属板材の圧延方法。 Measure the hydraulic pressure in the hydraulic cylinder that generates the decrease bending force or in the hydraulic piping connected to the hydraulic cylinder so that the roll bending force acting on the work roll chock as a resultant force becomes a predetermined value based on the measured value. 6. The method for rolling a metal sheet according to claim 5, wherein the increase bending force is controlled.
Priority Applications (4)
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JP2011514965A JP4772934B1 (en) | 2010-03-31 | 2011-01-12 | Metal plate rolling machine and rolling method |
EP11762310.8A EP2554282B1 (en) | 2010-03-31 | 2011-01-12 | Metal plate rolling machine and rolling method |
CN201180015453.6A CN102821881B (en) | 2010-03-31 | 2011-01-12 | Metal plate rolling machine and rolling method |
KR1020127024997A KR101300236B1 (en) | 2010-03-31 | 2011-01-12 | Metal plate rolling machine and rolling method |
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KR (1) | KR101300236B1 (en) |
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Cited By (3)
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WO2012128019A1 (en) * | 2011-03-24 | 2012-09-27 | 新日本製鐵株式会社 | Rolling mill and rolling method for metal sheet material |
JP2012200763A (en) * | 2011-03-25 | 2012-10-22 | Nippon Steel Corp | Tandem rolling equipment for metal plate and hot rolling method |
JPWO2021079498A1 (en) * | 2019-10-25 | 2021-04-29 |
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CN104923564B (en) * | 2014-03-21 | 2017-02-22 | 宝山钢铁股份有限公司 | Method capable of avoiding false alarm due to roll pullout in work roll shifting process |
JP6992032B2 (en) * | 2019-10-25 | 2022-01-13 | Primetals Technologies Japan株式会社 | Rolling machine |
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- 2011-01-12 KR KR1020127024997A patent/KR101300236B1/en active IP Right Grant
- 2011-01-12 CN CN201180015453.6A patent/CN102821881B/en not_active Expired - Fee Related
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JP2012200763A (en) * | 2011-03-25 | 2012-10-22 | Nippon Steel Corp | Tandem rolling equipment for metal plate and hot rolling method |
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TWI430854B (en) | 2014-03-21 |
EP2554282B1 (en) | 2015-03-25 |
CN102821881B (en) | 2014-08-13 |
CN102821881A (en) | 2012-12-12 |
KR20120120476A (en) | 2012-11-01 |
EP2554282A4 (en) | 2013-12-04 |
KR101300236B1 (en) | 2013-08-26 |
TW201143922A (en) | 2011-12-16 |
EP2554282A1 (en) | 2013-02-06 |
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