WO2018159749A1 - 鋼板の冷却方法および鋼板の冷却装置ならびに鋼板の製造方法 - Google Patents
鋼板の冷却方法および鋼板の冷却装置ならびに鋼板の製造方法 Download PDFInfo
- Publication number
- WO2018159749A1 WO2018159749A1 PCT/JP2018/007743 JP2018007743W WO2018159749A1 WO 2018159749 A1 WO2018159749 A1 WO 2018159749A1 JP 2018007743 W JP2018007743 W JP 2018007743W WO 2018159749 A1 WO2018159749 A1 WO 2018159749A1
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- WIPO (PCT)
- Prior art keywords
- cooling
- steel sheet
- plate
- steel
- sheet
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B45/00—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B45/02—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
- B21B45/0203—Cooling
- B21B45/0209—Cooling devices, e.g. using gaseous coolants
- B21B45/0215—Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes
- B21B45/0218—Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes for strips, sheets, or plates
-
- 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
- B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B45/00—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B45/02—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B45/00—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B45/02—Devices for surface or other treatment of work, specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills for lubricating, cooling, or cleaning
- B21B45/0203—Cooling
- B21B45/0209—Cooling devices, e.g. using gaseous coolants
- B21B45/0215—Cooling devices, e.g. using gaseous coolants using liquid coolants, e.g. for sections, for tubes
- B21B45/0233—Spray nozzles, Nozzle headers; Spray systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2275/00—Mill drive parameters
- B21B2275/02—Speed
- B21B2275/06—Product speed
-
- 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
- B21B37/74—Temperature control, e.g. by cooling or heating the rolls or the product
- B21B37/76—Cooling control on the run-out table
Definitions
- the present invention relates to controlled cooling in which hot-rolled high-temperature steel sheets are subjected to passing cooling while being constrained by a roll.
- a method for cooling a steel plate which can produce a steel plate with less strain on a thick steel plate (hereinafter sometimes simply referred to as a steel plate) having a plate thickness as thin as 10 mm or less and a plate width of 3000 mm or more
- the present invention relates to a cooling device and a method for manufacturing a steel plate.
- cooling of steel sheets is constrained by a plurality of rolls, and a cooling nozzle is disposed between the restraining rolls to cool the steel sheets while passing (referred to as passing cooling).
- passing cooling a cooling nozzle is disposed between the restraining rolls to cool the steel sheets while passing
- the reason for controlled cooling by such a method is that the initial investment cost can be suppressed because it is possible to cool with a short equipment length by using the passing cooling.
- the restraining roll suppresses distortion caused by uneven temperature distribution in the steel plate upper and lower surfaces and the steel plate surface during cooling, and disposes cooling water outside the cooling device by arranging a cooling nozzle between the rolls. This prevents the cooling water from staying on the steel plate.
- Patent Document 1 predicts the residual stress generated in the steel sheet from the measurement of the temperature distribution of the steel sheet after cooling with respect to the shape defect due to the non-uniformity of the steel sheet temperature distribution after cooling. The method for determining whether or not correction is necessary is described.
- Patent Document 2 focuses on the restraint roll from the viewpoint of suppressing C warpage that occurs during water cooling, and applies a load within the range of restraint force of the restraint roll required as a function of its roll pitch and steel plate thickness. Describes a method for manufacturing a steel sheet with good flatness.
- Buckling deformation due to shrinkage in the width direction of the steel plate during water cooling is a mechanism different from the strain due to temperature deviation of the upper and lower surfaces assumed so far, so it is thought that strain will occur even if cooling is performed by the conventional method .
- the method of predicting from the temperature distribution after cooling of the steel sheet as in Patent Document 1 deformation larger than the predicted plate shape occurs. Therefore, the prediction is wrong, and it is difficult to reduce the incidence of correction.
- Patent Document 2 although distortion due to temperature deviation of the upper and lower surfaces can be suppressed, buckling deformation due to sheet width contraction caused by water cooling is not taken into consideration, so that the sheet thickness is thin and the sheet width is small. There is no effect on a wide area.
- this invention makes it a subject to solve the problem of the said prior art, and in control cooling which cools the steel plate after hot rolling, restraining with a roll, the cooling method of a steel plate with little distortion, the cooling device of a steel plate, and It aims at providing the manufacturing method of a steel plate.
- the gist of the present invention is as follows. [1] A steel plate is conveyed in a state in which the steel plate is restrained by a plurality of rolls arranged at a predetermined pitch in the steel plate conveyance direction, and cooling water is sprayed onto the upper and lower surfaces of the steel plate by a cooling nozzle arranged between the plurality of rolls.
- V Plate speed (m / s)
- Cv Cooling rate with respect to the average temperature of the steel sheet in the thickness direction (° C./s)
- L Roll pitch (m)
- t Plate thickness (m)
- W Plate width (m) It is.
- a plurality of rolls that are arranged at a predetermined pitch in the steel plate conveyance direction and convey and restrain the steel plate;
- a cooling nozzle that is disposed between a plurality of rolls and that cools the steel sheet by injecting cooling water onto the upper and lower surfaces of the steel sheet;
- a steel sheet cooling apparatus comprising: a control mechanism that controls a plate passing speed V so as to satisfy the following formula (1).
- V Plate speed (m / s)
- Cv Cooling rate with respect to the average temperature of the steel sheet in the thickness direction (° C./s)
- L Roll pitch (m)
- t Plate thickness (m)
- W Plate width (m) It is.
- [5] The steel sheet cooling apparatus according to [4], wherein the plate thickness t is 10 mm or less.
- the present invention it is possible to manufacture a steel plate with less distortion.
- the effect can be exhibited by applying it to off-line heat treatment of thick steel plates.
- FIG. 1 is a schematic diagram showing a partial configuration of a production facility using the steel sheet cooling device of the present invention.
- FIG. 2 is a diagram for explaining buckling deformation during cooling of a steel plate
- (a) is a schematic diagram showing the configuration of the cooling device of the present invention
- (b) is a view of the plate width W of the steel plate during cooling of the steel plate. It is a figure explaining a change.
- FIG. 3 is a diagram illustrating an example of a defective shape (ear wave) of a steel plate.
- FIG. 4 is a diagram for explaining the definition of the steepness ⁇ .
- FIG. 5 is a diagram showing the relationship between the roll pitch L and the steepness ⁇ .
- FIG. 1 is a schematic diagram showing a partial configuration of a production facility using the steel sheet cooling device of the present invention.
- FIG. 2 is a diagram for explaining buckling deformation during cooling of a steel plate
- (a) is a schematic diagram showing the configuration of the cooling device of the present
- FIG. 6 is a diagram showing the relationship between the cooling rate Cv and the steepness ⁇ .
- FIG. 7 is a diagram showing the relationship between the sheet passing speed V and the steepness ⁇ .
- FIG. 8 is a diagram for explaining buckling deformation when a part of steel plates (steel plates between roll pitches L) is cut out.
- FIG. 9 is a diagram showing the relationship between the buckling coefficient k, the roll pitch L, and the square of the plate width W.
- FIG. 1 is a schematic diagram showing a partial configuration of a production facility using the steel sheet cooling device of the present invention.
- a steel plate 1 having a predetermined thickness produced on a rolling mill line is conveyed to the production line shown in FIG.
- the steel plate 1 is heated to a predetermined temperature by the heating furnace 10
- the steel plate 1 is conveyed while being restrained by the plurality of rolls 2, and is cooled by the plurality of cooling nozzles 3 installed between the rolls 2.
- the arrow in a figure is a conveyance direction of a steel plate.
- the roll 2 and the cooling nozzle 3 are installed on the upper and lower surfaces of the steel plate 1.
- the cooling device according to the present invention includes a roll 2, a cooling nozzle 3, and a control mechanism (not shown) that controls the plate passing speed V so as to satisfy formula (1) described later.
- FIG. 2 (a) is a schematic diagram showing the configuration of the steel sheet cooling device of the present invention.
- the upper and lower surfaces of the steel sheet 1 are restrained by a plurality of rolls 2 such as a roll 2-0, a roll 2-1, a roll 2-i, and a roll 2-n along the conveyance direction.
- a plurality of rolls 2 such as a roll 2-0, a roll 2-1, a roll 2-i, and a roll 2-n along the conveyance direction.
- the cooling nozzle 3 is installed in the upper and lower surfaces of the steel plate 1, respectively.
- FIG. 2B is a diagram for explaining a change in the plate width W of the steel plate during cooling of the steel plate.
- the plate width W of the steel plate 1 when passing through the steel plate cooling device shown in FIG. It is the figure which looked at change from the top.
- the plate width of the steel plate 1 when passing through each roll 2 is W and the roll pitch in the steel plate conveyance direction is L, the steel plate 1 contracts by water cooling.
- the sheet width when passing through the roll W 1 the sheet width when passing through the roll 2-1).
- the portion having a large plate width (for example, the plate width W o ) has a large compressive stress. receive.
- the deformation of the steel sheet due to the compressive stress is referred to as buckling deformation.
- the shape of each steel plate cooled under various conditions such as the plate passing speed V, the plate thickness t, the plate width W, the cooling rate Cv, and the like.
- the relationship with cooling conditions was investigated. Specifically, the steel sheet 1 having a thickness of 6 mm to 10 mm manufactured in the rolling mill line is conveyed to the manufacturing line in FIG. 1 and heated to 950 ° C. by the heating furnace (Heath roll heating furnace) 10.
- the cooling nozzle 3 was used to cool to 100 ° C. It was judged whether or not buckling deformation occurred from the shape of the steel plate after cooling.
- FIG. 3 is a diagram showing an example of the shape of a steel plate in which a shape defect has occurred, and a shape defect called a so-called ear wave has occurred in the edge portion of the steel plate 1.
- This defect of the ear wave shape was quantified using the steepness ⁇ (%) represented by the definition shown in FIG. 4 and the following formula (2).
- an ear wave does not generate
- ⁇ ( ⁇ / P) ⁇ 100 (2) However, in Formula (2), ⁇ : Steepness (%) ⁇ : Wave height (m) P: Wave pitch (m) It is.
- the wave pitch P of the steel sheet in which the shape defect occurred was about 0.6 to 1.4 m.
- the allowable value of steepness for example, if there is a large shape defect when welding multiple plates, the work of welding in a flat state by restraining the deformation of the steel plate will occur, as much as possible A smaller steepness is preferable.
- FIG. 6 It has been confirmed that the steepness ⁇ decreases as the cooling rate Cv decreases. When the cooling rate Cv was 110 ° C./s or less, no ear wave was generated.
- the cooling rate Cv is a cooling rate with respect to the average temperature in the plate thickness direction.
- V Plate speed (m / s)
- Cv Cooling rate with respect to the average temperature of the steel sheet in the thickness direction (° C./s)
- L Roll pitch (m)
- t Plate thickness (m)
- W Plate width (m) It is.
- ⁇ e Buckling limit stress (MPa) k: Buckling coefficient E: Young's modulus (MPa) ⁇ : Circumference ratio ⁇ : Poisson's ratio t: Plate thickness (m) L: Roll pitch (m) W: Plate width (m) m: Wave number (usually 1) It is. Note that L is described as the plate length in the elasticity handbook, but this time it is a system constrained by a roll, so it is read from the roll pitch as judged from the direction of stress.
- equation (4) is an example of an elementary analysis. Actually, since the restraint state of the steel plate changes, the buckling coefficient does not become as shown in this equation (4). For this reason, the buckling coefficient k is often used by appropriately modifying it so as to match the actual condition with reference to the equation (4).
- the compressive stress exerted in the width direction of the steel plate from the inter-roll entry temperature and the inter-roll exit temperature is as follows: It can be described as follows.
- ⁇ a compressive stress in the width direction (MPa)
- ⁇ Linear expansion coefficient (1 / ° C)
- E Young's modulus (MPa)
- T in Roll entry temperature (° C)
- T out roll-side outlet temperature (° C.) It is.
- the compressive stress sigma a width direction can be described as follows.
- the buckling coefficient k is represented by the following equation (11) derived from the above equation (10).
- the buckling coefficient k is a value unique to the process, various experiments were performed with actual machines, and the buckling coefficient k was actually obtained.
- the experimental conditions are as follows: the plate thickness t is 5 to 15 mm, the plate width W is 3000 to 5000 mm, the roll pitch L is 500 to 750 mm, and the plate passing speed is 0.3 to 2.0 m. / S.
- the buckling constant k at the actual buckling boundary is considered to be related to the square of the roll pitch L and the plate width W from the above equation (4).
- the buckling coefficient k may deviate from the theoretical formula of equation (4) due to constraints at each end or deformation conditions. For example, when there is a shear force, the (W / L) term is omitted. There are also examples. Therefore, this time, when the (W / L) term is omitted, the relationship between the buckling coefficient k actually obtained by the actual machine, the roll pitch L, and the square of the plate width W is plotted. The result is shown in FIG. In FIG.
- ⁇ indicates that the steepness ⁇ is less than 0.5%
- x indicates that the steepness ⁇ is 0.5% or more. From FIG. 9, it can be said that there is a correlation between the buckling constant k of the boundary that actually buckles and the steepness ⁇ .
- the plate passing speed V that does not buckle can be expressed by the following Formula (1).
- Cv Cooling rate with respect to the average temperature of the steel sheet in the thickness direction (° C./s)
- L Roll pitch (m)
- t Plate thickness (m)
- W Plate width (m) It is.
- the roll pitch L is a parameter that comes from the machine configuration, it cannot be changed after the machine is installed.
- the plate thickness t, the plate width W, and the cooling rate Cv are parameters related to determining the characteristics of the product and cannot be simply changed. Therefore, the formula (1) is arranged focusing on the plate passing speed V which is a parameter that can be appropriately changed in operation.
- the buckling deformation is faster in order to prevent buckling deformation when the sheet thickness t is thinner, the roll pitch L is wider, the cooling speed Cv is faster, and the sheet width is wider. It turns out that it is necessary to cool with.
- the roll pitch L, the cooling speed Cv, and the plate passing speed V are values unique to the cooling equipment, and the plate thickness t and the plate width W are determined by the product.
- the cooling speed Cv is the flow rate of the cooling water of the cooling device
- the plate passing speed V is the number of rotations of the table roll, which can be changed.
- the roll pitch of the cooling device is designed to be as short as possible (for example, 500 mm pitch) according to the range of production types in the design stage, and the rotation speed of the table roll is set to rotate as fast as possible (for example, 2 m / s or more), the adjustment range of the flow rate of the cooling water should be designed to be wide. If the roll pitch L cannot be shortened, such as using existing equipment, the cooling rate Cv can be slowed by widening the adjustment range of the cooling water flow rate and enabling cooling at a low flow rate. It is effective (for example, 100 ° C./s or less at a plate thickness of 10 mm).
- Hot strip mills for producing hot-rolled steel strips and on-line controlled cooling of thick steel plates have a plate speed of about 2.5 m / s at a thickness of 10 mm, which is relatively fast. Deformation hardly occurs.
- water cooling is performed in conjunction with the extraction rate of the heating furnace, so that the plate passing speed is about 1.0 m / s. Likely to happen.
- the present invention it is possible to manufacture a steel sheet with less cooling strain by cooling the steel sheet at a sheet passing speed V that satisfies the above formula (1).
- an effect is expressed regarding the steel plate with a thin plate thickness and a wide plate width.
- it is suitable for cooling thick steel plates having a plate thickness of 10 mm or less and / or a plate width of 3000 mm or more, and can be applied to off-line heat treatment of thick steel plates.
- the steel sheet was cooled using the manufacturing equipment shown in FIG.
- the heating temperature in the heating furnace 10 was set to 930 ° C.
- the plate thickness was set to 5 mm, 10 mm, and 12 mm where buckling deformation was likely to occur.
- the amount of cooling water can be changed.
- the cooling rate of a steel plate having a thickness of 5 mm when the maximum amount of water is injected is 400 ° C./s, and the cooling rate when the minimum flow rate is injected is 100 ° C./s.
- the cooling rate is inversely proportional to the plate thickness. Therefore, when the plate thickness is 10 mm, the maximum cooling rate is 200 ° C./s, and the minimum cooling rate is 50 ° C./s.
- the roll pitch L was changed for each condition.
- the shape of the steel plate was judged by the steepness ⁇ .
- the steepness ⁇ was less than 0.5%, the steel plate shape was judged to be flat.
- the steepness ⁇ was 0.5% or more, the steel plate shape was judged to be buckled.
- ⁇ / P was calculated from the average value of all ear waves generated at both ends of the steel sheet.
- cooling is performed at a plate passing speed higher than the plate passing speed V obtained by the equation (1).
- buckling deformation did not occur and a flat shape was obtained.
- cooling is performed at a plate passing speed lower than the plate passing speed V obtained by the equation (1).
- buckling deformation occurred under all conditions.
- the transfer speed control of a general off-line heat treatment apparatus for thick steel plates is influenced by the driving mechanism of the heating furnace, and the transfer speed can be controlled at a speed of approximately 0.02 to 0.5 m / s.
- the plate passing speed determined by the expression (1) of the present invention, that is, the carrying speed is the carrying speed control of the actual machine. Since it falls within the range, shape adjustment is easy.
- the shape adjustment of the steel plate having a narrow plate width is also easy because the plate passing speed obtained by the formula (1) of the present invention, that is, the transport speed is within the transport speed control range of the actual machine.
- the cooling rate control and roll pitch change of the present invention for a steel plate having a plate thickness of 10 mm or less and / or a plate width of 3000 mm or more, is the plate passing speed required by the formula (1) of the present invention, that is, The transport speed may be outside the transport speed control range of the actual machine. For this reason, when implementing this invention with respect to the steel plate of 10 mm or less board thickness and / or 3000 mm or more board width, it turns out that cooling rate control, a roll pitch change, etc. are required.
- the sheet passing speed is controlled to 2.0 m / s slightly faster than general equipment, It can be seen that buckling deformation can be prevented.
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- Heat Treatment Of Strip Materials And Filament Materials (AREA)
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201880015172.2A CN110366456B (zh) | 2017-03-02 | 2018-03-01 | 钢板的冷却方法及钢板的冷却装置以及钢板的制造方法 |
EP18760481.4A EP3560616B1 (en) | 2017-03-02 | 2018-03-01 | Method for cooling steel sheet and method for manufacturing steel sheet |
KR1020197025297A KR102303872B1 (ko) | 2017-03-02 | 2018-03-01 | 강판의 냉각 방법 및 강판의 냉각 장치 그리고 강판의 제조 방법 |
Applications Claiming Priority (2)
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JP2017038973A JP6720894B2 (ja) | 2017-03-02 | 2017-03-02 | 鋼板の冷却方法および鋼板の冷却装置ならびに鋼板の製造方法 |
JP2017-038973 | 2017-03-02 |
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WO2018159749A1 true WO2018159749A1 (ja) | 2018-09-07 |
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PCT/JP2018/007743 WO2018159749A1 (ja) | 2017-03-02 | 2018-03-01 | 鋼板の冷却方法および鋼板の冷却装置ならびに鋼板の製造方法 |
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EP (1) | EP3560616B1 (enrdf_load_stackoverflow) |
JP (1) | JP6720894B2 (enrdf_load_stackoverflow) |
KR (1) | KR102303872B1 (enrdf_load_stackoverflow) |
CN (1) | CN110366456B (enrdf_load_stackoverflow) |
WO (1) | WO2018159749A1 (enrdf_load_stackoverflow) |
Cited By (4)
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CN109794506A (zh) * | 2019-04-04 | 2019-05-24 | 哈尔滨工业大学(威海) | 一种热成形钢板辊压成形装置及方法 |
CN114130834A (zh) * | 2021-11-30 | 2022-03-04 | 宝武集团鄂城钢铁有限公司 | 一种采用单机架轧机精确控制薄钢板厚度范围的生产方法 |
CN114728320A (zh) * | 2019-11-25 | 2022-07-08 | 杰富意钢铁株式会社 | 钢板的制造设备及制造方法 |
CN114904927A (zh) * | 2022-04-24 | 2022-08-16 | 南京钢铁股份有限公司 | 一种动态调整板坯平整度的冷却装置及方法 |
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WO2019087805A1 (ja) * | 2017-10-31 | 2019-05-09 | Jfeスチール株式会社 | 厚鋼板の製造設備及び製造方法 |
JP7076323B2 (ja) * | 2018-07-31 | 2022-05-27 | 株式会社ユニバーサルエンターテインメント | 遊技機 |
KR20230121885A (ko) | 2021-02-18 | 2023-08-21 | 제이에프이 스틸 가부시키가이샤 | 강판의 형상 예측 방법, 형상 제어 방법, 제조 방법,형상 예측 모델의 생성 방법, 및 제조 설비 |
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- 2018-03-01 WO PCT/JP2018/007743 patent/WO2018159749A1/ja unknown
- 2018-03-01 EP EP18760481.4A patent/EP3560616B1/en active Active
- 2018-03-01 KR KR1020197025297A patent/KR102303872B1/ko active Active
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109794506A (zh) * | 2019-04-04 | 2019-05-24 | 哈尔滨工业大学(威海) | 一种热成形钢板辊压成形装置及方法 |
CN109794506B (zh) * | 2019-04-04 | 2023-10-24 | 哈尔滨工业大学(威海) | 一种热成形钢板辊压成形装置及方法 |
CN114728320A (zh) * | 2019-11-25 | 2022-07-08 | 杰富意钢铁株式会社 | 钢板的制造设备及制造方法 |
CN114130834A (zh) * | 2021-11-30 | 2022-03-04 | 宝武集团鄂城钢铁有限公司 | 一种采用单机架轧机精确控制薄钢板厚度范围的生产方法 |
CN114130834B (zh) * | 2021-11-30 | 2023-08-22 | 宝武集团鄂城钢铁有限公司 | 一种采用单机架轧机精确控制薄钢板厚度范围的生产方法 |
CN114904927A (zh) * | 2022-04-24 | 2022-08-16 | 南京钢铁股份有限公司 | 一种动态调整板坯平整度的冷却装置及方法 |
Also Published As
Publication number | Publication date |
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EP3560616A1 (en) | 2019-10-30 |
EP3560616B1 (en) | 2023-01-25 |
JP2018144050A (ja) | 2018-09-20 |
CN110366456A (zh) | 2019-10-22 |
KR20190112085A (ko) | 2019-10-02 |
CN110366456B (zh) | 2021-08-31 |
JP6720894B2 (ja) | 2020-07-08 |
EP3560616A4 (en) | 2020-01-15 |
KR102303872B1 (ko) | 2021-09-17 |
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