The present invention relates to hot rolling mills and hot rolling methods.
Patent Document 1 discloses a rolling mill that includes an upper work roll, an upper backup roll, a lower work roll, a lower backup roll, and cross angle adjustment mechanisms each of which is provided in association with a corresponding one of the rolls, and each cross angle adjustment mechanism moves a roll chock by relatively moving pistons.
Patent Document 1: JP h9-220608-A
Roll-cross four-high rolling mills that control the strip crown and the strip shape by causing upper and lower rolls to cross each other are generally classified into pair cross mills that change the cross angle of work rolls along with backup rolls, and work roll mills that form a cross angle only between work rolls. These two types have been developed, and it is known that these types allow wide control ranges.
Among them, pair cross mills have a problem that shape control cannot be performed with high responses because the cross angle of backup rolls also is changed.
In contrast, in work-roll crossing, inclination-subjects have a weight which is by far smaller than that in pair crossing, and thus can be inclined quickly (with high responsiveness). In terms only of responsiveness, preferably, only work-roll crossing is used to increase the cross angle to enable crown control.
However, there is a problem about work-roll crossing that thrust forces (forces acting in the axial direction) between backup rolls and work rolls increase as the cross angle increases, thus it is hard to adopt work-roll crossing for small-diameter work rolls.
On the other hand, there is a demand for a technology that enables rolling of a hard steel strip (e.g. an ultrahigh strength steel) or the like that is hard to be rolled as compared with conventional technologies, and also enables reduction of a work-roll diameter to lower the rolling load in order to avoid a size increase (manufacturing-cost increase) of rolling mills.
Here, in Patent Document 1 mentioned above, a description is made that a combination of a work-roll crossing method and a pair roll crossing method allows complicated shape control in the strip-width direction. In Patent Document 1, further, a description is made that complicated shape control can be achieved by generating high-order components by a pair crossing method, and then by combining a simple crossing method therewith, in which a second-order component is the main component.
However, as a result of vigorous examination by the present inventors, it has become clear that it is not possible to specifically solve a problem of enabling rolling of a hard steel strip while making it easy to adopt small-diameter work rolls, widening control ranges, and ensuring also responsiveness.
More specifically, the description of Patent Document 1 does not solve a problem of excessive thrust forces being generated in work-roll crossing, and it is hard to adopt small-diameter work rolls. In addition, despite the description of Patent Document 1, it has become clear that not only control by work-roll cross mills but control by pair cross mills also is close to shape control of a second-order component, and a problem has become clear that controllability of so-called quarter buckles in which buckles are generated at widthwise ¼-positions is not sufficient.
That is, through examination by the present inventors, it has become clear that adopting small-diameter work rolls is difficult due to excessive thrust forces, and that the fourth-order component shape control capability is low.
The present invention provides hot rolling mills and hot rolling methods that can ensure wide control ranges and responsiveness as compared with conventional technologies.
The present invention includes plurality of means for solving the problems described above, and an example thereof is a hot rolling mill in which angles of an upper-side pair of an upper work roll and an upper backup roll, and a lower-side pair of a lower work roll and a lower backup roll are adjusted in a state where the upper-side pair is kept parallel and in a state where the lower-side pair is kept parallel, and thereafter work-roll horizontal actuators and backup-roll horizontal actuators are controlled such that the angles of the upper work roll and the lower work roll are adjusted in a state where the angles of the upper backup roll and the lower backup roll are maintained.
According to the present invention, it is possible to ensure wide control ranges and responsiveness as compared with conventional technologies. Problems, configurations, and advantages other than those described above are made clear by the following explanation of embodiments.
Embodiments of hot rolling mills and hot rolling methods according to the present invention are explained below by using the figures.
Note that identical or corresponding constituent elements in the figures used in the present specification are given identical or similar reference characters, and repetitive explanations of these constituent elements are omitted in some cases.
In addition, in the following embodiments and figures, a drive side (also written as a “DS (Drive Side)”) means a side where electric motors to drive work rolls are installed when a rolling mill is seen from its front side, and a work side (“WS (Work Side)”) means the opposite side.
A first embodiment of hot rolling mills and hot rolling methods according to the present invention is explained by using
First, the overall configuration of a hot rolling mill is explained by using
In
The housing 100 includes a pair of an upper work roll 110A and a lower work roll 110B that are provided on the upper side and lower side, a pair of an upper backup roll 120A and a lower backup roll 120B that support the work rolls 110A and 110B, and are provided on the upper side and lower side.
Hydraulic cylinder apparatuses 170 are cylinders that apply rolling forces to the upper backup roll 120A, the upper work roll 110A, the lower work roll 110B, and the lower backup roll 120B by pressing the upper backup roll 120A. The hydraulic cylinder apparatuses 170 are provided on the work side and drive side of the housing 100.
A load cell 180 is provided at a lower portion of the housing 100, as rolling force measurement means for measuring a rolling force on the rolled material S applied by the work rolls 110A and 110B, and outputs measurement results to the control apparatus 20.
Upper work-roll bending cylinders 190A are provided on the entry side and exit side of the housing 100 on each of the work side and the drive side. By being driven as appropriate, the upper work-roll bending cylinders 190A apply bending forces vertically to bearings of the upper work roll 110A.
Similarly, lower work-roll bending cylinders 190B are provided on the entry side and exit side of the housing 100 on each of the work side and the drive side, and by being driven as appropriate, the lower work-roll bending cylinders 190B apply bending forces vertically to bearings of the lower work roll 110B.
A backup-roll sliding apparatus 200A is provided at a portion vertically above the upper backup roll 120A, and a backup-roll sliding apparatus 200B is provided at a portion vertically below the lower backup roll 120B.
The hydraulic apparatus 30 is connected to hydraulic cylinders of work-roll pressing apparatuses 130A and 130B and work-roll position control apparatuses 140A and 140B, to hydraulic cylinders of backup-roll pressing apparatuses 150A and 150B and backup-roll position control apparatuses 160A and 160B, and furthermore to the work-roll bending cylinders 190A and 190B also. Note that parts of communication lines and hydraulic-fluid supply lines are omitted in
The control apparatus 20 receives input of measurement signals from the load cell 180 and position measuring instruments of the work-roll position control apparatuses 140A and 140B and backup-roll position control apparatuses 160A and 160B.
The control apparatus 20 actuation-controls the hydraulic apparatus 30, and supplies and discharges a hydraulic fluid to and from the hydraulic cylinders of the work-roll pressing apparatuses 130A and 130B and work-roll position control apparatuses 140A and 140B to thereby control actuation of the work-roll pressing apparatuses 130A and 130B and the work-roll position control apparatuses 140A and 140B.
Similarly, the control apparatus 20 actuation-controls the hydraulic apparatus 30, and supplies and discharges a hydraulic fluid to and from the hydraulic cylinders of the backup-roll pressing apparatuses 150A and 150B and backup-roll position control apparatuses 160A and 160B to thereby control actuation of the backup-roll pressing apparatuses 150A and 150B and the backup-roll position control apparatuses 160A and 160B.
Due to the actuation control, the control apparatus 20 controls angle adjustment by the work-roll pressing apparatuses 130A and 130B and work-roll position control apparatuses 140A and 140B, and angle adjustment by the backup-roll pressing apparatuses 150A and 150B and backup-roll position control apparatuses 160A and 160B. Details of the angle adjustment by the control apparatus 20 according to the present embodiment are mentioned later.
Furthermore, the control apparatus 20 supplies and discharges a hydraulic fluid to and from the work-roll bending cylinders 190A and 190B to thereby control actuation of the work-roll bending cylinders 190A and 190B.
Next, configuration related to the upper work roll 110A is explained by using
As depicted in
The upper work roll 110A is rotatably supported by the housing 100 via a work-side roll chock 112A and a drive-side roll chock 112B.
A work-roll pressing apparatus 130A, on each of the work side and the drive side, is arranged between the entry side of the housing 100 and the work-side roll chock 112A or the drive-side roll chock 112B, and presses the work-side roll chock 112A or the drive-side roll chock 112B of the upper work roll 110A in the rolling direction at a predetermined pressure.
A work-roll position control apparatus 140A, on each of the work side and the drive side, is arranged between the exit side of the housing 100 and the work-side roll chock 112A or the drive-side roll chock 112B, and has a hydraulic cylinder (pressing apparatus) that presses the work-side roll chock 112A or the drive-side roll chock 112B of the upper work roll 110A in the direction opposite to the rolling direction. The work-roll position control apparatus 140A includes a position measuring instrument (illustration omitted) that measures the amount of operation of the hydraulic cylinder, and controls the position of the hydraulic cylinder.
Here, a home-position control apparatus means the apparatus that measures the oil column position of a hydraulic cylinder as a pressing apparatus by using a position measuring instrument incorporated in the home-position control apparatus, and controls the oil column position until the oil column reaches a predetermined oil column position.
These work-roll pressing apparatuses 130A and 130B, backup-roll pressing apparatuses 150A and 150B, and home-position control apparatuses 140A, 140B, 160A, and 160B play a role of an angle adjustor that adjusts the roll cross angle.
Note that whereas
In addition, whereas the pressing apparatuses are disposed on the entry side of the rolled material S, and the home-position control apparatuses are disposed on the exit side of the rolled material S in the depicted mode, they may be disposed on the opposite sides in some cases, and the arrangement is not limited to a pattern depicted in
Furthermore, whereas
Next, a method of cross angle adjustment at a time of rolling in the rolling mill according to the present embodiment is explained with reference to
The control apparatus 20 according to the present embodiment adjusts angles of an upper-side pair of the upper work roll 110A and the upper backup roll 120A, and a lower-side pair of the lower work roll 110B and the lower backup roll 120B in a state where the upper-side pair is kept parallel and in a state where the lower-side pair is kept parallel.
Furthermore, thereafter, the control apparatus 20 adjusts angles of the upper work roll 110A and the lower work roll 110B in a state where angles of the upper backup roll 120A and the lower backup roll 120B are maintained.
As adjustment angles at that time, for example, the cross angle between the upper-side pair and the lower-side pair can be made equal to or greater than 0.2 degrees.
This has been found out on the basis of findings like the ones mentioned below.
Thrust forces are generated by relative speed differences between the rolled material S and the work rolls 110A and 110B, and relative speed differences between the work rolls 110A and 110B and the backup rolls 120A and 120B.
Because of this, as the cross angle of the work rolls 110A and 110B increases, thrust forces between the rolled material S and the work rolls 110A and 110B increase, and similarly, as the relative angles between the work rolls 110A and 110B and the backup rolls 120A and 120B increase, thrust forces between the work rolls 110A and 110B and the backup rolls 120A and 120B increase also.
In addition, it has been known that in a case of work-roll crossing, thrust forces acting between the work rolls 110A and 110B and the backup rolls 120A and 120B are greater than thrust forces acting between the rolled material S and the work rolls 110A and 110B.
In view of this, the present inventors have come up with an idea of causing the work rolls 110A and 110B to further slight-cross (e.g. at an angle equal to or smaller than 0.1°) suitably from a pair-cross state as depicted in
As depicted in
For example, it has become clear that, in
In view of this, it has become clear also that it is desirable if a pair cross angle is made equal to or greater than 0.2° because larger crown changes can be made, and wider crown and strip shape control ranges can be attained even with small work-roll cross angle changes in a large pair cross angle range, for example in the range of 0.2° or greater.
Next, advantages of the present embodiment are explained.
In the hot rolling mill 1 according to the first embodiment of the present invention mentioned above, the work rolls 110A and 110B in a pair-cross state are caused to cross further relative to the backup rolls 120A and 120B, and thereby even with a micro relative cross angle between the work rolls 110A and 110B and the backup rolls 120A and 120B, for example even for the same cross angle change of 0.05°, higher controllability can be attained, and simultaneously, responsiveness can be ensured also.
In addition, because thrust forces between the work rolls 110A and 110B and the backup rolls 120A and 120B can be reduced, it becomes possible to attain advantages that small-diameter work rolls 110A and 110B can be applied, and rolling of hard steel strips becomes possible.
Furthermore, it has conventionally been required to make large work-roll cross angle changes in terms of ensuring control ranges when work-roll crossing is applied. In view of this, as a measure for reducing thrust forces, oil lubrication between rolls has been adopted.
However, in a case of the hot rolling mill 1 and hot rolling method according to the present embodiment, the cross angle between the work rolls 110A and 110B and the backup rolls 120A and 120B can be made a micro angle.
Thrust forces acting between rolls significantly influence the rolling load and roll surface conditions. For example, there is data that with water lubrication, the thrust coefficient µt is generally 0.2 if the cross angle θ between roll shafts is 0.2°, and the cross angle θ and the thrust coefficient µt generally have a proportional relation in the range of 0.2° or smaller. In a case where this relation is used, for example with a slight cross angle of 0.05°, the thrust coefficient described above is estimated as 0.2× (0.05/0.2) = 0.05 [-].
Accordingly, the thrust coefficient can be reduced to a value equivalent to or smaller than the coefficient (equal to or smaller than 0.1) of thrust forces acting between the rolled material S and the work rolls 110A and 110B, thus it is possible to attain an advantage that oil lubrication becomes unnecessary even in work-roll crossing in the present embodiment.
In addition, the control apparatus 20 adjusts the pair cross angle at which the upper-side pair and the lower-side pair are caused to cross each other such that the pair cross angle is equal to or greater than 0.2 degrees, thus the advantages mentioned above can be particularly made significant by keeping the pair cross angle equal to or greater than 0.2°.
A hot rolling mill and hot rolling method according to a second embodiment of the present invention are explained by using
First, a way of thinking about directions of action of thrust forces is explained.
The coefficient of thrust forces acting from the rolled material S on the work rolls is correlated with the cross angle and the reduction ratio of rolling, and an estimation formula like the following Formula (1) has been proposed.
In Formula (1), µT,1 is the coefficient of thrust forces between the rolled material S and the work rolls 110A and 110B, µ is the coefficient of friction, θ1 is the cross angle between the rolled material S and the work rolls 110A and 110B, and r is the reduction ratio of rolling.
In addition, taking directions of action into consideration, the coefficient of thrust forces between the work rolls 110A and 110B and the backup rolls 120A and 120B is defined by the following Formula (2).
where µT2 is the coefficient of thrust forces between the backup rolls 120A and 120B and the work rolls 110A and 110B, θ2 is the cross angle between the backup rolls 120A and 120B and the work rolls 110A and 110B, and K is the influence coefficient (≈ 1.0°-1) .
Accordingly, if a pair cross angle θPC, a slight cross angle θWRS, and the rolling load are used, thrust forces acting on the work rolls 110A and 110B are represented by the relation of Formula (3) like the one mentioned below.
In Formula (3), θWRS is very small relative to θPC, thus F (θPC+θWRS, r) assumes a positive value.
In view of this, in the hot rolling mill 1 and hot rolling method according to the present embodiment, in a case where work-roll crossing is performed in a state where thrust forces like the ones depicted in
Thereby, as depicted in
In addition, in a case where work-roll shift is performed, it is desirable if thrust forces acting on the work rolls 110A and 110B are used.
That is, if the slight cross angle of the work rolls 110A and 110B is set such that the thrust forces act in such directions that the work rolls are shifted, the thrust forces act to support the work-roll shift, thus the capacities of shifting apparatuses can be reduced.
In other respects, the configuration/operation is approximately the same as the configuration/operation of the hot rolling mill and hot rolling method according to the first embodiment mentioned before, and details are omitted.
In the hot rolling mill and hot rolling method according to the second embodiment of the present invention also, advantages almost the same as those of the hot rolling mill and hot rolling method according to the first embodiment mentioned before are attained.
In addition, when adjusting the angles of the work rolls 110A and 110B, the control apparatus 20 adjusts the angles of the work rolls 110A and 110B in such directions that they become greater than the angles of the backup rolls 120A and 120B. Thereby, it is possible to cause thrust forces from the backup rolls 120A and 120B to act in directions opposite to thrust forces from the rolled material S acting on the work rolls 110A and 110B, and the total of the thrust forces acting on the work rolls 110A and 110B can be reduced. Accordingly, it is possible to attain advantages that the loads on the work rolls 110A and 110B in the axial direction can be reduced, it becomes easier to adopt small-diameter work rolls 110A and 110B, and bearings of the work rolls 110A and 110B are less likely to be damaged.
A hot rolling mill and hot rolling method according to a third embodiment of the present invention are explained by using
A hot rolling mill 1A according to the present embodiment depicted in
In addition, a control apparatus 20A of the hot rolling mill 1A according to the present embodiment executes adjustment of a pair cross angle at which the upper-side pair and the lower-side pair cross each other before rolling of the rolled material S is started. Furthermore, adjustment of the angles of the work rolls 110A and 110B is executed during the rolling of the rolled material S.
In other respects, the configuration/operation is approximately the same as the configuration/operation of the hot rolling mill and hot rolling method according to the first embodiment mentioned before, and details are omitted.
In the hot rolling mill and hot rolling method according to the third embodiment of the present invention also, advantages almost the same as those of the hot rolling mill and hot rolling method according to the first embodiment mentioned before are attained.
As mentioned above, the roll chocks of the backup rolls 120A and 120B are supported by the housing 100 through the pressing apparatuses 150A and 150B, the home-position control apparatuses 160A and 160B, and the load cell 180.
If the cross angle of the backup rolls 120A and 120B during rolling is changed in such a state, large sliding resistances are generated between fixation members due to the rolling load, thus actuators to change the cross angle need to have large capacities, and also members such as bearings for making sliding sections movable are required.
The movable members have low rigidity, and become a factor to lower the rigidity of the rolling mill itself. In that case, this becomes a factor of disturbance of the shape of the rolled material S, also causes strip movement of the rolled material S along lateral direction and lowers the stability of strip threading.
In contrast, by executing the angle adjustment in a pair-cross state before rolling of the rolled material S is started, the change can be made at a time of a low load. Accordingly, it is possible to reduce the capacities of the actuators to change the cross angle of the backup rolls 120A and 120B, and also it becomes unnecessary to provide mechanisms such as bearings to make the backup rolls 120A and 120B smoothly movable on sliding surfaces of support members. Accordingly, it is possible to attain advantages that it is possible to reduce equipment costs by making the equipment a simple and convenient one with low capacities, and also it becomes possible to avoid reduction of the rigidity of the rolling mill and to more stabilize rolling.
Furthermore, by executing the angle adjustment of the work rolls 110A and 110B during the rolling of the rolled material S, the control apparatus 20A can ensure responsiveness while surely attaining wide control ranges.
A hot rolling mill and hot rolling method according to a fourth embodiment of the present invention are explained by using
A hot rolling mill 1B according to the present embodiment depicted in
In addition, a control apparatus 20B of the hot rolling mill 1B according to the present embodiment controls the work-roll pressing apparatuses 130A and 130B and the work-roll position control apparatuses 140A and 140B such that the angles of the work rolls 110A and 110B relative to the backup rolls 120A and 120B are changed when the thrust forces measured by the thrust force measuring apparatuses 300A and 300B become greater than a predetermined upper limit value. For example, in a case where the direction of thrust forces acting between the rolled material S and the work rolls 110A and 110B is a positive direction and the thrust forces become greater than the upper limit value, the cross angle of the work rolls 110A and 110B is controlled so as to be increased.
Furthermore, the work-roll pressing apparatuses 130A and 130B and the work-roll position control apparatuses 140A and 140B are controlled such that the angles of the work rolls 110A and 110B relative to the backup rolls 120A and 120B are changed when the thrust forces measured by the thrust force measuring apparatuses 300A and 300B become smaller than a predetermined lower limit value. For example, in a case where the thrust forces become smaller than the lower limit value, the cross angle of the work rolls 110A and 110B is controlled so as to be decreased.
In other respects, the configuration/operation is approximately the same as the configuration/operation of the hot rolling mill and hot rolling method according to the first embodiment mentioned before, and details are omitted.
In the hot rolling mill and hot rolling method according to the fourth embodiment of the present invention also, advantages almost the same as those of the hot rolling mill and hot rolling method according to the first embodiment mentioned before are attained.
In addition, the higher the hardness of a rolling-subject steel strip is, the larger the thrust forces on the work rolls are. In view of this, by controlling the work-roll pressing apparatuses 130A and 130B and the work-roll position control apparatuses 140A and 140B such that the angles of the work rolls 110A and 110B relative to the backup rolls 120A and 120B are changed when the thrust forces measured by the thrust force measuring apparatuses 300A and 300B are greater than the predetermined upper limit value, the control apparatus 20B can perform control such that thrust forces on the work rolls 110A and 110B do not exceed thrust forces that the work rolls 110A and 110B can endure, and can prevent damage of members.
Furthermore, the control apparatus 20B can eliminate backlashes between the work rolls 110A and 110B and members supporting them by controlling the work-roll pressing apparatuses 130A and 130B and the work-roll position control apparatuses 140A and 140B such that the angles of the work rolls 110A and 110B relative to the backup rolls 120A and 120B are changed when the thrust forces measured by the thrust force measuring apparatuses 300A and 300B become smaller than the predetermined lower limit value, and can stabilize the positions of the work rolls in the strip-width direction.
A hot rolling mill and hot rolling method according to a fifth embodiment of the present invention are explained by using
The hot rolling mill according to the present embodiment is the same as the hot rolling mill 1 according to the first embodiment in terms of basic apparatus configuration.
As a further limitation, in the hot rolling mill according to the present embodiment, the work rolls 110A and 110B satisfy the condition that Dw/Lb is equal to or greater than 0.15 and equal to or smaller than 0.3 where DW is the diameter of the work rolls 110A and 110B, and Lb is the maximum strip width of the rolled material S.
The ratio Dw/Lb between a work-roll diameter DW and a maximum strip width Lb is within the range of 0.32 to 0.40 in typical pair cross mills, and, in this range, it is possible to perform second-order shape control by work roll bending, but it is difficult to perform higher-order shape control. In addition, principles similar to those of pair cross mills are applied to work-roll cross mills, and generally the same tendency is observed.
As depicted in
In addition, as depicted in
In addition, the crown control order is approximately 1.65, and influence of Dw/Lb is extremely small. Although it is considered that this order is slightly influenced by rolling conditions due to roll flattening, roll deflection, or the like, the control order is generally 2.0 irrespective of a work-roll diameter.
Then,
It can be known that, under the conventional range condition of DW/Lb = 0.32 depicted in
In contrast, as depicted in
Here, as indicators of the ranges within which ΔCh25 and ΔCh¼, and ΔC2 and ΔC4 can be controlled individually, respectively, the area size in the parallelogram in the graph of ΔCh25 and ΔCh¼ is defined as Sc, and the area size in the parallelogram in the graph of ΔC2 and ΔC4 is defined as Ss. Taking this into consideration,
As depicted in
Here, in hot rolling processes, typically, work rolls are connected to motors and rotation-driven. In that case, if the diameter of the work rolls is reduced, the spindle diameter is reduced, thus transmittable torque also decreases.
Whereas reduction of the diameter of the work rolls reduces rolling torque also, the influence of the reduction of the diameter of the work rolls is more significant on the limitation of torque transmission of spindles. That is, if the diameter of the work rolls is too small, difficulties in terms of mechanical feasibility arise, and it is considered that disadvantages outweigh advantages.
The rolling torque depends on rolling conditions, and it is determined that it is possible to make feasible modes in which advantages outweigh disadvantages by making Dw/Lb at least equal to or greater than 0.15 in typical hot rolling plants; therefore, it is desirable if the lower limit of Dw/Lb is set to 0.15 or greater.
Summarizing what have been described thus far, it is desirable if a suitable range of Dw/Lb is 0.15 or greater and 0.30 or smaller, and more suitably 0.15 or greater and 0.28 or smaller.
In other respects, the configuration/operation is approximately the same as the configuration/operation of the hot rolling mill and hot rolling method according to the first embodiment mentioned before, and details are omitted.
In the hot rolling mill and hot rolling method according to the fifth embodiment of the present invention also, advantages almost the same as those of the hot rolling mill and hot rolling method according to the first embodiment mentioned before are attained.
In addition, the work-roll bending cylinders 190A and 190B that apply bending forces to the work rolls 110A and 110B are further provided, the work rolls 110A and 110B satisfy the condition that Dw/Lb is equal to or greater than 0.15 and equal to or smaller than 0.3 where DW is the diameter of the work rolls 110A and 110B, and Lb is the maximum strip width of the rolled material S. Thereby, both bending force control and cross angle control are performed, harder steel strips than ones that conventional technologies can cope with can be rolled with a work-roll diameter equal to or smaller than that in the conventional technologies, and also more complicated shape control becomes possible.
Note that the present invention is not limited to the embodiments described above, and includes various modification examples. The embodiments described above are explained in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those including all the configurations explained.
In addition, it is also possible to replace some of the configurations of an embodiment with configurations of another embodiment, and it is also possible to add a configuration of an embodiment to the configurations of another embodiment. In addition, some of the configurations of each embodiment can also have other configurations, be deleted or be replaced with other configurations.
Filing Document | Filing Date | Country | Kind |
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PCT/JP2020/018021 | 4/27/2020 | WO |