JP2005060787A - Post-heating apparatus for welded part of steel sheets - Google Patents

Post-heating apparatus for welded part of steel sheets Download PDF

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JP2005060787A
JP2005060787A JP2003293746A JP2003293746A JP2005060787A JP 2005060787 A JP2005060787 A JP 2005060787A JP 2003293746 A JP2003293746 A JP 2003293746A JP 2003293746 A JP2003293746 A JP 2003293746A JP 2005060787 A JP2005060787 A JP 2005060787A
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steel plate
post
heating
copying
steel sheets
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Yasumichi Sunamori
泰理 砂盛
Kazuyuki Abe
一行 阿部
Hideo Higakubo
秀男 日ヶ久保
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JFE Steel Corp
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JFE Steel Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a post-heating apparatus for a welded part of steel sheets which performs the post-heating to the welded portion of the steel sheets after welding both steel sheets. <P>SOLUTION: This apparatus is provided with one or more burners 3 for heating the welding part 2, a copying mechanism 4 for holding the distance between the burner 3 and the welding part 2 according to the ruggedness of the steel sheets 1 so as to become constant, a height following means 8 for freely following the copying mechanism 4 in the height direction and a traversing means 10 for traversing the copying mechanism 4 in the direction in which the welding part 2 is extending. Further, it is suitable that the above copying mechanism 4 is the mechanism for copying the ruggedness of the steel sheets 1 by bringing the plurality of rollers 4a into contact with the steel sheets 1. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、鋼板どうしを溶接した後に、その溶接時の熱影響を除去するための後加熱を行う鋼板溶接部後加熱装置に関する。   TECHNICAL FIELD The present invention relates to a steel plate welded portion post-heating device that performs post-heating to remove a thermal effect during welding after welding steel plates.

例えば、酸洗設備において鋼板を酸洗する場合など、効率をあげるために鋼板どうしを溶接接合して連続的に搬送することが行われる。   For example, when pickling steel plates in pickling equipment, the steel plates are welded and joined continuously to increase efficiency.

この場合、図3に例示するように、アンコイラー31から巻き戻した鋼板1の先端と先行鋼板の尾端をフラッシュバットウェルダー32で溶接接合して鋼板の連続化を行う。そして、連続化した鋼板を、ブライドルロール33の後工程となる酸洗設備(図示せず。)等に送って所定の処理を行う。   In this case, as illustrated in FIG. 3, the front end of the steel plate 1 unwound from the uncoiler 31 and the tail end of the preceding steel plate are welded and joined with a flash butt welder 32 to make the steel plate continuous. Then, the continuous steel plate is sent to pickling equipment (not shown), which is a subsequent process of the bridle roll 33, and a predetermined treatment is performed.

ところで、このようにして溶接した部分は、熱影響によってもろくなって破断しやすい場合もあることから、鋼板溶接部後加熱装置11で後加熱(焼鈍ともいう。)を行うことがある。   By the way, the portion welded in this way may become brittle and easily break due to the influence of heat, so that post-heating (also referred to as annealing) may be performed by the steel plate welded portion post-heating device 11.

従来、鋼板どうしを溶接した後に後加熱を実施する場合、特許文献1に開示のように誘導加熱式の後加熱装置を用いるのが一般的であった。   Conventionally, when post-heating is performed after welding steel plates, it is common to use an induction heating type post-heating device as disclosed in Patent Document 1.

図4に基づき、特許文献1に開示の従来の溶接部後加熱装置について説明する。   A conventional weld post-heating apparatus disclosed in Patent Document 1 will be described with reference to FIG.

特許文献1に開示の溶接部後加熱装置では、まず、鋼板1を、上クランプ14,15とクランプ裏当て部16、17で挟み込んで固定し、加熱コイル部21とコア部22からなる誘導加熱装置20で鋼板1の溶接部2を後加熱する。   In the welding part post-heating device disclosed in Patent Document 1, first, the steel plate 1 is sandwiched and fixed between the upper clamps 14 and 15 and the clamp backing parts 16 and 17, and induction heating including the heating coil part 21 and the core part 22 is performed. The welding part 2 of the steel plate 1 is post-heated with the apparatus 20.

ここで、特許文献1では、熱応力によって生じる鋼板1の変形を、誘導加熱を行うコア部22と溶接部2近傍の鋼板1との間隙に配した耐熱絶縁性のスペーサー23で抑えるようにしたことを特徴とするものである。   Here, in Patent Document 1, deformation of the steel plate 1 caused by thermal stress is suppressed by a heat-resistant insulating spacer 23 arranged in the gap between the core portion 22 that performs induction heating and the steel plate 1 in the vicinity of the welded portion 2. It is characterized by this.

スペーサー23は、鋼板1の板幅方向に延びるセラミック等の耐熱絶縁性部材からなる棒体で、その一方の側端部をコイル部21と接触しながらコア部22と一体にモールドし、他方の側端部の表面部を鋼板1と対向させるとともに、その表面部と裏当て部16、17の裏当て面とが同一平面に含まれるように構成する。また、この表面部に溶接部2に沿って保護溝24を形成し、溶接部2との接触を防止する。更に、鋼板1の板厚が薄い場合は、この表面部に複数の溝25を形成し、鋼板1との接触面積を小さくする。   The spacer 23 is a rod made of a heat-resistant insulating member such as ceramic that extends in the plate width direction of the steel plate 1, and is molded integrally with the core portion 22 while one side end thereof is in contact with the coil portion 21. While making the surface part of a side edge part oppose the steel plate 1, it is comprised so that the surface part and the backing surface of the backing parts 16 and 17 may be contained in the same plane. Further, a protective groove 24 is formed on the surface portion along the welded portion 2 to prevent contact with the welded portion 2. Furthermore, when the plate | board thickness of the steel plate 1 is thin, the some groove | channel 25 is formed in this surface part, and a contact area with the steel plate 1 is made small.

特許文献1の装置では、上記のようにすることで、間隙が常にほぼ一定に保たれるので、溶接部2の温度ムラを防止し、焼鈍を適切に行うことができるとしている。   In the apparatus of Patent Document 1, since the gap is always kept substantially constant as described above, temperature unevenness of the welded portion 2 can be prevented and annealing can be appropriately performed.

誘導加熱式の場合、鋼板溶接部の後加熱を短時間に行い、すばやく目標温度まで昇温することができるのみならず、温度制御も比較的簡単に行うことができる。   In the case of the induction heating type, not only can the post-heating of the steel plate welded portion be performed in a short time, the temperature can be quickly raised to the target temperature, but temperature control can also be performed relatively easily.

一方、鋼板に熱を加える方法としては、バーナーを用いた直火方式も可能である。   On the other hand, as a method of applying heat to the steel plate, a direct fire method using a burner is also possible.

特許文献2には、鋼板溶接部の焼鈍装置として、鋼板の両面から溶接部を加熱する第1と第2の2つのバーナーを具備してなる装置の考案が開示されている。
特開平5-69178号公報 実開昭62-175065号公報
Patent Document 2 discloses a device devised as an apparatus for annealing a steel plate welded portion, which includes first and second burners for heating the welded portion from both sides of the steel plate.
JP-A-5-69178 Japanese Utility Model Publication No. 62-175065

特許文献1の装置は、鋼板をクランプするとともに、溶接部の誘導加熱を行うことから、装置が複雑になり、また、設備費用が嵩むという問題があった。   Since the apparatus of Patent Document 1 clamps a steel plate and performs induction heating of a welded portion, there is a problem that the apparatus becomes complicated and the equipment cost increases.

また、特許文献2の装置は、バーナーを用いることから、設備構成を簡素化でき、安価に設備化できるが、バーナーによる直火で加熱するため鋼板が変形しやすいと言う問題がある。その変形を防止するため、特許文献2の第1バーナーでは、鋼板との間に鋼板押え込み部材を挿入して最接近間隔を規制している。ところが、この鋼板押え込み部材もバーナーによる加熱で熱変形してしまうという問題がある。   Moreover, since the apparatus of Patent Document 2 uses a burner, the equipment configuration can be simplified and the equipment can be made inexpensively. In order to prevent the deformation, in the first burner of Patent Document 2, the closest approach interval is regulated by inserting a steel plate pressing member between the steel plate and the steel plate. However, this steel plate pressing member also has a problem that it is thermally deformed by heating with a burner.

ところで、後加熱方式として、誘導加熱を採用しても、また、バーナーを採用しても、鋼板の変態点近傍の高温になるまで熱を加えることに変りはなく、鋼板が熱変形を起こしやすくなり、入熱が安定せず、鋼板を溶断してしまったり、逆に、入熱不足による通板後の破断を引き起こしたりしやすくなる。   By the way, even if induction heating or a burner is adopted as a post-heating method, there is no change in applying heat until a high temperature in the vicinity of the transformation point of the steel plate, and the steel plate easily undergoes thermal deformation. Therefore, the heat input is not stable, and the steel sheet is melted, or conversely, it is easy to cause breakage after passing the plate due to insufficient heat input.

この問題を解決するため、いずれの方式を採用するにしても、特許文献1や特許文献2にも開示のように、鋼板をクランプして熱変形を押さえ込むクランプ装置が必須とされていた。   In order to solve this problem, no matter which method is adopted, as disclosed in Patent Document 1 and Patent Document 2, a clamping device that clamps a steel plate and suppresses thermal deformation is essential.

しかしながら、板の形状変化が大きい場合には、しばしば十分なクランプ力が得られず、鋼板を十分に拘束できないことから、後加熱に必要な入熱ができなくなることも問題である。   However, when the shape change of the plate is large, a sufficient clamping force is often not obtained and the steel plate cannot be sufficiently restrained, so that the heat input necessary for post-heating cannot be performed.

また、特にバーナーを用いる場合には、クランプ装置にまで熱が加わってクランプ装置自体が熱変形することから、その寿命が短くなり、クランプ精度も悪化させてしまうと言う問題もある。   In particular, when a burner is used, heat is applied to the clamping device and the clamping device itself is thermally deformed, so that there is a problem that the life is shortened and the clamping accuracy is also deteriorated.

本発明は、以上の問題点を解決し、バーナーの直接加熱方式を採用し、かつ、クランプ装置を不要とした簡素で設備費の安い後加熱装置を提供するものである。   The present invention solves the above problems, and provides a simple and inexpensive post-heating device that employs a direct heating method of a burner and that does not require a clamping device.

本発明者は、後加熱装置としてバーナーの直接加熱方式を採用する場合に問題となる鋼板の変形を無理に押さえ込むのではなく、その変形に応じてバーナーを添わせて移動させることで、安定した入熱を行うことが可能であることに想到し、本発明に至った。   The present inventor does not forcibly suppress the deformation of the steel plate, which is a problem when adopting the direct heating method of the burner as a post-heating device, but is stable by moving the burner according to the deformation. The inventor has conceived that heat can be input, and has reached the present invention.

すなわち、本発明は、鋼板どうしを溶接した後に、当該鋼板の溶接部の後加熱を行う鋼板溶接部後加熱装置であって、前記溶接部を加熱する一以上のバーナーと、該バーナーを、鋼板の凹凸に倣って前記溶接部との距離が一定となるように保持する倣い機構と、該倣い機構を高さ方向に自在に追従させる高さ追従手段と、溶接部が延在する方向に前記倣い機構を横行させる横行手段と、を具備してなることを特徴とする鋼板溶接部後加熱装置によって上記課題を解決した。   That is, the present invention is a steel plate welded portion post-heating device that performs post-heating of the welded portions of the steel plates after welding the steel plates, and includes at least one burner for heating the welded portions, and the burner. A scanning mechanism that keeps the distance from the welded portion constant according to the unevenness of the surface, a height follower that freely follows the scanning mechanism in the height direction, and a direction in which the welded portion extends. The above-mentioned problem has been solved by a steel plate welded portion post-heating device characterized by comprising a traversing means for traversing the copying mechanism.

また、本発明は、前記倣い機構を、複数のローラーを鋼板と接触させて、当該鋼板の凹凸に倣う機構としてなることを好適とするものである。   In the present invention, it is preferable that the copying mechanism is a mechanism that makes a plurality of rollers come into contact with a steel plate to copy the unevenness of the steel plate.

本発明によって、バーナーを用いて鋼板溶接部を安定的に後加熱することができるようになり、簡素でかつ安価な鋼板溶接部後加熱装置を提供することができる。   According to the present invention, a steel plate welded portion can be stably post-heated using a burner, and a simple and inexpensive steel plate welded portion post-heating device can be provided.

本発明の鋼板溶接部後加熱装置の最良の形態を、図1に基づいて説明する。   The best mode of the steel plate welded portion post-heating device of the present invention will be described with reference to FIG.

図1(a)は、本発明の鋼板溶接部後加熱装置11を正面から見た模式図である。   Fig.1 (a) is the schematic diagram which looked at the steel plate welding part post-heating apparatus 11 of this invention from the front.

本発明の装置11には、鋼板1の溶接部(ここでは図示せず。図1(b)参照。)が延在する方向に自在に横行可能とした横行装置10を具備する。なお、横行装置10の横行方法は特に限定しないが、ライン上に門型に設けたフレームに装置の天井プレート9を吊下してモータ駆動で横行させる等の方法をとることができる。   The apparatus 11 according to the present invention includes a traversing apparatus 10 that can traverse freely in a direction in which a welded portion of the steel plate 1 (not shown here, see FIG. 1B) extends. The traversing method of the traversing device 10 is not particularly limited, and a method such as hanging the ceiling plate 9 of the device on a gate-shaped frame on the line and traversing by motor drive can be used.

装置の天井プレート9には、高さ追従手段8を介して台座7が取付けられ、その台座7には、1以上の所要数のバーナー3と倣い装置4が一体的に連結されている。   A pedestal 7 is attached to the ceiling plate 9 of the apparatus via a height following means 8, and one or more required number of burners 3 and the copying apparatus 4 are integrally connected to the pedestal 7.

ここで、バーナー3は、それぞれバーナーの先端開口部を鋼板上に向けて高さ一定となるように配置されており、倣い機構として倣い装置4で高さ一定として鋼板1の溶接部に倣うようにされている。なお、図1では、バーナー3が2本の場合を示しているが、これに限定されるものではなく、1本以上のバーナーが設けられていればよい。また、バーナーの本数は、バーナーの加熱能力と、必要とされる入熱量に応じて適宜設定すればよく、複数のバーナーを設ける際には図1に示すように溶接部が延在する方向に並べて配置することが好ましい。   Here, each of the burners 3 is arranged so that the height of the end opening of the burner is constant toward the steel plate, and follows the welded portion of the steel plate 1 with a copying device 4 as a copying mechanism with a constant height. Has been. In addition, although the case where the number of the burners 3 is two is shown in FIG. 1, it is not limited to this, What is necessary is just to provide one or more burners. The number of burners may be set as appropriate according to the heating capacity of the burner and the amount of heat input required. When a plurality of burners are provided, the welded portion extends in the direction as shown in FIG. It is preferable to arrange them side by side.

倣い装置4は、鋼板1上を複数のローラー4aで接触するように構成され、軸4cを支点として自在に鋼板の凹凸に倣う装置である。なお、本発明では、装置を安価に構成することを主眼として図示の倣い装置4を採用したが、倣い装置4をこれに限定するものではない。例えば、図1のように、横行装置によって鋼板上を安定して走行するため、複数のローラーで鋼板と接触させることが好ましいが、ローラーを1つとし、溶接部が延在する方向に対して直交する方向にバーナーと並ぶように配設した倣い装置としてもよい。また、非接触式の距離センサで鋼板との距離を測定しつつ高さ一定となるように制御して倣う装置とすることもできる。   The copying device 4 is configured to contact the steel plate 1 with a plurality of rollers 4a, and freely follows the unevenness of the steel plate using the shaft 4c as a fulcrum. In the present invention, the copying apparatus 4 shown in the figure is adopted mainly for the purpose of inexpensively configuring the apparatus, but the copying apparatus 4 is not limited to this. For example, as shown in FIG. 1, in order to stably travel on a steel plate by a traversing device, it is preferable to contact the steel plate with a plurality of rollers, but with one roller, the direction in which the weld extends The copying apparatus may be arranged so as to be aligned with the burner in the orthogonal direction. Moreover, it can also be set as the apparatus which copies and controls so that height may become fixed, measuring the distance with a steel plate with a non-contact-type distance sensor.

なお、本発明では、倣い装置4で鋼板1上を円滑に倣うことを可能とするため、高さ追従手段8を具備する。高さ追従手段8として具体的には、単純なスプリングで倣い装置4を押し付けて追従するように構成できる。また、エアや油圧等のダンパーを採用してもよい。さらに、エアシリンダや油圧シリンダなどの制御シリンダを採用し、倣い装置での倣いに応じて高さ追従を自動的に行うようにすることもできる。   In the present invention, in order to enable the copying apparatus 4 to smoothly copy the steel plate 1, the height follower 8 is provided. Specifically, the height tracking means 8 can be configured to press and follow the copying apparatus 4 with a simple spring. Further, a damper such as air or hydraulic pressure may be employed. Furthermore, a control cylinder such as an air cylinder or a hydraulic cylinder can be employed to automatically follow the height according to the copying by the copying apparatus.

本発明の理解をさらに容易にするため、本発明の後加熱装置を側面から見た模式図を図1(b)に示す。   In order to make the understanding of the present invention easier, a schematic view of the post-heating device of the present invention viewed from the side is shown in FIG.

なお、設備費は高騰するものの、本発明の後加熱装置のバーナーに替えて、例えば誘導加熱コイルを採用して溶接部の後加熱を行うようにしてもよいことは言うまでもない。この際、特に倣い機構と誘導加熱コイルを近接して配置するためには、倣い機構を誘導電流の影響がない絶縁性のセラミック等で構成することを好適とする。また、加熱手段を電熱器とすることもできる。   Needless to say, although the equipment cost increases, it is possible to use an induction heating coil to perform post-heating of the welded portion instead of the burner of the post-heating device of the present invention. At this time, in particular, in order to dispose the copying mechanism and the induction heating coil close to each other, it is preferable that the copying mechanism is made of an insulating ceramic that is not affected by the induced current. Further, the heating means can be an electric heater.

ここで、酸洗ラインで酸洗処理を行う鋼板について、本発明の鋼板溶接部後加熱装置で凹凸を倣うに際しての、上下の倣いレンジについての検証を実施した。   Here, with respect to the steel plate subjected to the pickling treatment in the pickling line, verification was performed for the upper and lower scanning ranges when copying the unevenness with the steel plate welded portion post-heating device of the present invention.

検証は、バーナー3の先端開口部と鋼板上面(溶接部上面)との基準距離を23mmとして、倣い装置を用いずに単にバーナー3を水平方向に移動させたときの、バーナー3の先端開口部と鋼板上面の距離を実際に測定することで実施した。その結果を図2に模式的に示す。   The verification is performed by setting the reference distance between the tip opening of the burner 3 and the upper surface of the steel plate (upper surface of the welded portion) to 23 mm and simply moving the burner 3 in the horizontal direction without using the copying apparatus. It was carried out by actually measuring the distance between the top surface of the steel plate and the steel plate. The result is schematically shown in FIG.

図2(a)に示すように、鋼板1が上反り形状の場合、バーナー3の先端開口部と鋼板上面の距離は、最短で0〜5mmまで接近する。一方、鋼板1が下反り形状の場合、図2(b)に示すように、最長で30〜40mmまで離間する。以上の知見から、本発明の鋼板溶接部後加熱装置での倣い量は、少なくとも40mmのレンジが必要である。   As shown to Fig.2 (a), when the steel plate 1 is warped shape, the distance of the front-end | tip opening part of the burner 3 and a steel plate upper surface approaches 0-5 mm at the shortest. On the other hand, when the steel plate 1 has a downward warping shape, as shown in FIG. From the above knowledge, the amount of copying in the post-heating apparatus for steel plate welds of the present invention needs to be at least in the range of 40 mm.

以上の知見をベースとして本発明の鋼板溶接部後加熱装置を製作した。   Based on the above knowledge, a post-heating apparatus for steel plate welding according to the present invention was manufactured.

高さ追従装置は、スプリング機構を採用し、スプリングを調整することで上下に40mm以上を自在に追従できるようにした。また、倣い装置は、4つのローラーで倣う構成とし、後加熱用のバーナーを2本配置した。   The height follower employs a spring mechanism, and the spring can be adjusted to freely follow more than 40mm vertically. The copying apparatus was configured to copy with four rollers, and two post-heating burners were arranged.

上記に示す本発明の鋼板溶接部後加熱装置を用いて、酸洗ラインで酸洗処理を行う鋼板をフラッシュバットウェルダーで溶接した後の後加熱を行った結果、ライン搬送中の鋼板の破断トラブルは発生しなかった。本発明によって、簡素でかつ安価な設備で十分な後加熱を行うことが可能であることを検証できた。   As a result of post-heating after welding the steel plate to be pickled in the pickling line with a flash butt welder using the steel plate welded part post-heating device of the present invention shown above, the steel plate was broken during line conveyance. Did not occur. It has been verified by the present invention that sufficient post-heating can be performed with simple and inexpensive equipment.

本発明の鋼板溶接部後加熱装置の概略模式図である。It is a schematic diagram of the steel plate welded part post-heating device of the present invention. 鋼板中央部の反り量を検証した結果をまとめた模式図である。It is the schematic which put together the result which verified the curvature amount of the steel plate center part. 本発明を適用する鋼板の溶接接合ラインの一例を示す模式図である。It is a schematic diagram which shows an example of the welding joining line of the steel plate to which this invention is applied. 従来の溶接部後加熱装置の一例を示す概略模式図である。It is a schematic diagram which shows an example of the conventional welding part post-heating apparatus.

符号の説明Explanation of symbols

1、1a、1b 鋼板
2 溶接部
3 バーナー
4 倣い装置
4a ローラー
4b ブラケット
4c 軸
7 台座
8 高さ追従手段
9 天井プレート
10 横行手段
11 鋼板溶接部後加熱装置
14,15 上クランプ
16、17 クランプ裏当て部
20 誘導加熱装置
21 加熱コイル部
22 コア部
23 スペーサー
24 保護溝
25 溝
31 アンコイラー
32 フラッシュバットウェルダー
33 ブライドルロール
1, 1a, 1b Steel plate 2 Welded part 3 Burner 4 Copying device
4a roller
4b bracket
4c Axis 7 Base 8 Height follower 9 Ceiling plate
10 Traversing means
11 Steel plate post-heating device
14,15 Upper clamp
16, 17 Clamp backing
20 Induction heating device
21 Heating coil section
22 Core part
23 Spacer
24 Protective groove
25 groove
31 Uncoiler
32 flash butt welder
33 Bridle Roll

Claims (2)

鋼板どうしを溶接した後に、当該鋼板の溶接部の後加熱を行う鋼板溶接部後加熱装置であって、
前記溶接部を加熱する一以上のバーナーと、
該バーナーを、鋼板の凹凸に倣って前記溶接部との距離が一定となるように保持する倣い機構と、
該倣い機構を高さ方向に自在に追従させる高さ追従手段と、
溶接部が延在する方向に前記倣い機構を横行させる横行手段と、
を具備してなることを特徴とする鋼板溶接部後加熱装置。
A steel plate welded portion post-heating device that performs post-heating of the welded portions of the steel plates after welding the steel plates,
One or more burners for heating the weld;
A copying mechanism that holds the burner so that the distance from the welded portion is constant following the unevenness of the steel sheet;
Height following means for freely following the copying mechanism in the height direction;
Traversing means for traversing the copying mechanism in the direction in which the weld extends;
A post-heating apparatus for steel plate welds, comprising:
前記倣い機構を、複数のローラーを鋼板と接触させて、当該鋼板の凹凸に倣う機構としてなることを特徴とする請求項1に記載の鋼板溶接部後加熱装置。 The steel plate welded part post-heating device according to claim 1, wherein the copying mechanism is a mechanism that makes a plurality of rollers come into contact with a steel plate to copy the unevenness of the steel plate.
JP2003293746A 2003-08-15 2003-08-15 Post-heating apparatus for welded part of steel sheets Pending JP2005060787A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2003293746A JP2005060787A (en) 2003-08-15 2003-08-15 Post-heating apparatus for welded part of steel sheets

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2003293746A JP2005060787A (en) 2003-08-15 2003-08-15 Post-heating apparatus for welded part of steel sheets

Publications (1)

Publication Number Publication Date
JP2005060787A true JP2005060787A (en) 2005-03-10

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007136479A (en) * 2005-11-16 2007-06-07 Jfe Steel Kk Post-heating apparatus for welded part of steel sheet
CN107805698A (en) * 2016-08-09 2018-03-16 南通大学 A kind of postwelding impacts manipulator trajectory tracking TT&C system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007136479A (en) * 2005-11-16 2007-06-07 Jfe Steel Kk Post-heating apparatus for welded part of steel sheet
CN107805698A (en) * 2016-08-09 2018-03-16 南通大学 A kind of postwelding impacts manipulator trajectory tracking TT&C system

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