JPH05196414A - Method for detecting position of welded part of welded tube - Google Patents
Method for detecting position of welded part of welded tubeInfo
- Publication number
- JPH05196414A JPH05196414A JP4028987A JP2898792A JPH05196414A JP H05196414 A JPH05196414 A JP H05196414A JP 4028987 A JP4028987 A JP 4028987A JP 2898792 A JP2898792 A JP 2898792A JP H05196414 A JPH05196414 A JP H05196414A
- Authority
- JP
- Japan
- Prior art keywords
- mark
- electric resistance
- resistance welded
- welded pipe
- line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/04—Wave modes and trajectories
- G01N2291/044—Internal reflections (echoes), e.g. on walls or defects
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は電縫管の溶接部位置検
出方法に係り、特に、溶接後の溶接部を熱処理するポス
トアニーラの誘導子を溶接線上に正しく位置決めをする
場合に用いて好適な、電縫管の溶接部位置検出方法に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting the position of a welded portion of an electric resistance welded pipe, and in particular, it is suitable for use in correctly positioning a post anneal inductor for heat treating a welded portion after welding on a weld line. The present invention relates to a method for detecting a welded portion position of an electric resistance welded pipe.
【０００２】[0002]
【従来の技術】電縫管の溶接部位置検出は、倣い式の溶
接部アニーリング等のために必要である。2. Description of the Related Art Detection of the welded portion position of an electric resistance welded pipe is necessary for copy-type welded portion annealing or the like.
【０００３】従来の、電縫管溶接部熱処理設備（ポスト
アニーラ）における加圧装置の追従方式は、大きく分け
て２種類ある。There are roughly two types of follow-up methods of the pressurizing device in the conventional heat treatment equipment (post-annealer) for the electric resistance welded pipe.
【０００４】まず、実開昭５８−１１７７６０号公報、
特開昭５９−１１８２７５号公報、同５９−１５７５６
１号公報、及び、同５９−１７３７４８号公報等に開示
されような、溶接部を検出し、管送り方向下流直下の熱
処理装置の位置を制御するものがある。First, Japanese Utility Model Laid-Open No. 58-117760,
JP-A-59-118275 and JP-A-59-15756.
There is one that detects a welded portion and controls the position of a heat treatment apparatus immediately below in the pipe feeding direction, as disclosed in Japanese Patent Publication No. 1 and Japanese Patent Publication No. 59-173748.
【０００５】次に、例えば特開昭５９−６８６０３号公
報及び特開昭５９−１８７２０６号公報等に開示される
ような、電縫管の溶接線と平行に、蛍光線等のマークを
付け、このマークを位置基準として、マークの位置から
加熱装置の誘導子位置を制御するものがある。Next, a mark such as a fluorescent line is formed in parallel with the welding line of the electric resistance welded pipe as disclosed in, for example, Japanese Patent Laid-Open Nos. 59-68603 and 59-187206. Some use this mark as a position reference to control the position of the inductor of the heating device from the position of the mark.
【０００６】[0006]
【発明が解決しようとする課題】前者の追従方式は、電
縫管が、穏やかながら左右に不規則に捩じれながら走行
することから、加熱装置が複数台管軸方向に連続して配
置された場合、最初の加熱装置の誘導子は溶接線上に正
しく配置されたとしても、２番目以降の加熱装置の誘導
子は次第に溶接部からずれが生じてしまうという問題点
がある。In the former follow-up method, since the electric resistance welded pipe runs while being twisted irregularly to the left and right while being gentle, a plurality of heating devices are continuously arranged in the axial direction of the pipes. However, even if the inductors of the first heating device are correctly arranged on the welding line, the inductors of the second and subsequent heating devices are gradually displaced from the welded portion.
【０００７】又、前者及び後者共に、熱処理すべき電縫
管の外径が異なる度毎に、あるいは、溶接部やマークを
追従させるときに検出器を移動させる必要があるので、
溶接部の位置検出精度を高く維持できないという問題点
がある。In both the former and the latter, it is necessary to move the detector every time the outer diameter of the electric resistance welded pipe to be heat treated is different or when the welded portion or mark is made to follow.
There is a problem that the position detection accuracy of the welded portion cannot be maintained high.
【０００８】この発明は、上記従来の問題点に鑑みてな
されたものであって、溶接部を検出するための検出器の
位置を、電縫管の外径が変わる毎に移動させたり、又溶
接部やマークに追従させて検出器自体を移動させたりす
る必要がなく、溶接部位置検出精度を高く維持できるよ
うにした電縫管の溶接部位置検出方法を提供することを
目的とする。The present invention has been made in view of the above conventional problems, and the position of a detector for detecting a welded portion is moved every time the outer diameter of the electric resistance welded pipe changes, or An object of the present invention is to provide a method for detecting the position of a welded portion of an electric resistance welded pipe, which does not require the detector itself to be moved in accordance with the welded portion or the mark and can maintain high accuracy in detecting the position of the welded portion.
【０００９】[0009]
【課題を解決するための手段】この発明は、溶接時に、
電縫管表面に予め溶接部と平行にマークを引き、該電縫
管を搬送する手段により搬送ライン上を搬送し、前記マ
ークを視野内とするマーク検出器を電縫管円形外周の法
線のうち前記搬送ラインを通る法線と直角に交わる直交
線上に配置し、該マーク検出器により、電縫管の側方か
ら、前記マークとマーク検出器の中心を通る直線を検出
し、該直線と前記電縫管の外径とから、前記法線と前記
直交線との交点を原点とする前記マークの座標を演算
し、この演算結果とマークの目標位置との、前記法線方
向のずれ量を、前記溶接部の電縫管円形外周における接
線方向のずれ量とする電縫管の溶接部位置検出方法によ
り、上記目的を達成するものである。The present invention, when welding,
A mark is drawn in advance on the surface of the electric resistance welded pipe in parallel with the welded portion, and the electric resistance welded pipe is conveyed on the conveyance line by a means for conveying the mark. Among them, the mark detector is arranged on an orthogonal line that intersects at right angles with the normal line passing through the conveyance line, and the mark detector detects a straight line passing through the center of the mark and the mark detector from the side of the electric resistance welded pipe. And the outer diameter of the electric resistance welded pipe, the coordinates of the mark whose origin is the intersection of the normal line and the orthogonal line are calculated, and the deviation between the calculation result and the target position of the mark in the normal direction. The above object is achieved by a method for detecting the position of the welded portion of the electric resistance welded pipe, in which the amount is the amount of deviation in the tangential direction on the circular outer periphery of the electric resistance welded pipe of the welded portion.
【００１０】[0010]
【作用及び効果】この発明においては、電縫管の溶接部
と平行に形成されたマークの座標を、一定視野をもった
マーク検出器により検出して、マークのずれ量を演算
し、このマークの、電縫管円形外周における接線方向の
ずれ量を、例えばポストアニーラの誘導子の、電縫管円
形外周の接線方向のずれとして検出するので、検出器の
高さを、電縫管の外径に応じて調整したりすることが不
要となり、同時に、異なる外径の電縫管の溶接部のずれ
量を高精度で検出することができるという優れた効果を
有する。According to the present invention, the coordinates of the mark formed parallel to the welded portion of the electric resistance welded pipe are detected by the mark detector having a constant field of view, and the amount of deviation of the mark is calculated. , The tangential deviation in the outer circumference of the electric resistance welded pipe is detected as, for example, the deviation in the tangential direction of the outer circumference of the electric resistance welded pipe from the inductor of the post annealer. It is not necessary to adjust it according to the above, and at the same time, it has an excellent effect that the deviation amount of the welded portion of the electric resistance welded pipe having different outer diameter can be detected with high accuracy.
【００１１】[0011]
【実施例】以下本発明に係る電縫管の溶接部位置検出方
法を、図面を参照して詳細に説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for detecting a welded portion position of an electric resistance welded pipe according to the present invention will be described in detail below with reference to the drawings.
【００１２】この方法では、まず、溶接機１０による電
縫管１２の溶接時に、電縫管１２の表面に予め溶接部１
４と平行にマーキングガン１６によってマーク１８をつ
けておく。In this method, first, when welding the electric resistance welded pipe 12 by the welding machine 10, the welded portion 1 is previously formed on the surface of the electric resistance welded pipe 12.
Mark 18 is attached in parallel with 4 by marking gun 16.
【００１３】このマーク１８を、搬送手段（図示省略）
により搬送される電縫管１２の側方に、搬送方向に沿っ
て順次複数配置されたマーク検出器２０により検知す
る。The mark 18 is conveyed by a conveying means (not shown).
A plurality of mark detectors 20 are sequentially arranged on the side of the electric resistance welded pipe 12 conveyed along the conveyance direction.
【００１４】ここで、前記マーク１８は、溶接部１４に
対して電縫管１２の中心軸から見て、円周方向に９０°
ずれた位置に形成されるものとする。Here, the mark 18 is 90 ° in the circumferential direction with respect to the welded portion 14 when viewed from the central axis of the electric resistance welded pipe 12.
It is assumed that they are formed at offset positions.
【００１５】従って、アニーラステーション２２におけ
る誘導子２４を電縫管１２の頂点位置にある溶接部１４
の真上に配置すると、マーク１８は電縫管１２の真横の
位置となる。Therefore, the inductor 24 in the annealing station 22 is connected to the welded portion 14 at the apex position of the electric resistance welded pipe 12.
When the mark 18 is arranged right above the mark, the mark 18 is positioned right beside the electric resistance welded pipe 12.
【００１６】このとき、搬送手段による電縫管１２の搬
送ライン２６は溶接部１４及び誘導子２４の真下とな
り、搬送ライン２６を通る、電縫管１２の円形外周にお
ける法線２８は溶接部１４と誘導子２４を通ることにな
る。At this time, the transfer line 26 of the electric resistance welded pipe 12 by the transfer means is directly below the welded portion 14 and the inductor 24, and the normal line 28 on the circular outer periphery of the electric resistance welded pipe 12 passing through the transfer line 26 is the welded portion 14. Will pass through the inductor 24.
【００１７】前記マーク検出器２０は、例えばアレイカ
メラからなり、このマーク検出器２０は、前記法線２８
と直角に交わる水平方向の直交線３０上に、最大外径の
電縫管よりも離れた位置で、マーク１８のずれ量が最大
の場合でも、該マーク１８を視野θ内にできる画角をも
って配置されている。The mark detector 20 is, for example, an array camera, and the mark detector 20 has the normal line 28.
On a horizontal orthogonal line 30 that intersects at right angles with a position farther than the maximum outer diameter electric resistance welded pipe, even if the deviation amount of the mark 18 is the maximum, an angle of view that allows the mark 18 to be within the visual field θ is provided. It is arranged.
【００１８】図の符号２０Ａはマーク検出器２０の対物
レンズを示す。Reference numeral 20A in the drawing denotes an objective lens of the mark detector 20.
【００１９】図２の符号３２は、前記マーク検出器２０
からのマーク１８の検出位置信号に基づいて所定の演算
を行い、該マーク１８の目標位置からのずれ量を演算す
ると共に、その演算値に基づいて、誘導子２４を移動さ
せる誘導子駆動装置３４に駆動信号を出力する制御装置
を示す。Reference numeral 32 in FIG. 2 indicates the mark detector 20.
A predetermined calculation is performed based on the detected position signal of the mark 18 to calculate the amount of deviation of the mark 18 from the target position, and the inductor drive device 34 that moves the inductor 24 based on the calculated value. A control device that outputs a drive signal is shown in FIG.
【００２０】前記制御装置３２は、マーク検出器２０か
らの信号に基づいて次のような演算を行うようにされて
いる。The control device 32 is adapted to perform the following calculation based on the signal from the mark detector 20.
【００２１】まず、マーク１８の点Ｓの位置を、マーク
検出器２０の中心点と前記点Ｓを通る直線が、前記法線
２８と交わる点Ｍの位置から算出する。First, the position of the point S of the mark 18 is calculated from the position of the point M at which the straight line passing through the center point of the mark detector 20 and the point S intersects the normal line 28.
【００２２】即ち、マーク検出器２０の中心点Ｐとこの
点Ｐからマーク１８の点Ｓを通り、法線２８との交点Ｍ
までの直線ＰＭは、前記直交線３０をＸ軸、法線２８を
Ｙ軸とし、両軸の交点を（０，０）とした場合、直線Ｐ
Ｍを表わす式は、次の（１）式となる。That is, the center point P of the mark detector 20 passes through the point S of the mark 18 from this point P, and the intersection point M with the normal line 28.
If the orthogonal line 30 is the X axis, the normal line 28 is the Y axis, and the intersection of both axes is (0, 0), the straight line PM up to
The equation representing M is the following equation (1).
【００２３】Ｙ＝Ｍ／Ｌ・Ｘ＋Ｍ …（１）Y = M / L × X + M (1)
【００２４】次に、電縫管１２の断面における外周円を
表わす式は、次の（２）式となる。Next, the equation expressing the outer circumference circle in the cross section of the electric resistance welded pipe 12 is the following equation (2).
【００２５】Ｘ2 ＋（Ｙ−Ｃ）2 ＝Ｒ2 …（２）X 2 + (Y-C) 2 = R 2 (2)
【００２６】ここで、Ｌは、点ＰからＸＹ原点までの距
離、Ｃは電縫管１２の断面における外周円の中心点のＹ
座標、Ｒは前記外周円の半径、を示す。Ｃの値は、搬送
ライン２６が固定位置であり、これに対して電縫管１２
の円形外周の半径Ｒから既知量として求められる。Here, L is the distance from the point P to the XY origin, and C is Y of the center point of the outer circumference circle in the cross section of the electric resistance welded pipe 12.
Coordinates, R indicates the radius of the outer circumference circle. The value of C is the fixed position of the transfer line 26, and
It is obtained as a known amount from the radius R of the outer circumference of the circle.
【００２７】前記（１）式及び（２）式から、マーク１
８の点ＳのＹ座標は、次の（３）式により与えられる。From the equations (1) and (2), the mark 1
The Y coordinate of the point S of 8 is given by the following equation (3).
【００２８】[0028]
【数１】 [Equation 1]
【００２９】もし、溶接部１４が目標位置にあり、電縫
管１２に円周方向の捩じれがなければ、点Ｓの座標Ｙ＝
Ｃとなるが、捩じれがある場合は、マークの管周方向の
ずれ量ΔＹ＝Ｙ−Ｃとして求められる。If the welded portion 14 is at the target position and the electric resistance welded pipe 12 is not twisted in the circumferential direction, the coordinate Y of the point S is Y =
However, when there is a twist, the amount of deviation of the mark in the tube circumferential direction is calculated as ΔY = Y−C.
【００３０】前記ΔＹは、点Ｓの、前記管円形外周にお
ける接線方向のずれ量であるが、これは、誘導子２４に
対する、溶接部１４の管外周円における円周方向のずれ
量の接線成分と等しい。溶接部１４の円周方向のずれ量
はもともと小さいので、ずれ量の接線成分とほぼ等しく
なる。The ΔY is a tangential deviation amount of the point S on the outer circumference of the pipe circular shape, which is a tangential component of the deviation amount of the inductor 24 in the circumferential direction on the outer circumference circle of the welded portion 14 with respect to the inductor 24. Is equal to Since the amount of displacement of the welded portion 14 in the circumferential direction is originally small, it is almost equal to the tangential component of the amount of displacement.
【００３１】従って、制御装置３２による演算結果に基
づき、誘導子駆動装置３４によって、誘導子２４をΔＹ
に等しくＸ方向に移動させれば、誘導子２４はほぼ正確
に溶接部１４に追従することになる。Therefore, based on the calculation result by the control device 32, the inductor 24 is driven by the inductor drive device 34 by ΔY.
If the inductor 24 is moved in the X direction by equal to, the inductor 24 follows the welded portion 14 almost accurately.
【００３２】従って、この実施例においては、誘導子２
４を駆動する誘導子駆動装置３４は、誘導子２４を水平
に移動させるのみでよいので、構成が簡単となる。Therefore, in this embodiment, the inductor 2
The inductor driving device 34 for driving the motor 4 has only to move the inductor 24 horizontally, so that the structure is simple.
【００３３】本発明者の、小径電縫管及び大径電縫管で
の追従精度の比較実験によれば、図３に示されるよう
に、溶接部と誘導子とのずれ量は平均値及びばらつき共
に従来の１／２以下となった。According to the inventor's comparative experiment of the follow-up accuracy in the small-diameter electric resistance welded pipe and the large-diameter electric resistance welded pipe, as shown in FIG. Both variations were less than 1/2 of the conventional one.
【００３４】なお、電縫管の径が異なる場合、例えば図
２で破線で示されるように小さくなった場合も、該小径
の電縫管におけるマークは、マーク検出器２０の視野内
にあるので、前記（２）式におけるＣとＲの値を変更す
ればよく、マーク検出器２０の位置を電縫管の外径に応
じて変更したりする必要はない。Even when the diameters of the electric resistance welded pipes are different, for example, when the electric resistance welded pipes are reduced in size as shown by the broken line in FIG. 2, the marks in the electric resistance welded pipes having the small diameter are within the visual field of the mark detector 20. It is sufficient to change the values of C and R in the equation (2), and it is not necessary to change the position of the mark detector 20 according to the outer diameter of the electric resistance welded pipe.
【００３５】この場合、誘導子２４は、電縫管の直径に
応じて上下して設定する。In this case, the inductor 24 is set up and down according to the diameter of the electric resistance welded pipe.
【００３６】なお、上記実施例において、マーク１８は
誘導子２４を通る法線２８と直交し、且つ電縫管１２の
外周円の中心点を通る水平線上にあるようにしたもので
あるが、本発明はこれに限定されるものでなく、要すれ
ば、マーク１８とマーク検出器２０の関係は、前者が後
者の視野内に入るものであればよい。In the above embodiment, the mark 18 is arranged so as to be orthogonal to the normal line 28 passing through the inductor 24 and on the horizontal line passing through the center point of the outer circumferential circle of the electric resistance welded pipe 12. The present invention is not limited to this, and if necessary, the relationship between the mark 18 and the mark detector 20 may be such that the former falls within the visual field of the latter.
【００３７】又、前記マーク検出器２０はアレイカメラ
とされているが、本発明はこれに限定されるものでな
く、例えばテレビカメラであって、得られた画像中か
ら、制御装置３２により、マーク１８を検出できるもの
としてもよい。Although the mark detector 20 is an array camera, the present invention is not limited to this. For example, the mark detector 20 is a television camera, and the controller 32 controls the image obtained by the controller 32. The mark 18 may be detected.
【００３８】更に上記実施例は電縫管のアニーリングの
ために、溶接部位置を検出するものであるが、本発明
は、例えば、溶接部の超音波探傷のために溶接部を検出
する場合等にも適用されるものである。Further, in the above embodiment, the position of the welded portion is detected for annealing of the electric resistance welded pipe. However, the present invention is, for example, for detecting the welded portion for ultrasonic flaw detection of the welded portion. Also applies to.
【図１】図１は、本発明に係る電縫管の溶接部位置検出
方法を実施するための装置の概略を示す斜視図である。FIG. 1 is a perspective view showing an outline of an apparatus for carrying out a method for detecting a welded portion position of an electric resistance welded pipe according to the present invention.
【図２】図２は、本発明方法による溶接部位置検出原理
を示す一部ブロック図を含む略示断面図である。FIG. 2 is a schematic cross-sectional view including a partial block diagram showing the principle of welding position detection by the method of the present invention.
【図３】図３は、本発明方法と従来の方法における溶接
部位置検出の際のずれ量の差を示す線図である。FIG. 3 is a diagram showing a difference in deviation amount between the welding method and the conventional method when detecting the position of a welded portion.
１０…溶接機、 １２…電縫管、 １４…溶接部、 １６…マーキングガン、 １８…マーク、 ２０…マーク検出器、 ２２…アニーラステーション、 ２４…誘導子、 ２６…搬送ライン、 ２８…法線、 ３０…直交線、 ３２…制御装置、 ３４…誘導子駆動装置。 10 ... Welding machine, 12 ... ERW pipe, 14 ... Welding part, 16 ... Marking gun, 18 ... Mark, 20 ... Mark detector, 22 ... Annealer station, 24 ... Inductor, 26 ... Conveying line, 28 ... Method Wire, 30 ... Orthogonal wire, 32 ... Control device, 34 ... Inductor drive device.
Claims (1)
にマークを引き、該電縫管を搬送する手段により搬送ラ
イン上を搬送し、前記マークを視野内とするマーク検出
器を電縫管円形外周の法線のうち前記搬送ラインを通る
法線と直角に交わる直交線上に配置し、該マーク検出器
により、電縫管の側方から、前記マークとマーク検出器
の中心を通る直線を検出し、該直線と前記電縫管の外径
とから、前記法線と前記直交線との交点を原点とする前
記マークの座標を演算し、この演算結果とマークの目標
位置との、前記法線方向のずれ量を、前記溶接部の電縫
管円形外周における接線方向のずれ量とする電縫管の溶
接部位置検出方法。1. At the time of welding, a mark is drawn in advance on the surface of the electric resistance welded pipe in parallel with the welded portion, and is conveyed on a conveyance line by a means for conveying the electric resistance welded pipe. Of the normal line of the outer circumference of the electric resistance welded pipe, it is arranged on an orthogonal line that intersects at right angles with the normal line passing through the transport line, and by the mark detector, the mark and the center of the mark detector are located from the side of the electric resistance welded pipe. A straight line passing through is detected, and from the straight line and the outer diameter of the electric resistance welded pipe, the coordinates of the mark whose origin is the intersection of the normal line and the orthogonal line are calculated, and the calculation result and the target position of the mark are calculated. Of the welded portion position of the electric resistance welded pipe, wherein the amount of displacement in the normal direction is the amount of displacement in the tangential direction of the circular outer periphery of the electric resistance welded pipe of the welded portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4028987A JP2529506B2 (en) | 1992-01-20 | 1992-01-20 | How to detect the weld position of ERW pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4028987A JP2529506B2 (en) | 1992-01-20 | 1992-01-20 | How to detect the weld position of ERW pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05196414A true JPH05196414A (en) | 1993-08-06 |
| JP2529506B2 JP2529506B2 (en) | 1996-08-28 |
Family
ID=12263772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4028987A Expired - Fee Related JP2529506B2 (en) | 1992-01-20 | 1992-01-20 | How to detect the weld position of ERW pipe |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2529506B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008074613A (en) * | 2006-09-25 | 2008-04-03 | Murata Mach Ltd | Transfer system |
| JP2019217507A (en) * | 2018-06-15 | 2019-12-26 | 日本製鉄株式会社 | Electric resistance welded steel tube welded part annealing device and manufacturing method of electric resistance welded steel tube using the same |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59187206A (en) * | 1983-04-08 | 1984-10-24 | Nippon Steel Corp | Method for detecting welded position of seam welded pipe |
-
1992
- 1992-01-20 JP JP4028987A patent/JP2529506B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59187206A (en) * | 1983-04-08 | 1984-10-24 | Nippon Steel Corp | Method for detecting welded position of seam welded pipe |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008074613A (en) * | 2006-09-25 | 2008-04-03 | Murata Mach Ltd | Transfer system |
| JP2019217507A (en) * | 2018-06-15 | 2019-12-26 | 日本製鉄株式会社 | Electric resistance welded steel tube welded part annealing device and manufacturing method of electric resistance welded steel tube using the same |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2529506B2 (en) | 1996-08-28 |
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