US20180105909A1 - Forging method - Google Patents
Forging method Download PDFInfo
- Publication number
- US20180105909A1 US20180105909A1 US15/562,579 US201615562579A US2018105909A1 US 20180105909 A1 US20180105909 A1 US 20180105909A1 US 201615562579 A US201615562579 A US 201615562579A US 2018105909 A1 US2018105909 A1 US 2018105909A1
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- Prior art keywords
- workpiece
- forging
- warm
- temperature
- plastic strain
- 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.)
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- C—CHEMISTRY; METALLURGY
- C22—METALLURGY; FERROUS OR NON-FERROUS ALLOYS; TREATMENT OF ALLOYS OR NON-FERROUS METALS
- C22F—CHANGING THE PHYSICAL STRUCTURE OF NON-FERROUS METALS AND NON-FERROUS ALLOYS
- C22F1/00—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working
- C22F1/04—Changing the physical structure of non-ferrous metals or alloys by heat treatment or by hot or cold working of aluminium or alloys based thereon
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
- B21J5/002—Hybrid process, e.g. forging following casting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
- B21K1/00—Making machine elements
- B21K1/76—Making machine elements elements not mentioned in one of the preceding groups
Definitions
- the present invention relates to a forging method.
- Patent Document 1 discloses technology for producing a forged product made of an aluminum alloy via warm-forging in order to highly increase a strength of the forged product (See Patent Document 1).
- an object of the present invention is to provide a forging method for highly increasing a strength of a forged product as well as suppressing decrease in hardness thereof in a use environment.
- the present invention is directed to a forging method including a warm-forging step of warm-forging a metallic workpiece which has been solutionized, at a recrystallization temperature or below; and an artificial aging step to be performed after the warm-forging step so that the workpiece is artificially aged in advance after production at a temperature in a use environment or above.
- the warm-forging means a process of forging and molding a metallic workpiece by using a mold under the conditions in which the metallic workpiece is heated at the temperature at which structure of the metallic workpiece recrystallizes (i.e., recrystallization temperature) or below.
- the above method may enhance precipitation strengthening via the artificial aging process, which highly increases a strength of the forged product (i.e., workpiece) as well as suppresses change in hardness of the forged product in use after production.
- an equivalent plastic strain that increases between before and after the warm-forging process may be preferably in the range from 0.1 to 2.5.
- the equivalent plastic strain that increases between before and after the forging is calculated, for example, by the CAE (Computer Aided Engineering) analysis.
- an equivalent plastic strain that increases between before and after the warm-forging process may be in the range from 0.4 to 2.1.
- a forging method for highly increasing a strength of a forged product as well as suppressing aging deterioration thereof in a use environment may be provided.
- FIG. 1 is a process chart of a forging method of a present embodiment.
- FIGS. 2A-2D are diagrams respectively showing a tie-rod as an example of a workpiece prepared in the forging method of the present embodiment. Specifically, FIG. 2A shows a tie-rod after cut off; FIG. 2B shows the tie-rod after cold-forged (i.e., preliminary molding); FIG. 2C shows the tie-rod after warm-forged; and FIG. 2D shows the tie-rod after deburred.
- FIG. 3 is a microphotograph of a workpiece with the equivalent plastic strain of 0.42.
- FIG. 4 is a microphotograph of a workpiece with the equivalent plastic strain of 1.39.
- FIG. 5 is a microphotograph of a workpiece with equivalent plastic strain of 2.07.
- FIG. 6 is a microphotograph of a workpiece with the equivalent plastic strain of 2.66.
- FIG. 7 is a graphic diagram showing an effect of the forging method of the present embodiment by the relationships between a rolling reduction rate and an elongation rate.
- FIG. 8 is a graphic diagram showing an effect of the forging method of the present embodiment by the relationships between an equivalent plastic strain and a tensile strength.
- FIG. 9 is a graphic diagram showing an effect of the forging method of the present embodiment.
- FIG. 10 is a graphic diagram showing an effect of the forging method of the present embodiment by the relationships between a working time and hardness.
- FIG. 11 is a graphic diagram showing an effect of the forging method of the comparative example by the relationships between a working time and hardness.
- FIGS. 1-11 An embodiment of the present invention will be described in detail referring to the attached drawings of FIGS. 1-11 .
- the forging method of the present embodiment includes a warm-forging step (S 105 ) of molding a workpiece 10 via warm-forging, and an artificial aging step (S 106 ) of artificially aging the workpiece having been warm-forged so as to highly increase a strength of a forged product and prevent the aging deterioration thereof in an use environment of a vehicle.
- a warm-forging step (S 105 ) of molding a workpiece 10 via warm-forging an artificial aging step (S 106 ) of artificially aging the workpiece having been warm-forged so as to highly increase a strength of a forged product and prevent the aging deterioration thereof in an use environment of a vehicle.
- S 106 an artificial aging step
- the workpiece 10 is a substantially rod shaped tie-rod which turns a knuckle rotatably supporting a wheel.
- the workpiece 10 (or tie-rod) thus produced includes a semispherical boss 11 externally fitted to a ball joint of the knuckle, a round rod-like shaft 12 connected to a rod at an actuator side, and a neck 13 formed between the boss 11 and the shaft 12 .
- the outer diameter in the workpiece 10 becomes smaller in the order of the shaft 12 , the boss 11 , and the neck 13 .
- the equivalent plastic strain becomes larger in the order of the shaft 12 (e.g., 0 . 2 ), the boss 13 (e.g., 0 . 9 ), the neck 11 (e.g., 2 . 2 ) relative to the workpiece 10 before generating strains (i.e., before forging) (see FIG. 9 ).
- a workpiece 10 with an appropriate size is cut off from a raw material made of an aluminum alloy (see FIG. 2A ).
- the workpiece 10 thus cut off is cold-forged and preliminary molded (see FIG. 2B ).
- the cold-forging is a process of forging the workpiece 10 at a low temperature (e.g., an ambient temperature (about 25° C.) or below) which is the recrystallization temperature of the aluminum alloy or below.
- the workpiece 10 obtained after the cold-forging step is solutionized. More specifically, the workpiece 10 is heated up to a solution treatment temperature (e.g., 540° C.) in an appropriate furnace so that alloy components in the workpiece 10 are solutionized to facilitate aging precipitation and also remove the strains generated by the cold-forging.
- a solution treatment temperature e.g., 540° C.
- the workpiece 10 obtained after the solution treatment is heated to a warm-heating temperature so as to be subjected to a warm-forging step.
- the warm-heating temperature may be in the range from an ambient temperature to a recrystallization temperature. More specifically, in the present embodiment, since the workpiece 10 is made of an aluminum alloy, the warm-heating temperature may be, for example, in the range from 100° C. to the recrystallization temperature of the alloy.
- the workpiece 10 kept heated at the warm-heating temperature i.e., recrystallization temperature or below
- the warm-heating temperature i.e., recrystallization temperature or below
- the warm-forging step is performed in such a way that an equivalent plastic strain of the workpiece 10 in the forging direction (i.e., compression direction) may be in the normal range from 0.1 to 2.5.
- the equivalent plastic strain is in the suitable range from 0.1 to 2.1 (see also FIGS. 3-5 ). Further, the equivalent plastic strain is preferably in the most suitable range from 0.4 to 2.1. The equivalent plastic strain in the above range allows the tensile strength to become excellently high.
- FIG. 8 shows the following relationships. Namely, as the equivalent plastic strain becomes larger, a dislocation density in the workpiece 10 gradually becomes higher, and a tensile strength gradually becomes higher.
- FIG. 7 shows that the elongation (%) of the workpiece 10 after production tends to become smaller as the equivalent plastic strain becomes larger. Note, when the elongation becomes smaller, toughness of the workpiece 10 becomes lower, which makes the workpiece 10 brittle. Further, given the tensile strength of the hot-forged product of a general aluminum alloy is in the range from 285 to 385 Mpa, it is shown that even when the equivalent plastic strain is near 0.1, a hot-forged product of the present invention has a tensile strength near the upper limit value of the hot-forged product of a general aluminum alloy (see FIG. 8 )
- the workpiece 10 obtained after warm-forging is artificially aged. More specifically, the workpiece 10 is artificially aged in advance at a predetermined artificial aging temperature for a predetermined aging time so that the product (i.e., workpiece 10 ) with a high strength does not cause aging deterioration in use after production.
- the predetermined artificial aging temperature is set to a temperature equal to or higher than the environmental temperature at which the product (i.e., workpiece 10 ) after production is used. This may suppress the aging deterioration of the product (i.e., workpiece 10 ) in use after production.
- the predetermined artificial aging temperature is set in the range from 150 to 200° C. (see FIG. 10 ).
- the predetermined artificial aging time is determined by experiments conducted in advance, and set to as short a time as possible within the range preventing the aging deterioration after production.
- the workpiece 10 thus artificially aged is subjected to the deburring (or trimming) step (see FIG. 2D ). More specifically, a burr 14 of the workpiece 10 formed at the warm-forging step is cut off.
- the workpiece 10 obtained after deburring is finished. More specifically, for example, a surface of the workpiece 10 is ground and cleaned.
- the above described forging method enables an increase in the hardness of the workpiece 10 by artificially aging the workpiece 10 obtained after warm-forging (see FIG. 9 ). That is, the artificial aging performed on the workpiece 10 prevents a change or a decrease in the hardness of the product (i.e., workpiece 10 ) while the product is used after production (see FIG. 10 ).
- the workpiece 10 is made of an aluminum alloy is exemplified.
- the workpiece 10 may be made of other kinds of metals.
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Forging (AREA)
Abstract
Description
- The present invention relates to a forging method.
- In recent development of automotive vehicles, a component with a lighter weight and a higher strength has been developed to improve fuel efficiency. For example, Patent Document 1 discloses technology for producing a forged product made of an aluminum alloy via warm-forging in order to highly increase a strength of the forged product (See Patent Document 1).
-
- Patent Document 1: Japanese Unexamined Patent Application Publication No. 2010-137284
- However, when a forged product is left to stand after warm-forging, the forged product deteriorates with time failing to keep stable hardness in a use environment of a vehicle, leading to considerable defects.
- Therefore, an object of the present invention is to provide a forging method for highly increasing a strength of a forged product as well as suppressing decrease in hardness thereof in a use environment.
- For solving the above defects, the present invention is directed to a forging method including a warm-forging step of warm-forging a metallic workpiece which has been solutionized, at a recrystallization temperature or below; and an artificial aging step to be performed after the warm-forging step so that the workpiece is artificially aged in advance after production at a temperature in a use environment or above.
- Here, the warm-forging means a process of forging and molding a metallic workpiece by using a mold under the conditions in which the metallic workpiece is heated at the temperature at which structure of the metallic workpiece recrystallizes (i.e., recrystallization temperature) or below.
- The above method may enhance precipitation strengthening via the artificial aging process, which highly increases a strength of the forged product (i.e., workpiece) as well as suppresses change in hardness of the forged product in use after production.
- Here, at the warm-forging step, an equivalent plastic strain that increases between before and after the warm-forging process may be preferably in the range from 0.1 to 2.5.
- The equivalent plastic strain that increases between before and after the forging is calculated, for example, by the CAE (Computer Aided Engineering) analysis.
- Further, at the warm-forging step, more preferably an equivalent plastic strain that increases between before and after the warm-forging process may be in the range from 0.4 to 2.1.
- According to the present invention, a forging method for highly increasing a strength of a forged product as well as suppressing aging deterioration thereof in a use environment may be provided.
-
FIG. 1 is a process chart of a forging method of a present embodiment. -
FIGS. 2A-2D are diagrams respectively showing a tie-rod as an example of a workpiece prepared in the forging method of the present embodiment. Specifically,FIG. 2A shows a tie-rod after cut off;FIG. 2B shows the tie-rod after cold-forged (i.e., preliminary molding);FIG. 2C shows the tie-rod after warm-forged; andFIG. 2D shows the tie-rod after deburred. -
FIG. 3 is a microphotograph of a workpiece with the equivalent plastic strain of 0.42. -
FIG. 4 is a microphotograph of a workpiece with the equivalent plastic strain of 1.39. -
FIG. 5 is a microphotograph of a workpiece with equivalent plastic strain of 2.07. -
FIG. 6 is a microphotograph of a workpiece with the equivalent plastic strain of 2.66. -
FIG. 7 is a graphic diagram showing an effect of the forging method of the present embodiment by the relationships between a rolling reduction rate and an elongation rate. -
FIG. 8 is a graphic diagram showing an effect of the forging method of the present embodiment by the relationships between an equivalent plastic strain and a tensile strength. -
FIG. 9 is a graphic diagram showing an effect of the forging method of the present embodiment. -
FIG. 10 is a graphic diagram showing an effect of the forging method of the present embodiment by the relationships between a working time and hardness. -
FIG. 11 is a graphic diagram showing an effect of the forging method of the comparative example by the relationships between a working time and hardness. - Hereinafter, an embodiment of the present invention will be described in detail referring to the attached drawings of
FIGS. 1-11 . - As shown in
FIG. 1 , the forging method of the present embodiment includes a warm-forging step (S105) of molding aworkpiece 10 via warm-forging, and an artificial aging step (S106) of artificially aging the workpiece having been warm-forged so as to highly increase a strength of a forged product and prevent the aging deterioration thereof in an use environment of a vehicle. Here, a case in which theworkpiece 10 is made of an aluminum alloy will be exemplified. - Further, as shown in
FIGS. 2A-2D , exemplified is a case in which theworkpiece 10 is a substantially rod shaped tie-rod which turns a knuckle rotatably supporting a wheel. Hence, the workpiece 10 (or tie-rod) thus produced includes asemispherical boss 11 externally fitted to a ball joint of the knuckle, a round rod-like shaft 12 connected to a rod at an actuator side, and aneck 13 formed between theboss 11 and theshaft 12. - Substantially, the outer diameter in the
workpiece 10 becomes smaller in the order of theshaft 12, theboss 11, and theneck 13. Further, the equivalent plastic strain becomes larger in the order of the shaft 12 (e.g., 0.2), the boss 13 (e.g., 0.9), the neck 11 (e.g., 2.2) relative to theworkpiece 10 before generating strains (i.e., before forging) (seeFIG. 9 ). - <Cutting Off Step: S101>
- In the step of S101, a
workpiece 10 with an appropriate size is cut off from a raw material made of an aluminum alloy (seeFIG. 2A ). - <Cold-Forging Step: S102>
- In the step of S102, the
workpiece 10 thus cut off is cold-forged and preliminary molded (seeFIG. 2B ). Herein, the cold-forging is a process of forging theworkpiece 10 at a low temperature (e.g., an ambient temperature (about 25° C.) or below) which is the recrystallization temperature of the aluminum alloy or below. - <Solution Treatment Step: S103>
- In the step of S103, the
workpiece 10 obtained after the cold-forging step is solutionized. More specifically, theworkpiece 10 is heated up to a solution treatment temperature (e.g., 540° C.) in an appropriate furnace so that alloy components in theworkpiece 10 are solutionized to facilitate aging precipitation and also remove the strains generated by the cold-forging. - <Warm-Heating Step: S104>
- In the step of S104, the
workpiece 10 obtained after the solution treatment is heated to a warm-heating temperature so as to be subjected to a warm-forging step. The warm-heating temperature may be in the range from an ambient temperature to a recrystallization temperature. More specifically, in the present embodiment, since theworkpiece 10 is made of an aluminum alloy, the warm-heating temperature may be, for example, in the range from 100° C. to the recrystallization temperature of the alloy. - <Warm-Forging Step: S105>
- In the step of S105, the
workpiece 10 kept heated at the warm-heating temperature (i.e., recrystallization temperature or below) is warm-forged (FIG. 2C ). - The warm-forging step is performed in such a way that an equivalent plastic strain of the
workpiece 10 in the forging direction (i.e., compression direction) may be in the normal range from 0.1 to 2.5. - If the equivalent plastic strain becomes higher than 2.5, a tensile strength of the
workpiece 10 after production becomes lower. This is because, a part of the dislocations structure formed by the forging forms dislocation cell structures (i.e., recrystallization process)(seeFIG. 6 ). - Here, as shown in
FIG. 8 , preferably the equivalent plastic strain is in the suitable range from 0.1 to 2.1 (see alsoFIGS. 3-5 ). Further, the equivalent plastic strain is preferably in the most suitable range from 0.4 to 2.1. The equivalent plastic strain in the above range allows the tensile strength to become excellently high. -
FIG. 8 shows the following relationships. Namely, as the equivalent plastic strain becomes larger, a dislocation density in theworkpiece 10 gradually becomes higher, and a tensile strength gradually becomes higher. -
FIG. 7 shows that the elongation (%) of theworkpiece 10 after production tends to become smaller as the equivalent plastic strain becomes larger. Note, when the elongation becomes smaller, toughness of theworkpiece 10 becomes lower, which makes the workpiece 10 brittle. Further, given the tensile strength of the hot-forged product of a general aluminum alloy is in the range from 285 to 385 Mpa, it is shown that even when the equivalent plastic strain is near 0.1, a hot-forged product of the present invention has a tensile strength near the upper limit value of the hot-forged product of a general aluminum alloy (seeFIG. 8 ) - <Artificial Aging Step: S106>
- In the step of S106, the
workpiece 10 obtained after warm-forging is artificially aged. More specifically, theworkpiece 10 is artificially aged in advance at a predetermined artificial aging temperature for a predetermined aging time so that the product (i.e., workpiece 10) with a high strength does not cause aging deterioration in use after production. - The predetermined artificial aging temperature is set to a temperature equal to or higher than the environmental temperature at which the product (i.e., workpiece 10) after production is used. This may suppress the aging deterioration of the product (i.e., workpiece 10) in use after production. For example, when the product (i.e., workpiece 10) after production is a tie-rod, the predetermined artificial aging temperature is set in the range from 150 to 200° C. (see
FIG. 10 ). - The predetermined artificial aging time is determined by experiments conducted in advance, and set to as short a time as possible within the range preventing the aging deterioration after production.
- <Deburring (Trimming) Step>
- In the step of S107, the
workpiece 10 thus artificially aged is subjected to the deburring (or trimming) step (seeFIG. 2D ). More specifically, aburr 14 of theworkpiece 10 formed at the warm-forging step is cut off. - <Finishing Step>
- In the step of S108, the
workpiece 10 obtained after deburring is finished. More specifically, for example, a surface of theworkpiece 10 is ground and cleaned. - The above described forging method enables an increase in the hardness of the
workpiece 10 by artificially aging theworkpiece 10 obtained after warm-forging (seeFIG. 9 ). That is, the artificial aging performed on theworkpiece 10 prevents a change or a decrease in the hardness of the product (i.e., workpiece 10) while the product is used after production (seeFIG. 10 ). - On the contrary, when the product (i.e., workpiece 10) is not artificially aged after the warm-forging step and used as it is, the aging deterioration progresses while the product (i.e., workpiece 10) is used. As a result, the hardness of the product may not be stably kept, and thus be changed (see Comparative Example in
FIG. 9 andFIG. 11 ). - Hereinbefore, an embodiment of the present invention has been described. However, the present invention is not limited to the embodiment, and free of suitable modifications.
- Further, it should be noted that in the above described embodiment, a case that the
workpiece 10 is made of an aluminum alloy is exemplified. However, theworkpiece 10 may be made of other kinds of metals. -
-
- 10 Workpiece
- 11 Boss
- 12 Shaft
- 13 Neck
- 14 Burr
Claims (3)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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JP2015-075685 | 2015-04-02 | ||
JP2015075685 | 2015-04-02 | ||
PCT/JP2016/058547 WO2016158462A1 (en) | 2015-04-02 | 2016-03-17 | Forging method |
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US20180105909A1 true US20180105909A1 (en) | 2018-04-19 |
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US15/562,579 Abandoned US20180105909A1 (en) | 2015-04-02 | 2016-03-17 | Forging method |
Country Status (5)
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US (1) | US20180105909A1 (en) |
JP (1) | JP6371468B2 (en) |
CN (1) | CN107427898B (en) |
DE (1) | DE112016001543B4 (en) |
WO (1) | WO2016158462A1 (en) |
Families Citing this family (2)
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CN110076523A (en) * | 2019-04-04 | 2019-08-02 | 苏州胜利精密制造科技股份有限公司 | A kind of manufacturing method of laptop case |
CN114769482A (en) * | 2022-03-01 | 2022-07-22 | 东莞领益精密制造科技有限公司 | Moderate-strength aluminum alloy isothermal die forging process |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5219176A (en) * | 1989-11-02 | 1993-06-15 | James Mitchell | One-piece steering knuckle assembly |
US20050111908A1 (en) * | 2003-11-24 | 2005-05-26 | Green Steve J. | Tie rod end |
US20140367000A1 (en) * | 2012-03-07 | 2014-12-18 | Alcoa Inc. | Aluminum-lithium alloys, and methods for producing the same |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1911612A1 (en) * | 2006-10-13 | 2008-04-16 | Industria Auxiliar Alavesa, S.A. (Inauxa) | Suspension arm for a motor vehicle wheel suspension |
JP5082483B2 (en) * | 2007-02-13 | 2012-11-28 | トヨタ自動車株式会社 | Method for producing aluminum alloy material |
JP5688704B2 (en) * | 2008-11-13 | 2015-03-25 | 株式会社戸畑タ−レット工作所 | Constant temperature forging molding method for aluminum alloy parts and constant temperature forging molding apparatus for aluminum alloy parts |
KR101423447B1 (en) * | 2010-12-22 | 2014-07-24 | 쇼와 덴코 가부시키가이샤 | Method for producing formed material for brake piston |
JP5837026B2 (en) * | 2013-03-29 | 2015-12-24 | 株式会社神戸製鋼所 | Aluminum alloy forgings for automobiles and manufacturing method thereof |
JP6099475B2 (en) * | 2013-05-01 | 2017-03-22 | 本田技研工業株式会社 | Al-Mg-Si-based alloy member and manufacturing method thereof |
-
2016
- 2016-03-17 DE DE112016001543.7T patent/DE112016001543B4/en not_active Expired - Fee Related
- 2016-03-17 CN CN201680018694.9A patent/CN107427898B/en active Active
- 2016-03-17 US US15/562,579 patent/US20180105909A1/en not_active Abandoned
- 2016-03-17 WO PCT/JP2016/058547 patent/WO2016158462A1/en active Application Filing
- 2016-03-17 JP JP2017509555A patent/JP6371468B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5219176A (en) * | 1989-11-02 | 1993-06-15 | James Mitchell | One-piece steering knuckle assembly |
US20050111908A1 (en) * | 2003-11-24 | 2005-05-26 | Green Steve J. | Tie rod end |
US20140367000A1 (en) * | 2012-03-07 | 2014-12-18 | Alcoa Inc. | Aluminum-lithium alloys, and methods for producing the same |
Also Published As
Publication number | Publication date |
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DE112016001543B4 (en) | 2021-03-11 |
JP6371468B2 (en) | 2018-08-08 |
CN107427898B (en) | 2019-05-10 |
WO2016158462A1 (en) | 2016-10-06 |
DE112016001543T5 (en) | 2017-12-21 |
CN107427898A (en) | 2017-12-01 |
JPWO2016158462A1 (en) | 2017-11-09 |
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