US20190047032A1 - Method and device for producing hardened steel components - Google Patents
Method and device for producing hardened steel components Download PDFInfo
- Publication number
- US20190047032A1 US20190047032A1 US16/076,975 US201716076975A US2019047032A1 US 20190047032 A1 US20190047032 A1 US 20190047032A1 US 201716076975 A US201716076975 A US 201716076975A US 2019047032 A1 US2019047032 A1 US 2019047032A1
- Authority
- US
- United States
- Prior art keywords
- blank
- forming
- tool
- hardening
- oxygen
- 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.)
- Abandoned
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
- B21D22/022—Stamping using rigid devices or tools by heating the blank or stamping associated with heat treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
- B21D22/06—Stamping using rigid devices or tools having relatively-movable die parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/20—Deep-drawing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/20—Deep-drawing
- B21D22/208—Deep-drawing by heating the blank or deep-drawing associated with heat treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/16—Heating or cooling
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/56—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering characterised by the quenching agents
- C21D1/613—Gases; Liquefied or solidified normally gaseous material
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D1/00—General methods or devices for heat treatment, e.g. annealing, hardening, quenching or tempering
- C21D1/62—Quenching devices
- C21D1/673—Quenching devices for die quenching
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D9/00—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor
- C21D9/46—Heat treatment, e.g. annealing, hardening, quenching or tempering, adapted for particular articles; Furnaces therefor for sheet metals
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21D—MODIFYING THE PHYSICAL STRUCTURE OF FERROUS METALS; GENERAL DEVICES FOR HEAT TREATMENT OF FERROUS OR NON-FERROUS METALS OR ALLOYS; MAKING METAL MALLEABLE, e.g. BY DECARBURISATION OR TEMPERING
- C21D2211/00—Microstructure comprising significant phases
- C21D2211/001—Austenite
Definitions
- the invention relates to a method and device for producing hardened steel components.
- Hardened steel components particularly in vehicle body construction for motor vehicles, have the advantage that due to their outstanding mechanical properties, it is possible to achieve a particularly stable passenger compartment without having to use components that are much more massive at normal strengths and must therefore be embodied as much heavier.
- steel types that can be hardened by means of a quench hardening.
- Steel types of this kind include, for example, boron-alloyed manganese carbon steels, the most widely-used of these being 22MnB5. But other boron-alloyed manganese carbon steels are also used for this purpose.
- the steel material In order to produce hardened components from these types of steel, the steel material must be heated to the austenitization temperature (>Ac 3 ) and it is necessary to wait until the steel material is austenitized. Depending on the desired degree of hardness, partial or complete austenitization can be achieved in this connection.
- a sheet steel blank is detached from a steel band, for example cut out or stamped out from it, and then—using a conventional, for example five-step, deep drawing process—is deep drawn to produce the finished component.
- This finished component in this case is dimensioned somewhat smaller in order to compensate for a subsequent thermal expansion during the austenitization.
- the component produced in this way is austenitized and then inserted into a form hardening tool in which it is pressed, but is not formed or is only formed to a very slight extent and by means of the pressing, the heat flows out of the component and into the press tool, specifically at the speed greater than the critical hardening speed.
- press hardening in which a blank is detached from a sheet steel band, for example cut out or stamped out from it, then the blank is austenitized and the hot blank is formed at a temperature below 782° C. in a preferably one-stage step and at the same time, is cooled at a speed greater than the critical hardening speed.
- the advantage of the direct method is that a higher material utilization ratio can be achieved. But the achievable component complexity is lower, especially with the one-stage forming process.
- First-order microcracks are attributed to so-called liquid metal embrittlement.
- the theory is that during the forming, i.e. as tensile stresses are being exerted on the material, liquid zinc phases interact with still existing austenite phases, causing microcracks with depths of up to a few hundred ⁇ m to be produced in the material.
- the applicant has succeeded in suppressing these first-order microcracks by actively or passively cooling the material—in the time between the removal from the heating furnace and the start of the hot-forming process—to temperatures at which liquid zinc phases are no longer present. This means that the hot-forming takes place at temperatures below approximately 750° C.
- DE 10 2011 055 643 A1 has disclosed a method and a forming tool for hot-form press hardening components made of sheet steel, particularly made of galvanized workpieces composed of sheet steel.
- the material that is applied to the surface of the drawing edge region facing the workpiece or of the insert piece that has been put into position should have a transverse dimension extending across the drawing edge that is in a range of 1.6 to 10 times the positive drawing radius of the female die. This should improve the flow properties of workpieces made of sheet steel during the hot-forming and should thus significantly reduce the risk of the occurrence of cracks in the hot-forming of workpieces made of sheet steel, preferably made of galvanized steel blanks. Such a tool, however, does not make it possible to avoid microcracks of the second type.
- DE 10 2011 052 773 A1 has disclosed a tool for a press hardening tool in which the mold surface of the tool is microstructured in some regions by two micro-cavities that are introduced into the mold surface. This step is intended to four restrict the effective contact area for the forming of a blank between the mold surface with a blank to the surface portions situated between the cavities. This is intended to reduce the friction.
- DE 10 2004 038 626 B3 has disclosed a method for producing hardened components out of sheet steel in which before or after the forming of the formed part, a required final trimming of the formed part and any necessary punching procedures or the production of a hole pattern is carried out and the formed part is then heated at least in some areas to a temperature that enables an austenitization of the steel material; the component is then transferred to a form hardening tool and a form hardening is carried out in the form hardening tool in which the component is cooled and thus hardened at least in some areas by the contact and pressing of the component; and the component is supported by the form hardening tool, at least in some areas, in the region of the positive radii and is preferably held by two clamps in the region of the trim edges and in regions in which the component is not clamped, the component is at least spaced apart from a mold half by means of a gap.
- This measure makes it possible to clamp the component in a distortion-free manner and to set different hardness gradients by means of different hard
- the object of the invention is to avoid microcracks of the second type in directly hot-formed, i.e. press hardened, components.
- Another object of the invention is to create a device with which sheet steel blanks can be hot-formed and hardened in the press hardening process and in which microcracks are avoided.
- microcracks of the second type are produced when, in regions under tensile strain, the zinc vapor that occurs arrives at the steel in a sufficient concentration, so-called vapor metal embrittlement (VME).
- VME vapor metal embrittlement
- Zinc vapor is produced due to the tearing of the zinc/iron layer that occurs in the stretching during the forming process.
- a sufficient concentration particularly occurs in those regions in which direct contact of the sheet metal with the tool prevails or the sheet metal is a very small distance from the tool.
- a very small distance as defined by the invention is being less than 0.5 mm.
- second-order microcracks should be avoided, while retaining the largest possible working window with regard to the material and temperature and ensuring an inexpensive implementation. With at least the same residence time, there should be no increase in cycle time or reduction in throughput during component production.
- the zinc vapor that occurs is either conveyed away by gas flows (convection) or more precisely, blown away, or is sufficiently diluted.
- gas flows convection
- zinc can be quickly transformed into a stable compound such as zinc oxide or ZnI 2 .
- the protection of the steel from second-order microcracks can also be achieved by producing a protective layer such as an oxide layer by supplying a fluid. All of the measures described above have respectively demonstrated that microcracks are significantly reduced.
- the medium for this purpose can be air, oxygen, nitrogen, or other fluids or gases.
- Gaseous oxygen-containing fluids such as air or oxygen are particularly preferable because they cannot excessively contaminate the tool and in addition, a possibly unwanted massive cooling action of the kind that can occur, for example, by means of water can be more easily regulated by tempering the fluid.
- These mediums are introduced via bores or other accesses such as recesses in the tool and in a particularly preferred way, are injected with a positive pressure of more than 1 bar. With an aspiration, this likewise occurs with a pressure of more than 1 bar.
- a particularly preferable option is a continuous exchange of the medium during operation since in this way, it is possible to achieve a continuous exchange of the medium during operation since this achieves the most uniform possible manufacturing conditions.
- a preheating unit can be provided for a heating of the fluid before it is introduced in order to achieve a particular temperature control and also to reduce the cooling action since preferably, the hardening of the component should only take place at the end of the forming procedure, i.e. when the tool is completely closed.
- recess in the tool can be is provided, which is dimensioned so that on the one hand, the deep drawing is not negatively affected or the blank or workpiece becomes wavy and on the other hand, is dimensioned so that the outflow of heat that is necessary for the hardening is likewise not negatively affected to a significant degree.
- the recesses are dimensioned so that they constitute a reservoir for fluids, in particular oxygen, in such a way that a sufficient amount of oxygen travels to the blank that is being drawn and to the material in order to supply oxygen for oxidation to the zinc phases or zinc/iron phases that are being released.
- the recesses can be continuously supplied from the tool side with fluids or oxygen-containing fluids during the forming, for example via suitable entry openings, advantageously permitting a flow cushion to form.
- the mold cavity can be flushed with an oxygen-containing fluid, which is then present in the recesses.
- oxygen-containing fluid include air, which is supplied in gaseous form, and the above-mentioned fluids.
- FIG. 1 shows the tool region adjacent to a drawing edge with a recess according to the invention
- FIG. 2 shows the drawing edge region of a tool with a different embodiment of the recess according to the invention
- FIG. 3 is a partially cut-away side view of the drawing edge region of a tool with a slot arrangement according to the invention
- FIG. 4 is a top view of the arrangement according to FIG. 3 .
- FIG. 5 shows the drawing edge region of a tool with a sheet metal hold-down mechanism and fluid-supply nozzles
- the drawing edge region 1 or the region of a positive radius 1 is positioned on a forming tool and has two surfaces 3 , 4 oriented toward the workpiece, which meet in the region of a drawing edge or positive radius 2 .
- a recess 5 is provided in a surface 4 situated after the drawing edge 2 in the drawing direction.
- the recess 5 in this case is dimensioned so that the remaining thickness of the drawing edge 2 between the surface 3 and the recess 5 corresponds approximately to its radius in order to offer a sufficient supporting action for the material that is to be drawn.
- the recess 5 has a height that is approximately 25 to 35 mm, with a depth of 5 to 9 mm.
- a groove 6 is introduced into the surface 4 .
- the groove 6 in this case has a height between the surface 4 and the drawing edge 2 that totals approximately 8 to 12 mm, with a depth of 5 to 9 mm.
- a plurality of grooves 7 is provided, which extend in the drawing direction; for example, the grooves 7 or slots 7 have a slot width of 4 to 8 mm and a slot spacing of 7 to 11 mm so that the remaining bridge pieces have a width of 1 to 5 mm.
- the grooves 7 or slots 7 in this case likewise have a depth of 5 to 9 mm.
- the recesses 5 , the groove 6 , and the slots 7 are supplied from the rear, i.e. from the tool side, with an oxygen-containing fluid by means of supply openings and correspondingly drilled lines in order, if need be, to further increase the partial pressure of oxygen in the region of the recesses 5 , grooves 6 , and slots 7 .
- the mold cavity can also be flushed with an oxygen-containing fluid so that at all times, there is a sufficient oxygen reservoir in the recesses 5 , grooves 6 , and slots 7 .
- a supply of oxygen-containing gas is ensured by the fact that pressurized gas can be supplied via supply bores 8 in the tool 1 or in a hold-down mechanism or in a male die 9 .
- this gas can be conveyed into a recess ( FIGS. 1 through 4 ) and/or the surface 4 ( FIG. 2 ) or to the surfaces 4 , 3 .
- the corresponding bores 8 can be present here as well, which extend to a hold-down surface 10 . This is particularly important if sheet metal expansions occur in this region as well.
- the supply bores 8 each have a diameter of preferably 3 to 8 mm. But if necessary, smaller diameters can also be used if the quantity of fluid flowing out is large enough.
- 20MnB8, 22MnB8, and other manganese/boron steels are also used in addition to 22MnB5.
- iron and smelting-induced impurities in such steels, particularly the alloy elements boron, manganese, carbon, and optionally chromium and molybdenum, are used as transformation-delaying agents.
- the optimal introduction site of the oxygen-containing medium depends on the component geometry since beads or undercuts must also be taken into account.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Crystallography & Structural Chemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
- Heat Treatment Of Articles (AREA)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016102344.2A DE102016102344B4 (de) | 2016-02-10 | 2016-02-10 | Verfahren und Vorrichtung zum Erzeugen gehärteter Stahlbauteile |
DE102016102344.2 | 2016-02-10 | ||
PCT/EP2017/052605 WO2017137379A1 (de) | 2016-02-10 | 2017-02-07 | Verfahren und vorrichtung zum erzeugen gehärteter stahlbauteile |
Publications (1)
Publication Number | Publication Date |
---|---|
US20190047032A1 true US20190047032A1 (en) | 2019-02-14 |
Family
ID=57984947
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/076,975 Abandoned US20190047032A1 (en) | 2016-02-10 | 2017-02-07 | Method and device for producing hardened steel components |
Country Status (8)
Country | Link |
---|---|
US (1) | US20190047032A1 (ja) |
EP (1) | EP3414028B1 (ja) |
JP (1) | JP6692911B2 (ja) |
KR (1) | KR102224344B1 (ja) |
CN (1) | CN109070173B (ja) |
DE (1) | DE102016102344B4 (ja) |
ES (1) | ES2786781T3 (ja) |
WO (1) | WO2017137379A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024165168A1 (de) * | 2023-02-10 | 2024-08-15 | Voestalpine Metal Forming Gmbh | Verfahren zum erzeugen von gehärteten stahlbauteilen |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS60221134A (ja) * | 1984-04-16 | 1985-11-05 | Aida Eng Ltd | プレス金型 |
JPH049056Y2 (ja) * | 1987-11-24 | 1992-03-06 | ||
US6033499A (en) * | 1998-10-09 | 2000-03-07 | General Motors Corporation | Process for stretch forming age-hardened aluminum alloy sheets |
DE10000138A1 (de) * | 2000-01-04 | 2001-07-12 | Binder Technologie Ag Gams | Verfahren und Vorrichtung zur Herstellung von Formteilen |
EP1651789B1 (de) * | 2003-07-29 | 2010-08-25 | Voestalpine Stahl GmbH | Verfahren zum herstellen von geharteten bauteilen aus stahlblech |
JP3863874B2 (ja) * | 2003-10-02 | 2006-12-27 | 新日本製鐵株式会社 | 金属板材の熱間プレス成形装置及び熱間プレス成形方法 |
DE102004038626B3 (de) * | 2004-08-09 | 2006-02-02 | Voestalpine Motion Gmbh | Verfahren zum Herstellen von gehärteten Bauteilen aus Stahlblech |
JP2007098459A (ja) * | 2005-10-07 | 2007-04-19 | Nippon Steel Corp | 亜鉛系めっき鋼板の高速ガスシールドアーク溶接方法 |
JP2008036709A (ja) * | 2006-07-10 | 2008-02-21 | Nippon Steel Corp | 熱間プレス成形方法及び熱間プレス成形装置 |
DE102007061489A1 (de) * | 2007-12-20 | 2009-06-25 | Voestalpine Stahl Gmbh | Verfahren zum Herstellen von gehärteten Bauteilen aus härtbarem Stahl und härtbares Stahlband hierfür |
JP5477016B2 (ja) * | 2009-02-03 | 2014-04-23 | 新日鐵住金株式会社 | 亜鉛系めっき熱処理鋼材の製造方法 |
DE102009050533A1 (de) * | 2009-10-23 | 2011-04-28 | Thyssenkrupp Sofedit S.A.S | Verfahren und Warmumformanlage zur Herstellung eines gehärteten, warm umgeformten Werkstücks |
WO2011081043A1 (ja) * | 2009-12-28 | 2011-07-07 | 住友金属工業株式会社 | 熱間プレス成形部材の製造方法 |
WO2011105600A1 (ja) * | 2010-02-26 | 2011-09-01 | 住友金属工業株式会社 | 熱処理鋼材とその製造方法並びにその素材鋼材 |
DE102010012579B3 (de) * | 2010-03-23 | 2011-07-07 | Benteler Automobiltechnik GmbH, 33102 | Verfahren und Vorrichtung zur Herstellung von gehärteten Formbauteilen |
JP5695381B2 (ja) * | 2010-09-30 | 2015-04-01 | 株式会社神戸製鋼所 | プレス成形品の製造方法 |
DE102011053939B4 (de) * | 2011-09-26 | 2015-10-29 | Voestalpine Stahl Gmbh | Verfahren zum Erzeugen gehärteter Bauteile |
WO2012161192A1 (ja) * | 2011-05-23 | 2012-11-29 | 新日鐵住金株式会社 | 熱間プレス成形方法及び熱間プレス成形金型 |
WO2013001630A1 (ja) * | 2011-06-29 | 2013-01-03 | トヨタ自動車株式会社 | ホットプレス装置 |
DE102011052773A1 (de) * | 2011-08-17 | 2013-02-21 | Kirchhoff Automotive Deutschland Gmbh | Werkzeug für ein Presshärtwerkzeug |
EP2752257B1 (en) * | 2011-09-01 | 2016-07-27 | Kabushiki Kaisha Kobe Seiko Sho | Hot-stamp molded part and method for manufacturing same |
DE102011114691A1 (de) * | 2011-10-04 | 2013-04-04 | Benteler Defense Gmbh & Co. Kg | Verfahren zum Warmumformen und Härten eines Werkstückes aus Stahl in einer Gesenkpresse unter Einbringen eines oder mehrerer Kühlfluide in Gesenkausnehmungen |
DE102011055643A1 (de) * | 2011-11-23 | 2013-05-23 | Thyssenkrupp Steel Europe Ag | Verfahren und Umformwerkzeug zum Warmumformen und Presshärten von Werkstücken aus Stahlblech, insbesondere verzinkten Werkstücken aus Stahlblech |
DE102012104734A1 (de) * | 2012-05-31 | 2013-12-05 | Outokumpu Nirosta Gmbh | Verfahren und Vorrichtung zur Herstellung von umgeformten Blechteilen bei Tieftemperatur |
JP5901493B2 (ja) * | 2012-10-17 | 2016-04-13 | 本田技研工業株式会社 | 熱間プレス成形方法及び金型 |
JP6075304B2 (ja) * | 2013-03-28 | 2017-02-08 | 株式会社豊田中央研究所 | 熱間プレス成形方法および熱間プレス成形装置 |
JP5830056B2 (ja) * | 2013-06-05 | 2015-12-09 | トヨタ自動車株式会社 | プレス装置及び噴射ノズル |
KR101837317B1 (ko) * | 2013-09-12 | 2018-03-09 | 신닛테츠스미킨 카부시키카이샤 | 열간 프레스 성형의 냉각 방법 및 열간 프레스 성형 장치 |
-
2016
- 2016-02-10 DE DE102016102344.2A patent/DE102016102344B4/de active Active
-
2017
- 2017-02-07 US US16/076,975 patent/US20190047032A1/en not_active Abandoned
- 2017-02-07 WO PCT/EP2017/052605 patent/WO2017137379A1/de active Application Filing
- 2017-02-07 EP EP17703744.7A patent/EP3414028B1/de active Active
- 2017-02-07 JP JP2018541172A patent/JP6692911B2/ja active Active
- 2017-02-07 ES ES17703744T patent/ES2786781T3/es active Active
- 2017-02-07 CN CN201780010625.8A patent/CN109070173B/zh active Active
- 2017-02-07 KR KR1020187025953A patent/KR102224344B1/ko active IP Right Grant
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024165168A1 (de) * | 2023-02-10 | 2024-08-15 | Voestalpine Metal Forming Gmbh | Verfahren zum erzeugen von gehärteten stahlbauteilen |
Also Published As
Publication number | Publication date |
---|---|
JP2019504772A (ja) | 2019-02-21 |
EP3414028A1 (de) | 2018-12-19 |
CN109070173A (zh) | 2018-12-21 |
KR102224344B1 (ko) | 2021-03-09 |
WO2017137379A1 (de) | 2017-08-17 |
DE102016102344B4 (de) | 2020-09-24 |
EP3414028B1 (de) | 2020-04-08 |
JP6692911B2 (ja) | 2020-05-13 |
CN109070173B (zh) | 2021-04-27 |
ES2786781T3 (es) | 2020-10-13 |
DE102016102344A1 (de) | 2017-08-10 |
KR20180114104A (ko) | 2018-10-17 |
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Legal Events
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AS | Assignment |
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