WO2020036198A1 - Resistance spot-welded member and manufacturing method therefor - Google Patents
Resistance spot-welded member and manufacturing method therefor Download PDFInfo
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- WO2020036198A1 WO2020036198A1 PCT/JP2019/031949 JP2019031949W WO2020036198A1 WO 2020036198 A1 WO2020036198 A1 WO 2020036198A1 JP 2019031949 W JP2019031949 W JP 2019031949W WO 2020036198 A1 WO2020036198 A1 WO 2020036198A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/16—Resistance welding; Severing by resistance heating taking account of the properties of the material to be welded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/003—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/18—Sheet panels
Definitions
- the present invention relates to a resistance spot welding member and a method for manufacturing the same.
- the welding method mainly used in the production process of an automobile is resistance spot welding, but the welded portion of this resistance spot welding is hard to easily undergo martensitic transformation due to rapid cooling of a molten portion. Become an organization. Further, tensile residual stress is generated in the weld due to heat shrinkage during the cooling process. Furthermore, hydrogen may be taken into the weld metal during welding from the plating layer on the steel sheet surface, oil or moisture on the steel sheet surface, or hydrogen may enter the weld from the use environment (for example, under an acidic environment). is there. Therefore, the welded part of resistance spot welding may be in a very disadvantageous state from the viewpoint of delayed fracture resistance.
- Patent Document 1 discloses that the structure and hardness of the welded portion are controlled by increasing the pressing force and decreasing the current immediately after welding energization (main energization). A technique for preventing delayed destruction is disclosed.
- the problem of delayed fracture due to the intrusion of hydrogen into the weld metal having high hydrogen embrittlement susceptibility during such welding is not limited to the case of resistance spot welding of a high-strength steel sheet for automobiles, and other problems may occur. It also exists in resistance spot welding of steel sheets.
- the present inventor adjusts the hardness of the spot welded portion by improving the structure of the end of the nugget, which is the starting point of the delayed fracture, and is a plate set including a steel plate having a tensile strength of 980 MPa or more. Also, it was considered that a spot welded member excellent in delayed fracture resistance could be provided.
- ⁇ C, Mn, and Si are listed as alloy elements in the steel sheet that affect the hardness of the nugget.
- a method of controlling the hardness of the nugget end it is effective to provide a post-energization step for tempering after the main energization step for forming the nugget is completed in the resistance spot welding process. Means.
- tempering by post-energization to the heat-affected zone outside the nugget hereinafter also referred to as welding heat-affected zone
- the influence may be exerted, and the strength may be reduced due to excessive softening.
- a high current equal to or more than the current value in the main energizing step is applied, and the amount of heat required for tempering is applied to the nugget end in a short time without excessively softening the heat-affected zone. It is necessary to control the hardness of the nugget end.
- a method for manufacturing a resistance spot welded member wherein two or more steel plates including at least one steel plate having a tensile strength of 980 MPa or more are stacked, sandwiched by a pair of welding electrodes, and energized while applying pressure to produce a nugget. And a nugget by pressing and holding the steel plate with the welding electrode for a cooling time C t (ms) represented by the following formulas (5) and (6) after the main current supplying process. , And a post-energization step of energizing at a current value I p (kA) satisfying the following equation (7) after the cooling step.
- the structure of the end of the nugget is improved while preventing the strength from being reduced due to the softening of the heat-affected zone, and the resistance is excellent in delayed fracture resistance.
- a spot welding member can be obtained.
- the resistance spot welding member of the present invention has two or more steel plates and a spot weld. Explanation will be given in the order of two or more steel plates and spot welds.
- the steel plate of two or more includes a steel plate having a tensile strength of 980 MPa or more (sometimes referred to as a “high-strength steel plate”).
- a steel sheet having a tensile strength of 980 MPa or more is used, delayed fracture of a spot weld tends to be a problem.
- the resistance spot welding member of the present invention has an effect of adjusting the hardness of the spot welded portion, so that even when a high-strength steel plate is used, the delayed fracture resistance of the spot welded portion is improved. .
- the component composition of the two or more steel sheets is not particularly limited, but in mass%, C: 0.6% or less, Si: 3.0% or less, Mn: 20.0% or less, P: 1.0% or less, A component composition containing 0.8% or less of S and 3.0% or less of Al, the balance being Fe and unavoidable impurities is preferable.
- the thickness of the two or more steel plates is not particularly limited, but is preferably, for example, in the range of 0.5 mm or more and 2.0 mm or less.
- a steel sheet having a thickness in this range can be suitably used as an automobile member.
- # 2 or more steel sheets may be the same or different, may be the same type and same shape, or may be different types or different shapes.
- the spot weld 12 is formed between two or more steel plates 15, and includes a central nugget 13 and a weld heat affected zone 14 outside the nugget.
- the boundary between the nugget 13 and the heat affected zone 14 can be visually determined by performing corrosion using a picric acid aqueous solution on the section of the plate thickness of the spot weld.
- the Vickers hardness H n (Hv) of the nugget end of the spot welded portion is equal to or less than H ob (Hv) represented by the following equation (3).
- the coefficient concerning each element in X and Y is determined in consideration of the magnitude of the influence of each element.
- H ob2 (800 ⁇ X max +300) / (0.7 + 20 ⁇ Y max ) (10)
- Y max Y of the steel sheet in which the coefficient Y represented by the expression (2) is the largest.
- the Vickers hardness H n of the nugget end is preferably set to (0.4 ⁇ H ob) or more. If the Vickers hardness H n of the nugget end (0.4 ⁇ H ob) smaller than, lowers the strength of the nugget itself, such as joint strength, it delayed joint performance other than fracture properties may deteriorate.
- FIG. 4 also shows an enlarged view of the nugget end 16 in the spot welded portion 12.
- the nugget end 16 has a thickness of 50 ⁇ m from the boundary between the nugget 13 and the weld heat-affected zone 14 toward the center of the nugget 13 in a section of the resistance spot welding member passing through the center of the nugget 13. Means the position.
- the nugget end portions 16 are located at two positions 50 ⁇ m from the two intersections of the boundary line between the steel plates 15 and the nugget 13 toward the center of the nugget 13 in a thickness cross section passing through the center of the nugget 13.
- the Vickers hardness H n of the nugget end there, define who the them smaller Vickers hardness as the Vickers hardness H n of the nugget end.
- HV Vickers hardness
- the certain range is an area of 40 to 60 ⁇ m from the boundary toward the center of the nugget. Therefore, the “nugget end” includes a region of 40 to 60 ⁇ m from the above boundary toward the center of the nugget.
- the Vickers hardness H min (Hv) of the softest part of the heat affected zone of the spot welded part satisfies the following equation (4). 0.4 ⁇ H n ⁇ H min ⁇ 0.9 ⁇ H n (4)
- the Vickers hardness H min (Hv) of the softest part of the weld heat affected zone is less than (0.4 ⁇ H n ) (Hv)
- the strength is easily reduced due to excessive softening of the weld heat affected zone.
- the Vickers hardness H min (Hv) of the softest part of the heat affected zone exceeds (0.9 ⁇ H n ) (Hv) (Hv)
- locally high stress concentrates on the end of the nugget, causing a delay. Destruction is easy to occur.
- the Vickers hardness H min of the softest part of the weld heat affected zone is (0.5 ⁇ H n ) or more. Is preferable, and (0.8 ⁇ H n ) or less is preferable.
- FIG. 5A is a cross-sectional view in the thickness direction passing through the center of the nugget 13
- FIG. 5B is a diagram showing the distance (mm) from the boundary and the Vickers hardness (near the boundary) between the nugget and the welding heat affected zone. HV).
- the softest part of the welding heat affected zone 14 of the spot welded part 12 means the following position.
- a region 3 mm outside the nugget 13 from the boundary between the nugget 13 and the welding heat affected zone 14 is spaced at intervals of 150 ⁇ m from the boundary. It means the portion (position) showing the softest hardness when measured. The hardness can be measured by a method described in Examples described later.
- a steel plate arranged on the lower side (hereinafter, referred to as lower steel plate 1) and a steel plate arranged on the upper side (hereinafter, referred to as upper steel plate 2) are overlapped.
- at least one of the lower steel plate 1 and the upper steel plate 2 is a steel plate having a tensile strength of 980 MPa or more.
- a pair of welding electrodes that is, an electrode disposed on the lower side (hereinafter, referred to as lower electrode 4) and an electrode disposed on the upper side (hereinafter, referred to as upper electrode 5), are superimposed on a steel plate (the lower steel plate 1 and the lower steel plate 1).
- the upper steel plate 2) is sandwiched and energized while applying pressure.
- the configuration in which the lower electrode 4 and the upper electrode 5 pressurize and control the pressing force is not particularly limited, and conventionally known devices such as an air cylinder and a servomotor can be used.
- the configuration for supplying a current during energization and controlling the current value is not particularly limited, and a conventionally known device can be used.
- the present invention can be applied to both direct current and alternating current. In the case of AC, “current” means “effective current”.
- the type of the tip of the lower electrode 4 or the upper electrode 5 is not particularly limited. For example, DR type (dome radius type), R type (radius type), D type (dome type) described in JIS C # 9304: 1999. ) And the like.
- the tip diameter (diameter of the tip) of the electrode is, for example, 4 mm to 16 mm.
- the main energization step performed as described above is a step of melting a steel sheet to form a nugget.
- the energizing conditions and the pressing conditions for forming the nugget are not particularly limited, and conventionally used welding conditions can be adopted.
- the current value is 1.0 kA or more and 15.0 kA or less
- the pressing force is 2.0 kN or more and 7.0 kN or less.
- the energization time is not particularly limited, and is, for example, 100 ms or more and 1000 ms or less.
- the “nugget” is a portion that is melt-solidified at a spot weld in lap resistance welding.
- a cooling step of cooling the nugget by holding the steel plate while pressing it with the welding electrode for a cooling time C t (ms) represented by the following equations (5) and (6) is performed. .
- t is an average thickness (mm) of the steel plate to be joined.
- the cooling step is a step necessary for obtaining a tempering effect by a post-energization step described later. If the cooling time C t (ms) does not satisfy the equations (5) and (6), the nugget end is heated by subsequent energization without being sufficiently cooled. In that case, the effect of tempering cannot be obtained, and the hardness of the nugget end cannot be reduced.
- the cooling time C t (ms) depends on the thickness of the steel plates, and when joining steel plates having different thicknesses, the average value of the thickness of each steel plate is used.
- the upper limit of the cooling time C t (ms) is not particularly defined, but it is preferable that C t ⁇ 800 ⁇ t.
- C t is (800 ⁇ t) or more, the total time of the welding process itself becomes longer, and the productivity is reduced.
- the post-energization step is an energization step with a current value I p (kA) satisfying the following equation (7). 0.8 ⁇ I min ⁇ I p ⁇ 1.5 ⁇ I max (7)
- I max is a maximum current value (kA) in the main energizing step
- I min is a minimum current value (kA) in the main energizing step.
- the post-energization step is a step of reheating the nugget end and reducing the hardness of the nugget end by tempering. If the current value I p (kA) in the post-energization step is less than (0.8 ⁇ I min ), the amount of heat input is insufficient, and the hardness of the nugget end cannot be reduced. Further, when the current value I p (kA) in the post-energization step is equal to or more than (1.5 ⁇ I max ), the input heat becomes excessive and exceeds the temperature range in which the effect of tempering the nugget end can be obtained. The hardness of the end cannot be reduced.
- the current value I p (kA) in the post-energization step is 0.95 ⁇ I min ⁇ I It is preferable to satisfy p ⁇ 1.2 ⁇ I max . Further, the lower limit of the current value I p (kA) in the post-energization step is more preferably (1.0 ⁇ I min ) or more. As described above, in the manufacturing method of the present invention, the post-energization step is performed after the step of determining the condition of the current value Ip based on the equation (7).
- the energization time in the post-energization step is less than 20 ms, the nugget may not be sufficiently heated, and the tempering effect may not be obtained.
- the energization time of the post-energization step exceeds 200 ms, the input heat becomes sufficient and the hardness of the end of the nugget decreases, but the strength of the heat-affected zone decreases due to excessive softening, and breakage from the heat-affected zone at low stress occurs. May occur.
- the energization time in the post-energization step is preferably in the range of 20 to 200 ms. More preferably, it is 20 to 100 ms.
- a repeated energization step may be performed.
- the repetitive energizing step includes a cooling energizing step in which cooling is performed after the post-energizing step and energizing under the condition satisfying the following equation (8), and a re-energizing state re-energizing the cooling energizing state under the condition satisfying the following equation (9). Is performed n times.
- I nc a current value (kA) in the n-th cooling energization
- I nr a current value (kA) in the n-th re-energization
- n is a natural number of 1 or more.
- I max and I min are the same as in equation (7).
- the nugget end By repeating cooling and heating in the repetitive energizing step, the nugget end can be maintained in an appropriate temperature range for a long time, and the effect of tempering can be further exhibited. Further, since the cooling energization is a process of cooling the nugget end, it may be performed without energization. If the current value I nc (kA) in the cooling energization exceeds I max , the effect of cooling the nugget end cannot be obtained, and the appropriate temperature range cannot be maintained by the subsequent re-energization.
- the upper limit of the energization time of the cooling energization in the repetitive energization step is not particularly defined, but is preferably (800 ⁇ t) or less. If it exceeds (800 ⁇ t), the total time of the welding process itself may be long, and the productivity may be reduced.
- the lower limit of the energization time of the cooling energization is not particularly specified, but is preferably 20 ms or more. If the time is less than 20 ms, the effect of cooling the nugget end cannot be obtained, and an appropriate temperature range may not be maintained by the subsequent energization.
- Resistance spot welding was performed under each condition of the two-plate set and the three-plate set. Resistance spot welding was performed at room temperature, and the electrode was constantly cooled with water. Each of the lower electrode 4 and the upper electrode 5 had a tip diameter (tip diameter) of 6 mm and a radius of curvature of 40 mm, and was a chrome copper DR type electrode. The pressing force was controlled by driving the lower electrode 4 and the upper electrode 5 with a servomotor, and a single-phase alternating current having a frequency of 50 Hz was supplied during energization.
- the lower steel sheet 1 has a plating treatment in which the tensile strength is 1470 MPa, X represented by the formula (1) is 0.24, and Y represented by the formula (2) is 0.020 (hot-dip galvanizing ( GI), the amount of adhesion is 50 g / m 2 per side), a 1.6 mm-thick steel plate and an upper steel plate 2 having a tensile strength of 1180 MPa, X represented by the formula (1) is 0.20, and the formula (2).
- GA hot-dip galvanized
- the tensile strength is a tensile strength determined by preparing a JIS No. 5 tensile test piece from each steel sheet in a direction parallel to the rolling direction and performing a tensile test in accordance with JIS Z 2241: 2011.
- FIGS. 3 (a) and 3 (b) resistance spot welding is performed on the steel plate (length in the longitudinal direction: 150 mm, length in the short direction: 50 mm). Between the two sheets, a spacer 6 of 1.6 mm thickness and 50 mm square is sandwiched on both sides, and temporarily welded, and the center of the sheet set in which two steel sheets are overlapped is set under the conditions described above and in Table 1-1. Welding was performed to produce a welded joint.
- FIGS. 3A to 3C are a plan view (FIG. 3A) and side views (FIGS. 3B and 3C) showing a test piece for resistance spot welding. Reference numeral 7 in FIGS.
- 3A to 3C denotes a welding point
- reference numeral 8 denotes a temporary welding point.
- the lower steel plate 9, the middle steel plate 10, and the upper steel plate 11 are overlapped, and the spacers 6 are provided on both sides between the lower steel plate 9 and the middle steel plate 10. Welding was carried out. The dimensions of the steel plate and the spacer are the same as those of the two-plate set.
- welded joints were manufactured under the same conditions and the same shape.
- the obtained welded joint was cut at the center of the nugget, etched with picric acid to clarify the boundary of the melted portion, and then subjected to a load of 200 gf and a load holding time of 15 s at the end of the nugget and the softened portion. Vickers hardness was measured.
- the hardness of the end of the nugget was a measured value of the hardness of the inside of the nugget 50 ⁇ m from the boundary of the fusion zone.
- the hardness of the softest part was the measured value of the softest part in a case where a region having a length of 3 mm from the end of the nugget was measured at intervals of 150 ⁇ m from the end of the nugget to the outside of the nugget.
- a cross tension test was performed on welded joints manufactured under the same conditions.
- the cross tension test was performed on a test specimen having a shape based on JISZ # 3137.
- the symbol "X" indicates that the joint strength was reduced by 10% or more compared to the joint strength when welding was performed only in the main energizing step without post-energization, and the symbol "X” indicates that the strength was not reduced by 10% or more.
- ⁇ is described.
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Abstract
Description
X=[C]+[Si]/40+[Mn]/200 (1)
Y=[P]+3×[S] (2)
Hob=(800× Xmax+300)/(0.7+20 × Ymin) (3)
0.4 × Hn≦Hmin≦0.9 × Hn (4)
前記(1)式及び(2)式において[C]、[Si]、[Mn]、[P]及び[S]は各元素の含有量(質量%)である。ただし、含まない場合は0とする。 [1] A resistance spot welding member including two or more steel sheets and a spot welded portion formed between the steel sheets, wherein at least one of the two or more steel sheets has a tensile strength of 980 MPa or more, wherein at least two steel plates, the X of the steel sheet which the coefficient X represented by the following formula (1) is maximized and X max, the Y coefficient Y is smallest steel sheet represented by the following formula (2) Y min , the Vickers hardness H n (Hv) of the end of the nugget of the spot weld is not more than H ob (Hv) expressed by the following equation (3), and the welding heat of the spot weld is A resistance spot welded member in which the Vickers hardness H min (Hv) of the softened part of the affected part satisfies the following expression (4)
X = [C] + [Si] / 40 + [Mn] / 200 (1)
Y = [P] + 3 × [S] (2)
H ob = (800 × X max +300) / (0.7 + 20 × Y min ) (3)
0.4 × H n ≦ H min ≦ 0.9 × H n (4)
In the formulas (1) and (2), [C], [Si], [Mn], [P] and [S] are the contents (% by mass) of the respective elements. However, it is set to 0 when not included.
Ct≧160 × t2 (t≦1.6) (5)
Ct≧256 × t (t>1.6) (6)
0.8 × Imin≦Ip<1.5 × Imax (7)
前記(5)式、(6)式、(7)式において、
t:被接合鋼板の平均板厚(mm)
Imax:主通電工程における最大電流値(kA)
Imin:主通電工程における最小電流値(kA)
である。 [2] A method for manufacturing a resistance spot welded member, wherein two or more steel plates including at least one steel plate having a tensile strength of 980 MPa or more are stacked, sandwiched by a pair of welding electrodes, and energized while applying pressure to produce a nugget. And a nugget by pressing and holding the steel plate with the welding electrode for a cooling time C t (ms) represented by the following formulas (5) and (6) after the main current supplying process. , And a post-energization step of energizing at a current value I p (kA) satisfying the following equation (7) after the cooling step.
C t ≧ 160 × t 2 (t ≦ 1.6) (5)
C t ≧ 256 × t (t> 1.6) (6)
0.8 × I min ≦ I p <1.5 × I max (7)
In the above equations (5), (6) and (7),
t: Average thickness of the steel plate to be joined (mm)
I max : maximum current value (kA) in the main energization process
I min : minimum current value (kA) in the main energization process
It is.
0≦Inc≦Imax (8)
0.8 × Imin≦Inr<1.5 × Imax (9)
前記(8)式、(9)式において、
Inc:n回目の冷却通電における電流値(kA)
Inr:n回目の再後通電における電流値(kA)
Imax:主通電工程における最大電流値(kA)
Imin:主通電工程における最小電流値(kA)
n:1以上の自然数
である。 [3] After the post-energization step, cooling energization for cooling and energizing under the condition satisfying the following equation (8) and re-energization for re-energizing under the condition satisfying the following equation (9) after the cooling energization are performed by n The method for producing a resistance spot welding member according to [2], further comprising a repetitive energizing step performed once.
0 ≦ I nc ≦ I max (8)
0.8 × I min ≦ I nr <1.5 × I max (9)
In the equations (8) and (9),
I nc : Current value (kA) at n-th cooling energization
Inr : current value (kA) in the nth re-energization
I max : maximum current value (kA) in the main energization process
I min : minimum current value (kA) in the main energization process
n is a natural number of 1 or more.
2以上の鋼板は、引張強度が980MPa以上の鋼板(「高強度鋼板」という場合がある)を含む。引張強度が980MPa以上の鋼板を用いると、スポット溶接部の遅れ破壊が問題になりやすい。しかし、後述する通り、本発明の抵抗スポット溶接部材は、スポット溶接部の硬さの調整が行われているため、高強度鋼板を用いても、スポット溶接部の耐遅れ破壊特性が良好になる。なお、引張強度が980MPa以上の鋼板の使用量(使用枚数)が多いほど、遅れ破壊時間の問題が生じやすくなるため、本発明の効果は、2以上の鋼板のうち半数以上の鋼板の引張強度が980MPa以上の場合により顕著に現れる。 Steel plate The steel plate of two or more includes a steel plate having a tensile strength of 980 MPa or more (sometimes referred to as a “high-strength steel plate”). When a steel sheet having a tensile strength of 980 MPa or more is used, delayed fracture of a spot weld tends to be a problem. However, as will be described later, the resistance spot welding member of the present invention has an effect of adjusting the hardness of the spot welded portion, so that even when a high-strength steel plate is used, the delayed fracture resistance of the spot welded portion is improved. . In addition, since the problem of delayed fracture time is more likely to occur as the used amount (the number of sheets used) of a steel sheet having a tensile strength of 980 MPa or more increases, the effect of the present invention is as follows. Is more conspicuous when 980 MPa or more.
スポット溶接部12は、図1に示すように、2以上の鋼板間15に形成され、中央のナゲット13、ナゲットの外側の溶接熱影響部14から構成される。ナゲット13と溶接熱影響部14との境界は、スポット溶接部の板厚断面において、ピクリン酸水溶液を用いた腐食を実施することで目視で判定可能である。 As shown in FIG. 1, the
X=[C]+[Si]/40+[Mn]/200 (1)
Y=[P]+3×[S] (2)
Hob=(800× Xmax+300)/(0.7+20 × Ymin) (3)
(1)式において[C]、[Si]、[Mn]、[P]及び[S]は各元素の含有量(質量%)である。ただし、含まない場合は0とする。 In two or more steel plates, the X of the steel sheet which the coefficient X represented by the following formula (1) is maximized and X max, the Y coefficient Y is smallest steel sheet represented by the following formula (2) Y min , The Vickers hardness H n (Hv) of the nugget end of the spot welded portion is equal to or less than H ob (Hv) represented by the following equation (3).
X = [C] + [Si] / 40 + [Mn] / 200 (1)
Y = [P] + 3 × [S] (2)
H ob = (800 × X max +300) / (0.7 + 20 × Y min ) (3)
In the formula (1), [C], [Si], [Mn], [P] and [S] are the contents (% by mass) of the respective elements. However, if it is not included, it is set to 0.
スポット溶接部のナゲット端部のビッカース硬さHn(Hv)は、下記(3)式で表されるHob(Hv)以下である。ナゲット端部のビッカース硬さが式(3)で表されるHob(Hv)を超える場合は、遅れ破壊が発生し易い。
耐遅れ破壊特性を向上させる効果をより顕著に発揮させたい場合には、ナゲット端部のビッカース硬さHn(Hv)を下記(10)式で表されるHob2(Hv)以下とするか、もしくは(0.95×Hob)以下とすることがより好ましい。
Hob2=(800× Xmax+300)/(0.7+20 × Ymax) (10)
ここで、(10)式において、Ymax:上記(2)式で表される係数Yが最も大きくなる鋼板のY、である。
なお、ナゲット端部のビッカース硬さHnは(0.4×Hob)以上とすることが好ましい。ナゲット端部のビッカース硬さHnが(0.4×Hob)より小さい場合は、ナゲットの強度自体が低下し、継手強度など、耐遅れ破壊特性以外の継手性能が低下する恐れがある。 Since the hardness of the spot weld is affected by C, Si and Mn, it is necessary to consider C, Si and Mn. In the present invention, the influence of C, Si, and Mn is considered by using X = [C] + [Si] / 40 + [Mn] / 200 (formula (1)). P and S are elements that cause a reduction in the strength of the nugget structure. Therefore, in the present invention for improving delayed fracture, it is necessary to consider the influence of P and S. Therefore, in the present invention, the influence of S and P is considered by using Y = [P] + 3 × [S] (Equation (2)). In addition, the coefficient concerning each element in X and Y is determined in consideration of the magnitude of the influence of each element.
The Vickers hardness H n (Hv) of the nugget end of the spot weld is equal to or less than H ob (Hv) represented by the following equation (3). If the Vickers hardness at the end of the nugget exceeds H ob (Hv) represented by the formula (3), delayed fracture is likely to occur.
When the effect of improving the delayed fracture resistance is desired to be more remarkably exhibited, the Vickers hardness H n (Hv) at the end of the nugget should be equal to or less than H ob2 (Hv) represented by the following equation (10). Or (0.95 × H ob ) or less.
H ob2 = (800 × X max +300) / (0.7 + 20 × Y max ) (10)
Here, in the expression (10), Y max : Y of the steel sheet in which the coefficient Y represented by the expression (2) is the largest.
Incidentally, the Vickers hardness H n of the nugget end is preferably set to (0.4 × H ob) or more. If the Vickers hardness H n of the nugget end (0.4 × H ob) smaller than, lowers the strength of the nugget itself, such as joint strength, it delayed joint performance other than fracture properties may deteriorate.
なお本発明では、上記境界からナゲット13の中央に向けて50μmの位置を中心として一定の範囲内で上記ビッカース硬さHn(HV)を有していれば同様に上述の効果が得られる。この一定の範囲内とは、上記境界からナゲット中央に向けて40~60μmの領域である。そのため、「ナゲット端部」には上記境界からナゲット中央に向けて40~60μmの領域が含まれるものとする。
3枚以上の鋼板を溶接する場合には、複数のナゲット端部が形成されるが、引張強度が980MPa以上の鋼板を含む板組の少なくとも一つのナゲット端部で(3)式を満たせばよい。 Here, the nugget end will be described with reference to FIG. FIG. 4 also shows an enlarged view of the
In the present invention, a similar effect of the above so long as it has the Vickers hardness H n (HV) within a certain range around the position of 50μm toward the center of the
When three or more steel plates are welded, a plurality of nugget ends are formed. At least one nugget end of a plate set including a steel plate having a tensile strength of 980 MPa or more may satisfy Expression (3). .
0.4 × Hn≦Hmin≦0.9 × Hn (4)
溶接熱影響部の最軟化部のビッカース硬さHmin(Hv)が(0.4×Hn)(Hv)未満の場合は、溶接熱影響部の過度の軟化により、強度低下を引き起こし易い。また、溶接熱影響部の最軟化部のビッカース硬さHmin(Hv)が(0.9×Hn)(Hv)超えの場合は、ナゲット端部に局所的に高い応力が集中し、遅れ破壊が発生し易い。また、強度低下を引き起こすことなく、遅れ破壊を抑制する効果をより顕著に発揮させたい場合には、溶接熱影響部の最軟化部のビッカース硬さHminは(0.5×Hn)以上が好ましく、(0.8×Hn)以下が好ましい。 In the present invention, the Vickers hardness H min (Hv) of the softest part of the heat affected zone of the spot welded part satisfies the following equation (4).
0.4 × H n ≦ H min ≦ 0.9 × H n (4)
When the Vickers hardness H min (Hv) of the softest part of the weld heat affected zone is less than (0.4 × H n ) (Hv), the strength is easily reduced due to excessive softening of the weld heat affected zone. When the Vickers hardness H min (Hv) of the softest part of the heat affected zone exceeds (0.9 × H n ) (Hv), locally high stress concentrates on the end of the nugget, causing a delay. Destruction is easy to occur. Further, when it is desired to more remarkably exhibit the effect of suppressing delayed fracture without causing a decrease in strength, the Vickers hardness H min of the softest part of the weld heat affected zone is (0.5 × H n ) or more. Is preferable, and (0.8 × H n ) or less is preferable.
図5(a)および図5(b)に示すように、スポット溶接部12の溶接熱影響部14の最軟化部とは、次の位置を意味する。ナゲット13の中央と上述したナゲット端部16(図示せず)とを通る直線上において、ナゲット13と溶接熱影響部14との境界からナゲット13の外側3mmの領域について、上記境界から150μm間隔で測定した場合に最も軟らかい硬さを示した部分(位置)を意味する。なお、硬さは後述する実施例に記載の方法で測定することができる。 Here, with reference to FIGS. 5A and 5B, the softest part of the heat affected zone of the spot weld will be described. FIG. 5A is a cross-sectional view in the thickness direction passing through the center of the
As shown in FIGS. 5A and 5B, the softest part of the welding heat affected
Ct≧160 × t2 (t≦1.6) (5)
Ct≧256 × t (t>1.6) (6)
(5)式、(6)式において、t:被接合鋼板の平均板厚(mm)である。 After the main energization step, a cooling step of cooling the nugget by holding the steel plate while pressing it with the welding electrode for a cooling time C t (ms) represented by the following equations (5) and (6) is performed. .
C t ≧ 160 × t 2 (t ≦ 1.6) (5)
C t ≧ 256 × t (t> 1.6) (6)
In the expressions (5) and (6), t is an average thickness (mm) of the steel plate to be joined.
本発明において特に冷却時間Ct(ms)の上限は規定しないが、Ct<800×tとすることが好ましい。Ctが(800×t)以上の場合は、溶接工程自体の総時間が長くなって生産性が低下する。
以上より、本発明の製造方法では、(5)式及び(6)式に基づいて冷却時間の条件を決定する過程を経た後に、冷却工程が行われる。なお、被接合鋼板の平均板厚は、溶接される全ての鋼板の板厚の平均を意味する。 The cooling step is a step necessary for obtaining a tempering effect by a post-energization step described later. If the cooling time C t (ms) does not satisfy the equations (5) and (6), the nugget end is heated by subsequent energization without being sufficiently cooled. In that case, the effect of tempering cannot be obtained, and the hardness of the nugget end cannot be reduced. The cooling time C t (ms) depends on the thickness of the steel plates, and when joining steel plates having different thicknesses, the average value of the thickness of each steel plate is used. In addition, when it is desired to cool the nugget end more sufficiently and to exert the effect of tempering in the subsequent energization more remarkably, when t ≦ 1.6, C t ≧ 200 × t 2 , and t> 1. .6, it is preferable that C t ≧ 320 × t.
In the present invention, the upper limit of the cooling time C t (ms) is not particularly defined, but it is preferable that C t <800 × t. When C t is (800 × t) or more, the total time of the welding process itself becomes longer, and the productivity is reduced.
As described above, in the manufacturing method of the present invention, the cooling step is performed after the process of determining the condition of the cooling time based on the equations (5) and (6). The average thickness of the steel plates to be joined means the average of the thicknesses of all the steel plates to be welded.
0.8 × Imin≦Ip<1.5 × Imax (7)
(7)式において、Imax:主通電工程における最大電流値(kA)、Imin:主通電工程における最小電流値(kA)である。 After the cooling step, a post-energization step is performed. The post-energization step is an energization step with a current value I p (kA) satisfying the following equation (7).
0.8 × I min ≦ I p <1.5 × I max (7)
In the equation (7), I max is a maximum current value (kA) in the main energizing step, and I min is a minimum current value (kA) in the main energizing step.
0≦Inc≦Imax (8)
0.8 × Imin≦Inr<1.5 × Imax (9)
(8)式、(9)式において、Inc:n回目の冷却通電における電流値(kA)、Inr:n回目の再後通電における電流値(kA)、n:1以上の自然数である。Imax、Iminは(7)式と同様である。 Further, after the above-described post-energization step, a repeated energization step may be performed. The repetitive energizing step includes a cooling energizing step in which cooling is performed after the post-energizing step and energizing under the condition satisfying the following equation (8), and a re-energizing state re-energizing the cooling energizing state under the condition satisfying the following equation (9). Is performed n times.
0 ≦ I nc ≦ I max (8)
0.8 × I min ≦ I nr <1.5 × I max (9)
In the equations (8) and (9), I nc : a current value (kA) in the n-th cooling energization, I nr : a current value (kA) in the n-th re-energization, and n is a natural number of 1 or more. . I max and I min are the same as in equation (7).
また、再後通電における電流値Inr(kA)が(0.8×Imin)未満の場合は、ナゲット端部を十分に再加熱できず、適切な温度域を保持できない。また、再後通電における電流値Inr(kA)が(1.5×Imax)以上の場合は、投入熱量が過多となりナゲットが再び溶融して、焼き戻しの効果を得られない。また、再後通電でナゲット端部を適切な温度域に保持する効果をより顕著に発揮したい場合は、再後通電における電流値Inr(kA)が0.95×Imin≦Inr<1.2×Imaxを満足することが好ましい。また、再後通電工程における通電時間は、20ms~200msの範囲内とすることが好ましい。より好ましくは、20ms~100msである。
なお、本発明において、特に繰返通電工程における冷却通電の通電時間の上限は規定しないが、(800×t)以下とすることが好ましい。(800×t)を超える場合は、溶接工程自体の総時間が長くなって生産性が低下することがある。
一方、冷却通電の通電時間の下限も特に規定しないが、20ms以上とすることが好ましい。20ms未満の場合は、ナゲット端部を冷却する効果が得られず、その後の再後通電で適切な温度域を維持できない場合がある。 By repeating cooling and heating in the repetitive energizing step, the nugget end can be maintained in an appropriate temperature range for a long time, and the effect of tempering can be further exhibited. Further, since the cooling energization is a process of cooling the nugget end, it may be performed without energization. If the current value I nc (kA) in the cooling energization exceeds I max , the effect of cooling the nugget end cannot be obtained, and the appropriate temperature range cannot be maintained by the subsequent re-energization. In addition, when it is desired to more remarkably exhibit the effect of cooling the nugget end portion by cooling energization and maintaining an appropriate temperature range by re-energization, the current value I nc (kA) in cooling energization is 0 ≦ I nc. It is preferable to satisfy ≦ 0.5 × I max .
If the current value I nr (kA) in the re-energization is less than (0.8 × I min ), the nugget end cannot be sufficiently reheated and an appropriate temperature range cannot be maintained. When the current value I nr (kA) in the re-energization is equal to or more than (1.5 × I max ), the input heat amount becomes excessive, the nugget is melted again, and the effect of tempering cannot be obtained. When it is desired to more remarkably exert the effect of maintaining the nugget end portion in an appropriate temperature range by re-energization, the current value I nr (kA) in the re-energization is 0.95 × I min ≦ I nr <1. .2 × I max is preferably satisfied. In addition, the energization time in the re-energization step is preferably in the range of 20 ms to 200 ms. More preferably, it is 20 ms to 100 ms.
In the present invention, the upper limit of the energization time of the cooling energization in the repetitive energization step is not particularly defined, but is preferably (800 × t) or less. If it exceeds (800 × t), the total time of the welding process itself may be long, and the productivity may be reduced.
On the other hand, the lower limit of the energization time of the cooling energization is not particularly specified, but is preferably 20 ms or more. If the time is less than 20 ms, the effect of cooling the nugget end cannot be obtained, and an appropriate temperature range may not be maintained by the subsequent energization.
2枚板組と3枚板組の各条件において、抵抗スポット溶接を行った。抵抗スポット溶接は常温で行い、電極を常に水冷した状態で行った。下電極4と上電極5は、いずれも先端の直径(先端径)6mm、曲率半径40mmとし、クロム銅製のDR形電極とした。また、下電極4と上電極5をサーボモータで駆動することによって加圧力を制御し、通電の際には周波数50Hzの単相交流を供給した。2枚板組の場合には下鋼板1および上鋼板2とし、3枚板組の場合には下鋼板9、中鋼板10、上鋼板11とした。板組としては、下記の(A)、(B)、(C)とした。
(A):下鋼板1と上鋼板2として、引張強度1470MPa、(1)式で表されるXが0.24、(2)式で表されるYが0.020となるめっき処理有り(溶融亜鉛めっき(GI)、付着量は片面当たり50g/m2))の板厚1.4mmの鋼板を用いた。
(B):下鋼板1として、引張強度1470MPa、(1)式で表されるXが0.24、(2)式で表されるYが0.020となるめっき処理有り(溶融亜鉛めっき(GI)、付着量は片面当たり50g/m2))の板厚1.6mmの鋼板、上鋼板2として、引張強度1180MPa、(1)式で表されるXが0.20、(2)式で表されるYが0.024となるめっき処理無しの板厚2.0mmの鋼板を用いた。
(C):下鋼板9および中鋼板10として、引張強度1470MPa、(1)式で表されるXが0.22、(2)式で表されるYが0.024となるめっき処理無しの板厚1.4mmの鋼板、上鋼板11として、引張強度270MPa、(1)式で表されるXが0.027、(2)式で表されるYが0.044となるめっき処理有り(溶融亜鉛めっき(GA)、付着量は片面当たり45g/m2)の板厚0.7mmの鋼板を用いた。
(A)の場合、Xmax=0.24、Ymin=0.020であり、(B)の場合、Xmax=0.24、Ymin=0.020、(C)の場合、Xmax=0.22、Ymin=0.024である。引張強度は、各鋼板から、圧延方向に対して平行方向にJIS5号引張試験片を作製し、JIS Z 2241:2011の規定に準拠して引張試験を実施して求めた引張強度である。 Hereinafter, the present invention will be described with reference to examples. Note that the present invention is not limited to the following embodiments.
Resistance spot welding was performed under each condition of the two-plate set and the three-plate set. Resistance spot welding was performed at room temperature, and the electrode was constantly cooled with water. Each of the
(A): As the
(B): The
(C): As the
In the case of (A), Xmax = 0.24, Ymin = 0.020, in the case of (B), Xmax = 0.24, Ymin = 0.020, and in the case of (C), Xmax = 0.22 and Y min = 0.024. The tensile strength is a tensile strength determined by preparing a JIS No. 5 tensile test piece from each steel sheet in a direction parallel to the rolling direction and performing a tensile test in accordance with JIS Z 2241: 2011.
2 上鋼板
3 ナゲット
4 下電極
5 上電極
6 スペーサ
7 溶接点
8 仮溶接点
9 下鋼板
10 中鋼板
11 上鋼板
12 スポット溶接部
13 ナゲット
14 溶接熱影響部
15 鋼板
16 ナゲット端部 1
Claims (3)
- 2以上の鋼板と、前記鋼板間に形成されたスポット溶接部と、を備える抵抗スポット溶接部材であって、
前記2以上の鋼板の少なくとも1つの鋼板の引張強度が980MPa以上であり、
前記2以上の鋼板において、下記(1)式で表される係数Xが最も大きくなる鋼板のXをXmaxとし、下記(2)式で表される係数Yが最も小さくなる鋼板のYをYminとした場合に、前記スポット溶接部のナゲットの端部のビッカース硬さHn(Hv)が下記(3)式で表されるHob(Hv)以下であり、
前記スポット溶接部の溶接熱影響部の最軟化部のビッカース硬さHmin(Hv)が下記(4)式を満足する、抵抗スポット溶接部材。
X=[C]+[Si]/40+[Mn]/200 (1)
Y=[P]+3×[S] (2)
Hob=(800× Xmax+300)/(0.7+20 × Ymin) (3)
0.4 × Hn≦Hmin≦0.9 × Hn (4)
前記(1)式及び(2)式において[C]、[Si]、[Mn]、[P]及び[S]は各元素の含有量(質量%)である。ただし、含まない場合は0とする。 A resistance spot welded member comprising two or more steel plates and a spot weld formed between the steel plates,
The tensile strength of at least one steel plate of the two or more steel plates is 980 MPa or more,
Wherein at least two steel plates, the X of the steel sheet which the coefficient X represented by the following formula (1) is maximized and X max, the Y coefficient Y is smallest steel sheet represented by the following formula (2) Y min , the Vickers hardness H n (Hv) at the end of the nugget of the spot welded portion is equal to or less than H ob (Hv) represented by the following equation (3);
A resistance spot welded member in which the Vickers hardness H min (Hv) of the softest part of the heat affected zone of the spot welded part satisfies the following expression (4).
X = [C] + [Si] / 40 + [Mn] / 200 (1)
Y = [P] + 3 × [S] (2)
H ob = (800 × X max +300) / (0.7 + 20 × Y min ) (3)
0.4 × H n ≦ H min ≦ 0.9 × H n (4)
In the formulas (1) and (2), [C], [Si], [Mn], [P] and [S] are the contents (% by mass) of the respective elements. However, it is set to 0 when not included. - 抵抗スポット溶接部材の製造方法であって、
引張強度が980MPa以上の鋼板を少なくとも1枚含む2枚以上の鋼板を重ね合わせて1対の溶接電極で挟持し加圧しながら通電してナゲットを形成する主通電工程と、
前記主通電工程の後に下記の(5)式、(6)式で表される冷却時間Ct(ms)の間鋼板を前記溶接電極で加圧保持してナゲットを冷却する冷却工程と、
前記冷却工程後に、下記(7)式を満足する電流値Ip(kA)で通電する後通電工程と、を有する、抵抗スポット溶接部材の製造方法。
Ct≧160 × t2 (t≦1.6) (5)
Ct≧256× t (t>1.6) (6)
0.8 × Imin≦Ip<1.5 × Imax (7)
前記(5)式、(6)式、(7)式において、
t:被接合鋼板の平均板厚(mm)
Imax:主通電工程における最大電流値(kA)
Imin:主通電工程における最小電流値(kA)
である。 A method for manufacturing a resistance spot welding member,
A main energization step in which two or more steel sheets including at least one steel sheet having a tensile strength of 980 MPa or more are stacked, sandwiched by a pair of welding electrodes, and energized while applying pressure to form a nugget;
A cooling step of cooling the nugget by holding the steel plate under pressure with the welding electrode for a cooling time C t (ms) represented by the following equations (5) and (6) after the main energization step;
A method for manufacturing a resistance spot welded member, comprising: after the cooling step, an energizing step of energizing at a current value I p (kA) satisfying the following expression (7).
C t ≧ 160 × t 2 (t ≦ 1.6) (5)
C t ≧ 256 × t (t> 1.6) (6)
0.8 × I min ≦ I p <1.5 × I max (7)
In the above equations (5), (6) and (7),
t: Average thickness of the steel plate to be joined (mm)
I max : maximum current value (kA) in the main energization process
I min : minimum current value (kA) in the main energization process
It is. - 前記後通電工程の後に、冷却し下記(8)式を満たす条件で通電する冷却通電と、前記冷却通電後に下記(9)式を満たす条件で再後通電する再後通電とをn回行う繰返通電工程を有する、請求項2に記載の抵抗スポット溶接部材の製造方法。
0≦Inc≦Imax (8)
0.8 × Imin≦Inr<1.5 × Imax (9)
前記(8)式、(9)式において、
Inc:n回目の冷却通電における電流値(kA)
Inr:n回目の再後通電における電流値(kA)
Imax:主通電工程における最大電流値(kA)
Imin:主通電工程における最小電流値(kA)
n:1以上の自然数
である。 After the post-energization step, cooling energization for cooling and energizing under the condition satisfying the following formula (8) and re-energizing for re-energizing after the cooling energizing under the condition satisfying the following formula (9) are repeated n times. The method for producing a resistance spot welded member according to claim 2, further comprising a step of returning electricity.
0 ≦ I nc ≦ I max (8)
0.8 × I min ≦ I nr <1.5 × I max (9)
In the equations (8) and (9),
I nc : Current value (kA) at n-th cooling energization
Inr : current value (kA) in the nth re-energization
I max : maximum current value (kA) in the main energization process
I min : minimum current value (kA) in the main energization process
n is a natural number of 1 or more.
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WO2023063098A1 (en) * | 2021-10-12 | 2023-04-20 | Jfeスチール株式会社 | Resistance spot-welded joint and resistance spot welding method therefor |
WO2023181680A1 (en) * | 2022-03-25 | 2023-09-28 | Jfeスチール株式会社 | Resistance spot-welded joint and method for producing same |
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JP2008229720A (en) * | 2007-02-22 | 2008-10-02 | Kobe Steel Ltd | Spot-welded joint of high-strength steel sheets excellent in tensile strength, automotive component having the same joint, and spot-welding method of high-strength steel sheets |
JP2009001839A (en) * | 2007-06-19 | 2009-01-08 | Kobe Steel Ltd | High strength spot welded joint |
JP2010115706A (en) * | 2008-10-16 | 2010-05-27 | Jfe Steel Corp | Resistance spot welding method for high-strength steel sheet |
JP2010240740A (en) * | 2009-03-17 | 2010-10-28 | Jfe Steel Corp | Method of manufacturing resistance spot welded joint |
WO2014171495A1 (en) * | 2013-04-17 | 2014-10-23 | 新日鐵住金株式会社 | Spot welding method |
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JP5333560B2 (en) * | 2011-10-18 | 2013-11-06 | Jfeスチール株式会社 | Resistance spot welding method and resistance spot welding joint of high strength steel plate |
JP6149522B2 (en) * | 2013-04-22 | 2017-06-21 | 新日鐵住金株式会社 | Lap welded member of high strength steel plate and method for producing the same |
JP6194765B2 (en) | 2013-11-08 | 2017-09-13 | 新日鐵住金株式会社 | Spot welding method for high strength steel sheet |
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Patent Citations (5)
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JP2008229720A (en) * | 2007-02-22 | 2008-10-02 | Kobe Steel Ltd | Spot-welded joint of high-strength steel sheets excellent in tensile strength, automotive component having the same joint, and spot-welding method of high-strength steel sheets |
JP2009001839A (en) * | 2007-06-19 | 2009-01-08 | Kobe Steel Ltd | High strength spot welded joint |
JP2010115706A (en) * | 2008-10-16 | 2010-05-27 | Jfe Steel Corp | Resistance spot welding method for high-strength steel sheet |
JP2010240740A (en) * | 2009-03-17 | 2010-10-28 | Jfe Steel Corp | Method of manufacturing resistance spot welded joint |
WO2014171495A1 (en) * | 2013-04-17 | 2014-10-23 | 新日鐵住金株式会社 | Spot welding method |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2023063098A1 (en) * | 2021-10-12 | 2023-04-20 | Jfeスチール株式会社 | Resistance spot-welded joint and resistance spot welding method therefor |
WO2023181680A1 (en) * | 2022-03-25 | 2023-09-28 | Jfeスチール株式会社 | Resistance spot-welded joint and method for producing same |
JP7355280B1 (en) | 2022-03-25 | 2023-10-03 | Jfeスチール株式会社 | Resistance spot welding joint and its manufacturing method |
Also Published As
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JPWO2020036198A1 (en) | 2020-08-20 |
KR102491219B1 (en) | 2023-01-20 |
CN112584959A (en) | 2021-03-30 |
KR20210033486A (en) | 2021-03-26 |
JP6908132B2 (en) | 2021-07-21 |
CN112584959B (en) | 2022-10-11 |
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