JPH06504A - Method for cold rolling steel strip - Google Patents

Method for cold rolling steel strip

Info

Publication number
JPH06504A
JPH06504A JP16069592A JP16069592A JPH06504A JP H06504 A JPH06504 A JP H06504A JP 16069592 A JP16069592 A JP 16069592A JP 16069592 A JP16069592 A JP 16069592A JP H06504 A JPH06504 A JP H06504A
Authority
JP
Japan
Prior art keywords
roll
cold rolling
rolling
projecting
steel strip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP16069592A
Other languages
Japanese (ja)
Other versions
JP2991860B2 (en
Inventor
Masakane Takemoto
雅謙 竹本
Tetsuya Nishiura
徹也 西浦
Eiji Orihashi
英治 折橋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nippon Steel Corp
Original Assignee
Nippon Steel Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nippon Steel Corp filed Critical Nippon Steel Corp
Priority to JP4160695A priority Critical patent/JP2991860B2/en
Publication of JPH06504A publication Critical patent/JPH06504A/en
Application granted granted Critical
Publication of JP2991860B2 publication Critical patent/JP2991860B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Reduction Rolling/Reduction Stand/Operation Of Reduction Machine (AREA)
  • Metal Rolling (AREA)

Abstract

PURPOSE:To improve the grip with a steel sheet and to prolong the roll life by forming projecting and recessing parts on the surface of the work rolls which are treated by hardening of an intermediate stand of a cold rolling mill and also executing rolling using these work rolls. CONSTITUTION:The work rolls which are treated by hardening are mounted in the intermediate stand of the cold rolling mill, the projecting and recessing parts of which the size D of the top face of the projecting part is 30 to 450mum, difference between the projecting and recessing parts is 2 to 20mum and distance P between the peaks of the projecting parts is 50 to 1000 7mum and which are in the range of 1<P/D<5 are regularly formed on the surface of the work roll. This method for cold rolling steel strips is executed using these work rolls. And, the area of the projecting parts of the roll used at this time is the area of 3 to 80% of the effective roll surface.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、冷間圧延機の中間スタ
ンドのワークロール表面に凹凸を有する圧延ワークロー
ルを用いて行なう鋼帯の冷間圧延方法に関するものであ
る。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cold rolling method for a steel strip which is carried out by using a rolling work roll having an uneven work roll surface of an intermediate stand of a cold rolling mill.

【0002】[0002]

【従来の技術】一般に、鋼帯の冷間圧延において使用さ
れる圧延ワークロールは、鋼板とのグリップ力向上、鋼
板の蛇行防止等を目的としてロール表面に微小な凹凸模
様を有する粗面(ダル)とするのが通常であり、従来、
ロール表面を加工し凹凸パターンを成形する方法には、
ショットプラスト加工法や放電ダル加工法がある。しか
し、これらの方法によって作られる凹凸パターンは、不
規則な山谷が鋭角な突起形状であるため、この様なロー
ルで鋼帯を圧延すると、突起頂部が鋼帯に食い込む形と
なり、圧延荷重が局部的に上昇すると共に頂部が折損し
たり著しく摩耗を進行させる。それ故に、短期間のロー
ル使用で粗度低下に伴うグリップ力低下等によりロール
交換が頻繁となる問題が生じる。
2. Description of the Related Art Generally, a rolling work roll used in cold rolling of a steel strip is a rough surface (dull surface) having a minute uneven pattern on the roll surface for the purpose of improving grip with a steel plate, preventing meandering of the steel plate, and the like. ) Is usual, and conventionally,
For the method of processing the roll surface and forming the uneven pattern,
There are a shot plast machining method and an electric discharge dull machining method. However, since the uneven pattern formed by these methods has a protrusion shape with irregular peaks and ridges, when rolling a steel strip with such a roll, the top of the protrusion bites into the steel strip and the rolling load is locally reduced. As a result, the top part is broken and wear is significantly promoted. Therefore, when the roll is used for a short period of time, there arises a problem that the roll is frequently exchanged due to a decrease in grip force accompanied by a decrease in roughness.

【0003】また、ロール表面に凹凸パターンを成形す
る他の方法として圧延ロールの表面クレーター模様が所
定値になるようにレーザービームにより加工した圧延ロ
ールを用いて圧延することが特開昭62−224405
号公報に開示されているものの、上記したダル加工法と
同様に凹凸の摩耗速度が大きいのでロール交換が頻繁と
なる問題が生じる。さらに前記ダル加工したロール表面
にCrメッキを施して耐摩耗性を向上させる方法もある
が、メッキ面は凹凸の突起高さあるいは不規則性をさら
に助長し、その結果局部的に圧延荷重が大となり、前記
ダル加工ロールと同じような問題が発生する。
Further, as another method of forming an uneven pattern on the roll surface, rolling using a rolling roll processed by a laser beam so that the surface crater pattern of the rolling roll has a predetermined value can be carried out.
Although it is disclosed in Japanese Patent Laid-Open Publication No. JP-A No. 2003-242242, the wear rate of unevenness is high as in the above-mentioned dull processing method, so that there is a problem in that roll replacement is frequent. Further, there is a method of improving the wear resistance by applying Cr plating to the surface of the dull-processed roll, but the plated surface further promotes the projection height of irregularities or irregularity, resulting in a large rolling load locally. Therefore, a problem similar to that of the dull processing roll occurs.

【0004】[0004]

【発明が解決しようとする課題】本発明は、上述した従
来の問題点を解消しようとするものであって、ワークロ
ール表面の凹凸粗度形状を改善することにより、鋼帯の
冷間圧延方法において長期間鋼板とのグリップ力向上、
ロールの長寿命等を提供することを目的とする。
DISCLOSURE OF THE INVENTION The present invention is intended to solve the above-mentioned conventional problems, and to improve the uneven roughness shape of the work roll surface by a method of cold rolling a steel strip. In the long term, the grip power with the steel plate is improved,
The purpose is to provide a long life of the roll.

【0005】[0005]

【課題を解決するための手段】上記目的を達成するため
に本発明は、冷間圧延機の中間スタンドに硬化処理を施
したワークロールを設け、該ワークロールの表面に凸部
頂面の大きさDが30〜450μm、凹凸差が2〜20
μm、凸部ピーク間距離Pが50〜1000μmかつ1
<P/D<5の範囲に規則正しい凹凸部を設けると共
に、該ワークロールを用いて圧延することを特徴とする
鋼帯の冷間圧延方法を要旨とする。また、本発明におい
ては、上記凸部の面積が、有効ロール面の3〜80%の
面積となることが好ましい。
In order to achieve the above object, the present invention provides a work roll which has been subjected to a hardening treatment on an intermediate stand of a cold rolling mill, and the size of a convex top surface on the surface of the work roll. Size D is 30 to 450 μm, unevenness is 2 to 20
μm, the peak-to-peak distance P is 50 to 1000 μm and 1
A gist of a cold rolling method for a steel strip is characterized in that regular uneven portions are provided in a range of <P / D <5 and rolling is performed using the work roll. Further, in the present invention, the area of the convex portion is preferably 3 to 80% of the effective roll surface.

【0006】以下に本発明を詳細に説明する。図1は、
ショットブラスト法によってワークロール1の表面を加
工し、付与した凹凸突起2模様を拡大して示したもので
ある。この様な状態でのロール表面の大型突起は、圧延
時鋼帯表面と焼き付を起こし急激に摩耗する。すなわち
突起2の頂部が点あるいは線であものは圧延荷重が局部
的に上昇し、塑性変形拘束力が小さくなって摩耗の進展
が大きくなる。摩耗したロール表面は鋼帯とのスリップ
が容易に生じる。図2は、本発明におけるワークロール
1において上記ショットブラストのまま、または、ショ
ットブラストを行なったのちに硬化処理を行ない、その
後、例えばマイクロリソグラフィー法を用いて微細模様
を成形させた時のロール断面図を示す。
The present invention will be described in detail below. Figure 1
The surface of the work roll 1 is processed by the shot blast method, and the pattern of the uneven projections 2 provided is enlarged and shown. The large protrusions on the roll surface in such a state cause seizure with the surface of the steel strip during rolling, causing rapid wear. That is, when the tops of the projections 2 are points or lines, the rolling load locally rises, the plastic deformation restraining force becomes small, and the progress of wear increases. The worn roll surface easily slips with the steel strip. FIG. 2 shows a roll cross section when the work roll 1 in the present invention is shot-blasted as it is, or is shot-blasted and then subjected to a curing treatment, and thereafter a fine pattern is formed by using, for example, a microlithography method. The figure is shown.

【0007】図3は本発明による圧延ロールの表面加工
工程の一例を示すもので、微細な凹凸粗面を有するロー
ル1表面に図2に示すような凹凸突起4を成形する。ロ
ール1の表面に、凹凸突起2を形成する方法は、その一
例を図3の(a)〜(d)図に示すような方法にて行う
ことができる。すなわち、まず感光性樹脂供給器8上部
に設置したホッパー5より液状感光性樹脂6を感光性樹
脂供給器8に供給し後方よりエアー7により所定の厚さ
に調整しながら感光性樹脂をロール表面に被覆し感光性
樹脂層(膜)9を形成する。ついで感光性樹脂層9にレ
ーザー発振器10より発する可視領域の波長レーザービ
ーム11を所定の規則的なピッチで間欠的に照射し、こ
の照射部を硬化14させる〔(b)図〕。
FIG. 3 shows an example of the surface processing step of the rolling roll according to the present invention, in which the uneven projections 4 as shown in FIG. 2 are formed on the surface of the roll 1 having a fine uneven rough surface. As a method of forming the uneven projections 2 on the surface of the roll 1, an example thereof can be performed by a method as shown in FIGS. 3 (a) to 3 (d). That is, first, the liquid photosensitive resin 6 is supplied to the photosensitive resin feeder 8 from the hopper 5 installed on the upper portion of the photosensitive resin feeder 8, and the photosensitive resin is adjusted to a predetermined thickness from the rear by the air 7 to adjust the photosensitive resin to the roll surface. To form a photosensitive resin layer (film) 9. Next, the photosensitive resin layer 9 is intermittently irradiated with a wavelength laser beam 11 in the visible region emitted from the laser oscillator 10 at a predetermined regular pitch, and the irradiated portion is cured 14 (FIG. (B)).

【0008】この(b)図では、スリット12を有する
チョッパー13を用い、これを回転させながらビーム1
1の間欠的照射を行っているが、これに限定することな
く例えば連続照射レーザービームの偏光制御、パルスレ
ーザー等によってもよい。続いて(c)図のごとく、前
記処理をしたロール表面に噴霧器15より例えば1,
1,1−トリクロロエタンのような溶解剤16を散布す
ると、(d)図に示すように感光性樹脂硬化部14を残
して未硬化部を洗浄しロール面17を露出する。その
後、化学腐食剤によってエッチングを行い凹部を形成
し、図2の様な規則的な凹凸パターンを形成する。
In FIG. 1B, a chopper 13 having a slit 12 is used and the beam 1 is rotated by rotating the chopper 13.
Although the intermittent irradiation of 1 is performed, the invention is not limited to this, and for example, polarization control of a continuous irradiation laser beam, a pulse laser, or the like may be used. Then, as shown in (c) of FIG.
When a dissolving agent 16 such as 1,1-trichloroethane is sprayed, the photosensitive resin cured portion 14 is left and the uncured portion is washed to expose the roll surface 17 as shown in FIG. After that, etching is performed with a chemical corrosive agent to form concave portions, and a regular concavo-convex pattern as shown in FIG. 2 is formed.

【0009】冷間圧延機の中間スタンドとは、冷間圧延
機の前段と最終段の圧延スタンドを除いたスタンドのこ
とである。冷間圧延機において前段圧延スタンドに使用
されるロールは鋼板噛み込みおよび尻抜け時に疵発生が
問題であり、また、冷間圧延機の最終段圧延スタンドに
使用されるロールはロール表面凹凸が鋼板表面に転写さ
れないロールであることが必要である。これらの理由か
ら本発明は中間スタンドに限定するものである。
The intermediate stand of the cold rolling mill is a stand excluding the rolling stands at the front stage and the final stage of the cold rolling mill. The rolls used in the former rolling stand of the cold rolling mill have a problem that scratches occur when the steel plate bites and slips out, and the rolls used in the final rolling stand of the cold rolling mill have steel plate with uneven surface. It must be a roll that is not transferred to the surface. For these reasons, the present invention is limited to intermediate stands.

【0010】次に本発明で特定しているロール表面の凸
部頂面の大きさDが30〜450μm、凹凸差が2〜2
0μm、凸部ピーク間距離Pが50〜1000μmかつ
1<P/D<5の範囲に規則正しい凹凸部を設けること
の条件範囲を設けたことについて述べる。まず、凸部頂
面の大きさDが30μm未満の場合は、凸部頂面の大き
さが針形状のため圧延時に圧延荷重が局部的に上昇し、
凸部が折損し摩耗の進展が大きくなる。また凸部頂面の
大きさDが450μm超の場合は、凸部頂面の面積が大
きく圧延時に微細模様の転写が困難となる。凹凸差が2
μm未満の場合は、長期間鋼板とのグリップ力向上、ロ
ールの長寿命等の確保が困難となる。また、20μm超
の場合は、圧延時に凸部の端が欠け落ちてマークサイズ
が短期間で小さくなり当初の目的を達成できない。
Next, the size D of the convex top surface of the roll surface specified in the present invention is 30 to 450 μm, and the unevenness difference is 2 to 2.
It will be described that the condition range for providing the regular concavo-convex portion is set in the range of 0 μm, the peak-to-peak peak distance P is 50 to 1000 μm, and 1 <P / D <5. First, when the size D of the convex top surface is less than 30 μm, the rolling load locally increases during rolling because the size of the convex top surface is needle-shaped,
The convex portion is broken and the wear progresses greatly. Further, when the size D of the top surface of the convex portion exceeds 450 μm, the area of the top surface of the convex portion is large and it becomes difficult to transfer the fine pattern during rolling. The unevenness difference is 2
If it is less than μm, it becomes difficult to improve the grip force with the steel plate for a long period of time and to secure the long life of the roll. On the other hand, if it exceeds 20 μm, the end of the convex portion is chipped off during rolling and the mark size becomes small in a short period of time, so that the original purpose cannot be achieved.

【0011】凸部ピーク間距離Pが50μm未満の場合
には、凸部頂面の大きさが針形状となるため圧延時に圧
延荷重が局部的に上昇し、凸部が折損し摩耗の進展が大
きくなる。また凸部ピーク間距離Pが1000μm超の
場合には、ロール凸部の面積率が少なくなり圧延時の凸
部1個当りの受け持ち圧延荷重が大きくなり凸部が一部
欠ける等により摩耗の進展が大きくなる。P/Dが1未
満の時は、有効ロール面の凸部面積が80%超となり鋼
板とのグリップ力低下、鋼板の蛇行等が生じる。P/D
が5超の時は、有効ロール面の凸部面積が3%未満とな
りロール凸部頂面Dの大きさに関係なく圧延時の凸部1
個当りの受け持ち荷重が大きくなり凸部が一部欠ける等
により摩耗の進展が大きくなる。
When the peak-to-peak distance P between the protrusions is less than 50 μm, the size of the top surface of the protrusions has a needle shape, the rolling load locally rises during rolling, the protrusions are broken, and wear progresses. growing. Further, when the peak-to-peak distance P is more than 1000 μm, the area ratio of the convex portions of the roll is reduced, the rolling load per convex portion during rolling is increased, and the convex portions are partially chipped to cause wear progress. Grows larger. When P / D is less than 1, the area of the convex portion of the effective roll surface exceeds 80%, and the grip force with the steel plate is reduced, and the steel plate is meandered. P / D
Is more than 5, the area of the convex portion of the effective roll surface is less than 3% and the convex portion 1 at the time of rolling irrespective of the size of the roll convex portion top surface D is obtained.
The bearing load per piece becomes large, and the protrusions are partly chipped, etc., and wear progresses greatly.

【0012】[0012]

【実施例】通常の方法で製造した3mm厚*1200m
m幅の熱間圧延鋼帯を各段毎の圧下率が30%となる5
段階の冷間圧延機を用いて0.6mm厚*1200mm
幅の冷間圧延鋼帯に冷間圧延を行なう場合の3段目に下
記3種のロールを用いて行なった。冷間圧延機の中間ス
タンドに使用したワークロールの表面状況は次の通りで
ある。
[Example] 3 mm thickness * 1200 m manufactured by a normal method
The reduction ratio of the m-width hot-rolled steel strip is 30% at each stage 5
0.6mm thickness * 1200mm using the multi-stage cold rolling mill
The following three types of rolls were used in the third stage when cold rolling the wide cold rolled steel strip. The surface condition of the work roll used for the intermediate stand of the cold rolling mill is as follows.

【0013】(1)本発明対象ロール…突起の製造方法
はCrメッキ8μmを施した圧延ロール表面にレジスト
材を塗布し、レーザーにより感光後、エッチングにより
凹凸を形成した。その時の凸部形状は円筒形であり、マ
ーク径100μm、マークピッチ125μmのへこみと
し、凹凸模様の凸部の面積率(凸部の全面積/ロール有
効面積*100)50%を有するように加工を行なっ
た。 (2)Crメッキロール…Crメッキロールは従来行わ
れているショットにより所定の粗度調整を行なった後、
硬質Crメッキを施し、表面粗度0.7〜1.5μmR
aに調整した。 (3)レーザダルロール…レーザーダルロールはロール
表面を0.5〜1.8μmRaに調整後、レーザー加工
によりマーク外径100μm、マークピッチ125μm
の加工を行なった。
(1) Roll of the present invention: In the method of producing protrusions, a resist material was applied to the surface of a rolling roll plated with 8 μm of Cr, and after exposure with a laser, unevenness was formed by etching. The convex shape at that time was a cylindrical shape, and was made to have a dent with a mark diameter of 100 μm and a mark pitch of 125 μm, and to have an area ratio of the convex parts of the uneven pattern (total area of convex parts / effective roll area * 100) of 50%. Was done. (2) Cr-plated roll ... The Cr-plated roll is adjusted to a predetermined roughness by shots that are conventionally used, and then
Hard Cr plating applied, surface roughness 0.7-1.5 μmR
Adjusted to a. (3) Laser dull roll ... The laser dull roll has a roll surface adjusted to 0.5 to 1.8 μmRa, and then laser processed to have a mark outer diameter of 100 μm and a mark pitch of 125 μm.
Was processed.

【0014】図4は鋼帯を冷間圧延したときの圧延量
(TON)とワークロール表面における突起の山高さの
残存率%〔圧延後の山高さ(突起高さ)/加工時の山高
さ(突起高さ)*100〕を示した。これより、本発明
対象ロールに成形した頂部突起の残存率が他のロールに
比して最も高く、摩耗しにくいことが明らかである。す
なわち、Crメッキダルロールに対しては2倍、レーザ
ーダルロールに対しては3倍以上の耐摩耗性を示してい
る。
FIG. 4 shows the rolling amount (TON) when cold rolling a steel strip and the residual ratio of the peak height of protrusions on the work roll surface% [peak height after rolling (protrusion height) / peak height during processing]. (Protrusion height) * 100]. From this, it is clear that the remaining rate of the top protrusions formed on the roll of the present invention is the highest as compared with the other rolls, and is less likely to be worn. That is, the abrasion resistance is twice as high as that of the Cr-plated dull roll and at least 3 times as much as that of the laser dull roll.

【0015】[0015]

【発明の効果】以上説明したように、本発明はワークロ
ール表面に突起頂部の凹凸模様を形成し、これを用いて
冷間圧延に使用することにより、ロール表面の耐摩耗性
がきわめて優れ、長期間鋼板とのグリップ力向上、ロー
ルの長寿命等の効果を得ることが出来る。
As described above, according to the present invention, the work roll surface is provided with the projections and depressions of the projection top, and when this is used for cold rolling, the wear resistance of the roll surface is extremely excellent. It is possible to obtain effects such as an improvement in grip strength with a steel plate for a long period of time and a long roll life.

【図面の簡単な説明】[Brief description of drawings]

【図1】ダル加工したロール表面の断面を示す図。FIG. 1 is a view showing a cross section of a dull-processed roll surface.

【図2】本発明対象の突起の凹凸模様を有するロール表
面の断面を示す図。
FIG. 2 is a view showing a cross section of a roll surface having an uneven pattern of protrusions as an object of the present invention.

【図3】リソグラフィー法による本発明の凹凸付与加工
工程の一例を示す説明図。
FIG. 3 is an explanatory view showing an example of the unevenness imparting processing step of the present invention by a lithography method.

【図4】冷間圧延におけるロールの圧延量と、ロール表
面の山(突起)高さ残存率との関係を示す図。
FIG. 4 is a diagram showing a relationship between a rolling amount of rolls in cold rolling and a peak (projection) height residual ratio on the roll surface.

【符号の説明】[Explanation of symbols]

1:ロール 2:ダル加工凸突起 3:うねり 4:本発明加工凸部突起 5:ホッパー 6:液状感光樹脂 7:エアー 8:感光樹脂供給器 9:感光性樹脂層 10:レーザー発振器 11:レーザー 12:スリット 13:チョッパー 14:感光硬化部 15:噴霧器 16:溶解剤 17:露出部 1: Roll 2: Dulling convex protrusion 3: Waviness 4: Processing convex protrusion of the present invention 5: Hopper 6: Liquid photosensitive resin 7: Air 8: Photosensitive resin feeder 9: Photosensitive resin layer 10: Laser oscillator 11: Laser 12: Slit 13: Chopper 14: Photosensitive curing part 15: Sprayer 16: Dissolving agent 17: Exposed part

Claims (2)

【特許請求の範囲】[Claims] 【請求項1】 冷間圧延機の中間スタンドに硬化処理を
施したワークロールを設け、該ワークロールの表面に凸
部頂面の大きさDが30〜450μm、凹凸差が2〜2
0μm、凸部ピーク間距離Pが50〜1000μmかつ
1<P/D<5の範囲に規則正しい凹凸部を設けると共
に、該ワークロールを用いて圧延することを特徴とする
鋼帯の冷間圧延方法。
1. A work roll that has been subjected to a hardening treatment is provided on an intermediate stand of a cold rolling mill, and the size D of the convex top surface is 30 to 450 μm and the unevenness difference is 2 to 2 on the surface of the work roll.
A method for cold rolling a steel strip, characterized in that 0 μm, a peak-to-peak distance P between protrusions of 50 to 1000 μm and regular irregularities are provided in the range of 1 <P / D <5, and rolling is performed using the work roll. .
【請求項2】 凸部の面積が、有効ロール面の3〜80
%の面積となることを特徴とする請求項1記載の鋼帯冷
間圧延方法。
2. The area of the convex portion is 3 to 80 of the effective roll surface.
%, And the steel strip cold rolling method according to claim 1.
JP4160695A 1992-06-19 1992-06-19 Cold rolling of steel strip Expired - Lifetime JP2991860B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4160695A JP2991860B2 (en) 1992-06-19 1992-06-19 Cold rolling of steel strip

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4160695A JP2991860B2 (en) 1992-06-19 1992-06-19 Cold rolling of steel strip

Publications (2)

Publication Number Publication Date
JPH06504A true JPH06504A (en) 1994-01-11
JP2991860B2 JP2991860B2 (en) 1999-12-20

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ID=15720474

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US7284634B2 (en) 2001-04-13 2007-10-23 Nsk, Ltd. Electric power steering apparatus
US7536930B2 (en) 2003-08-28 2009-05-26 Jtekt Corporation Reduction gear unit

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7284634B2 (en) 2001-04-13 2007-10-23 Nsk, Ltd. Electric power steering apparatus
US6702060B2 (en) 2001-06-27 2004-03-09 Nsk Ltd. Electric power steering apparatus
US6938723B2 (en) 2001-06-27 2005-09-06 Nsk Ltd. Electric power steering apparatus
US7025169B2 (en) 2001-06-27 2006-04-11 Nsk Ltd. Electric power steering apparatus
US7240763B2 (en) 2001-06-27 2007-07-10 Nsk Ltd. Electric power steering apparatus
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