Patent Application
20230415611
The present invention relates to a construction machine provided with an electric motor as a drive source.
Conventionally, for example, with regard to a construction machine such as an excavating work machine, there is an electric machine provided with an electric motor instead of an engine that uses gasoline for fuel as a drive source. For example, there is an electric excavating work machine that has a lower traveling body and an upper swiveling body swivelable with respect to the lower traveling body, and the electric excavating work machine is configured to have the upper swiveling body equipped with an electric motor (refer to, for example, Patent Literature 1).
Patent Literature 1 discloses an electric hydraulic shovel provided with an electric motor that drives a hydraulic pump, an inverter device that controls the electric motor and provided with a function to drive the electric motor by electric power supply from a battery mounted on the machine body or from an external commercial power source. The electric hydraulic shovel disclosed in Patent Literature 1 has a coolant water system comprising a coolant water pipe for the inverter device and a coolant water pipe for a converter device that receives connections from a battery and a commercial power supply.
Patent Literature 1 indicates with regard to a coolant water system that a coolant water pipe of a converter device and a coolant water pipe of an inverter device are connected with each other so as to be disposed in series. However, Patent Literature 1 does not disclose any specific configuration with regard to the coolant water system.
An object of the present invention is to provide a construction machine that can efficiently perform cooling without any cost increase with regard to a configuration in which an electric motor as a drive source and a device for supplying electric power to the electric motor are cooled by a cooling medium such as water.
A construction machine according to the present invention comprises an electric motor as a drive source, a power feeder that supplies electric power to the electric motor from outside, a cooling flow channel that circulates a cooling medium for cooling the electric motor and the power feeder, and a radiator that cools the cooling medium flowing in the cooling flow channel, wherein the cooling flow channel has a bypass flow channel section that branches from a flow channel section in communication with an inflow side of an intra-power-feeder flow channel, which is a flow channel of the cooling medium provided in the power feeder, that joins a flow channel section in communication with an outflow side of the intra-power-feeder flow channel and that causes the cooling medium to skirt around the power feeder.
In the construction machine according to another aspect of the present invention, the electric motor is provided at a downstream side of a flow of the cooling medium starting from the radiator in the cooling flow channel with respect to the power feeder.
In the construction machine according to another aspect of the present invention, the cooling flow channel has a flow rate adjusting section that adjusts a flow rate of the cooling medium that passes through the bypass flow channel section.
The construction machine according to another aspect of the present invention includes a battery that supplies electric power to the electric motor and a flow rate controlling section that controls adjustment of a flow rate of the cooling medium by the flow rate adjusting section, wherein the flow rate controlling section controls the flow rate adjusting section so that a bypass flow rate that is the flow rate of the cooling medium passing through the bypass flow channel section in a mode in which electric power supply to the electric motor is carried out only by the battery is larger than the bypass flow rate in a mode in which electric power supply to the electric motor is carried out by the power feeder from outside or the bypass flow rate in a mode in which electric power from outside is stored in the battery by the power feeder.
The construction machine according to another aspect of the present invention has an inverter device that controls the electric motor provided between the electric motor and the power feeder in the cooling flow channel, wherein the cooling flow channel has a second bypass flow channel section that branches from a flow channel section in communication with an inflow side of a flow channel of the cooling medium provided in the inverter device, that joins a flow channel section in communication with an outflow side of the flow channel of the cooling medium provided in the electric motor and that causes the cooling medium to skirt around the inverter device and the electric motor, and a second flow rate adjusting section that adjusts a flow rate of the cooling medium that passes through the second bypass flow channel section.
In the construction machine according to another aspect of the present invention, the cooling flow channel, which is provided with a battery for suppling electric power to the electric motor, has a bypass flow channel section for a battery that branches from a flow channel section in communication with an inflow side of an intra-battery flow channel, which is a flow channel of the cooling medium provided in the battery, that joins a flow channel section in communication with an outflow side of the intra-battery flow channel and that causes the cooling medium to skirt around the battery, and a flow rate adjusting section for a battery that adjusts a flow rate of the cooling medium passing through the bypass flow channel section for the battery.
In the construction machine according to another aspect of the present invention, the battery is provided at an upper stream side of a flow of the cooling medium starting from the radiator in the cooling flow channel with respect to the electric motor and the power feeder.
In the construction machine according to another aspect of the present invention, there is disposed below the radiator a confluence section of the bypass flow channel section with respect to a flow channel section in communication with an outflow side of the intra-power-feeder flow channel.
According to the present invention, efficient cooling can be performed without any cost increase with regard to a configuration in which an electric motor as a drive source and a device for supplying electric power to the electric motor are cooled by a water cooling system.
An object of the present invention is to improve cooling efficiency at low cost by contriving a circuit configuration for circulating a cooling medium in an electric construction machine provided with a configuration in which an electric motor as a drive source and a device for supplying electric power to the electric motor are cooled by a cooling medium such as water. Descriptions will hereinafter be made on embodiments of the present invention with reference to drawings.
In embodiments of the present invention, descriptions will be made on an excavating work machine (shovel), which is a swiveling work vehicle, as an example of a construction machine according to the present invention. However, the construction machine according to the present invention is not limited to excavating work machines, and can be widely applied to other types of construction machines such as a bulldozer, a crane work machine, a compact truck loader, a skid steer loader, and a wheel loader.
Descriptions will be made on an a first embodiment according to the present invention. Descriptions will be made on an overall configuration of an excavating work machine 1 according to the present embodiment with reference to
The traveling device 2 is a portion forming a main machine of the excavating work machine 1 and has a pair of right and left crawler type traveling sections 5, a truck frame 6 as a base plate supporting the right and left traveling sections 5, and a swiveling frame 7 disposed on the truck frame 6.
The traveling section 5 has a configuration in which a crawler is wound around a rotating body such as a plurality of sprockets supported by a predetermined frame portion constituting the truck frame 6. The traveling section 5 is provided with a drive sprocket 5a, which is a drive wheel, as a rotating body at a rear end thereof. The truck frame 6 has a center frame section 6a located in a middle part between the left and the right traveling sections 5, and side frame sections 6b disposed on both left and right sides of the center frame section 6a.
The swiveling frame 7 is formed in a substantially circular shape in a plane view, and can be swiveled with respect to the truck frame 6 either in a left direction or a right direction around a vertical axis by a swiveling support section 6c that is provided at an upper side of the truck frame 6. In addition, the swiveling frame 7 is configured to be capable of swiveling within left and right widths of the left and the right traveling sections 5, that is to say, within a width between a left outer edge of the left traveling section 5 and a right outer edge of the right traveling section 5. This enables small swiveling work to be performed by the excavating work machine 1.
There is provided on the swiveling frame 7 a driving section 10 having a flat floor section 8. The floor section 8 is disposed at a left portion of a front half portion on the swiveling frame 7. A tank section 9 is disposed at a right side of the driving section 10. The left side of the floor section 8 serves as an entrance/exit for an operator with respect to the driving section 10. In addition, there is provided at a rear portion on the swiveling frame 7 an electric motor 12, which is a motor, as a drive source.
The driving section 10 is used to drive and operate the traveling device 2 and the excavating device 3. On the swiveling frame 7, a canopy 13 is provided with respect to the driving section 10. The canopy 13 has a pair of left and right rear pillar sections 13a erected above a motor section, a pair of left and right front pillar sections 13b erected at a front end of the floor section 8, and a canopy roof section 13c disposed between the front and the rear pillar sections. The canopy roof section 13c covers the driving section 10 from above.
The driving section 10 has provided at a rear side of the floor section 8 a support table for a driving seat 14, which is a seat mount, and a driving seat 15 is provided on the support table for the driving seat 14. There is provided forward of the driving seat 15 a pair of left and right traveling levers 16 extending upward from the floor section 8. There is arranged at both the left and the right sides of the traveling lever 16 above the floor section 8 a plurality of operation pedals 17 for work. Moreover, the driving section 10 has provided around the driving seat 15 a work operation lever for operating a working section of the excavating device 3 and an operation panel section that has various kinds of an operation section such as a switch.
The excavating work machine 1 has a lower traveling body 20A, which is configured to include the truck frame 6 and the traveling sections 5 supported at both the left and the right sides of the truck frame 6, and an upper swiveling body 20B as a machine body swivelably mounted on the lower traveling body 20A. The upper swiveling body 20B is formed by including the swiveling frame 7, which is a frame that constitutes the machine body, and the driving section 10 provided on the swiveling frame 7.
The tank section 9 that is disposed at a right side of the driving section 10 is provided with a hydraulic oil tank 30 that contains hydraulic oil (refer to
The hydraulic oil tank 30 is covered by a right cover section 31. The right cover section 31 is a cover section covering the hydraulic oil tank 30 and a radiator 61 provided at a rear side of the hydraulic oil tank 30 and forms a right side portion of an exterior cover section that forms an exterior of the upper swiveling body 20B. The exterior cover section of the upper swiveling body 20B includes a rear cover section 32 forming a portion at a rear side of the exterior cover section, a left cover section 33 forming a portion at a left side thereof, a front lower cover section 34 covering a portion at a front lower side of the upper swiveling body 20B, and a left front cover section 35 provided at a lower side of a left end of the floor section 8. Either of a left side or a right side of the rear cover section 32 is rotatably supported by a hinge section. The left cover section 33 covers a left side of the support table for the driving seat 14.
The excavating device 3 is a front working device that is disposed at a front side of the traveling device 2. At a left and right middle part of the swiveling frame 7, a support bracket 18 that supports the excavating device 3 is protruded forward. The boom support bracket 19, which forms a base end part of the excavating device 3, is rotatably supported to the support bracket 18 as a rotary axis direction in a vertical direction of the boom support bracket 19. The excavating device 3 is provided so as to swing with respect to the swiveling frame 7 to the left and right by means of a swing hydraulic cylinder (not illustrated) that is disposed at a right side of the boom support bracket 19 and between the boom support bracket 19 and the swiveling frame 7.
The excavating device 3 has a boom 21 that has a bending shape like a boomerang shape in a side view and forms a portion at a base side of the excavating device 3, an arm 22 that is connected to a distal end side of the boom 21, and a bucket 23 that is attached to a distal end part of the arm 22. The excavating device 3 also has a boom cylinder 26 that causes the boom 21 to rotatably operate, an arm cylinder 27 that causes the arm 22 to rotatably operate, and a working tool cylinder 28 that causes the bucket 23 to rotatably operate. These cylinders are all hydraulic cylinders.
The bucket 23, as an attachment for work, is detachably connected to the distal end part of the arm 22 via an attachment detachable device 29. In the excavating device 3, another device such as a grapple or a breaker is attached instead of the bucket 23 in accordance with work contents.
In the excavating work machine 1 that has the above-mentioned configuration, desired operating or work is performed when an operator, who is seated on the driving seat 15, operates as appropriate the traveling lever 16, the work operation lever, and the like. Specifically, for example, an operation of the traveling lever 16 allows the traveling device 2 to travel straightly back and forth or to swivel and travel to the left and right. In addition, an operation of the work operation lever allows excavating work to be performed by the excavating device 3.
The excavating work machine 1 according to the present embodiment is an electric construction machine provided with an electric motor 12 as a drive source. As illustrated in
The actuator 43 is a generic term for various kinds of hydraulic actuators provided by the excavating work machine 1. The actuator 43 includes, for example, a boom cylinders 26, an arm cylinder 27, a working tool cylinder 28, a swing hydraulic cylinder, and a hydraulic cylinder for swiveling.
The control valve 42 controls a flow of pressure oil to each hydraulic actuator as the actuator 43. The control valve 42 is composed of a plurality of direction switch valves corresponding to each hydraulic actuator and controls the amount and destination of pressure oil supplied from the hydraulic oil tank 30 by driving the hydraulic pump 41 through an operating control of the direction switch valves or the like. A control for supplying pressure oil to the actuator 43 causes an operating of the excavating device 3, a swiveling operating of the upper swiveling body 20B or the like to be performed.
As illustrated in
The excavating work machine 1 also has a pair of left and right hydraulic motors for traveling 44, 44 (refer to
As illustrated in
As illustrated in
The power feeder 46 has a function of converting AC power (AC voltage) supplied from the commercial power source 49 into DC power (DC voltage) to output to the inverter device 48, a function of converting AC power supplied from the commercial power source 49 into DC power to output to the battery unit 47, and a function of outputting DC power supplied from the battery unit 47 to the inverter device 48. The power feeder 46 is configured so as to switch a function that is effective by switching a mode.
The power feeder 46 controls a current value and a voltage value of the supplied electric power. Specifically, the power feeder 46 has a rectifier circuit that converts AC power supplied from the commercial power source 49 into DC power and that boosts voltage of the power to a predetermined voltage, and a chopper circuit that steps down voltage of the DC power obtained by the rectifier circuit when supplying it to the battery unit 47. This chopper circuit has a function of boosting voltage of DC power supplied from the battery unit 47.
Moreover, the power feeder 46 has a connection terminal for a battery for inputting/outputting electric power between the power feeder 46 and the battery unit 47 and a connection terminal for an inverter for outputting electric power to the inverter device 48. The connection terminal for an inverter causes the power feeder 46 to selectively output either the DC power obtained by the rectifier circuit or the DC power obtained by the chopper circuit to the inverter device 48.
In addition, the power feeder 46 has a relay switch provided between the rectifier circuit and the connection terminal for an inverter and a relay switch provided between the connection terminal for a battery and the chopper circuit. The power feeder 46 has an arithmetic control section 46a that controls an operating of the relay switch or the chopper circuit. The arithmetic control section 46a controls, for example, the relay switch and the chopper circuit in response to an instruction signal from a changeover switch through operation of the mode changeover switch provided in the driving section 10. The arithmetic control section 46a is composed of, for example, a microcomputer.
The excavating work machine 1 has the following three power feeding modes as a mode that can be switched through operation of the mode changeover switch. That is to say, the excavating work machine 1 has, as a first mode, a battery power feeding mode, in which electric power is supplied to the electric motor 12 only by the battery unit 47 (refer to
The external power feeding mode includes a case of performing at least either of charging the battery unit 47 from the commercial power source 49 via the power feeder 46 or electric power supply from the battery unit 47 to the electric motor 12. In other words, the electric motor 12 is driven by electric power supply from the battery unit 47 in the battery power feeding mode and by power supply from the commercial power source 49 in the external power feeding mode and in some cases, receives from the battery unit 47 electric power supply for driving.
In a case where the battery power feeding mode is selected through operation of the mode changeover switch, the arithmetic control section 46a controls opening and closing of the relay switch as appropriate and controls the chopper circuit to cause electric power supply from the battery unit 47 to the inverter device 48. In addition, in a case where the external power feeding mode is selected, the arithmetic control section 46a controls the opening and closing of the relay switch as appropriate, converts AC power supplied from the commercial power source 49 into DC current by the rectifier circuit, and supplies electric power to the inverter device 48. Furthermore, in a case where the power storage mode is selected, the arithmetic control section 46a controls the opening and closing of the relay switch as appropriate, converts AC power supplied from the commercial power source 49 to DC current by the rectifier circuit, steps down voltage of the power by the chopper circuit to output to the battery unit 47, thereby charging the battery unit 47.
As illustrated in
The battery unit 47 is a power source provided by the excavating work machine 1. The battery unit 47 is formed by unitizing a plurality of battery modules. The battery module is composed of a secondary battery such as a lead-acid battery or a lithium ion battery. The battery unit 47 supplies DC current to the inverter device 48.
As illustrated by the double dotted line in
The inverter device 48 controls output of the electric motor 12 under control of electric power output to the electric motor 12. Specifically, the inverter device 48 converts DC power supplied from the battery unit 47 into AC power to supply to the electric motor 12. In addition, the inverter device 48 supplies AC power supplied from the commercial power source 49 via the power feeder 46 to the electric motor 12 as a predetermined voltage.
Specifically, the inverter device 48 has an inverter circuit that generates AC power from DC power to supply to the electric motor 12, an arithmetic control section that controls this inverter circuit, and a rectifier circuit that converts via the power feeder 46 AC power supplied from the commercial power source 49 into DC power ant that boosts voltage of the power to output to the inverter circuit. The arithmetic control section is composed of, for example, a microcomputer.
In the external power feeding mode, the inverter device 48 converts by the rectifier circuit AC power supplied from the commercial power source 49 via the power feeder 46 into DC power to outputs to the inverter circuit, and generates AC power in the inverter circuit to supply to the electric motor 12. On the other hand, in the battery power feeding mode, the inverter device 48 receives in the inverter circuit an input of DC power supplied from the battery unit 47 and generates AC power in the inverter circuit to supply to the electric motor 12.
As illustrated in
The excavating work machine 1 with the above-mentioned configuration is provided with a cooling system for cooling various kinds of equipment devices. As illustrated in
The excavating work machine 1 applies the electric motor 12, the inverter device 48, and the power feeder 46 as objects to be cooled by the coolant water flowing through the cooling flow channel 60. In other words, the excavating work machine 1 has therein a cooling circuit so configured that coolant water is circulated by the radiator 61, the electric motor 12, the inverter device 48, the power feeder 46, and the flow channel section that connects flow channels for coolant water between these equipment devices.
Additionally, in the cooling system of the excavating work machine 1, the electric motor 12 is disposed at a downstream side of a flow of coolant water starting from the radiator 61 in the cooling flow channel 60 with respect to the power feeder 46. In the cooling circuit according to the present embodiment, the electric motor 12 is provided at a downstream side of the inverter device 48, which is interposed between the electric motor 12 and the power feeder 46. That is to say, with regard to the cooling system, the excavating work machine 1 is provided with the inverter device 48 controlling the electric motor 12 between the electric motor 12 and the power feeder 46 in the cooling flow channel 60.
Radiator 61 is a heat exchanger for cooling various kinds of equipment devices and cools coolant water circulating in the cooling flow channel 60. Coolant water which has been heated by heat exchange with each of the equipment devices such as the power feeder 46, the inverter device 48, and the electric motor 12 is distributed to the radiator 61. The electric fan 62 is provided for the radiator 61. In the radiator 61, a communication section through which air passes is formed, and air passes through the communication section by air blown from the electric fan 62, which results in the coolant water being cooled.
As illustrated in
As illustrated in
The electric motor 12, the inverter device 48, and the power feeder 46 are connected in series in the cooling flow channel 60. With regard to the above-mentioned equipment devices, the power feeder 46, the inverter device 48, and the electric motor 12 are disposed in this order from an upstream side to a downstream side in a direction of coolant water flow starting from the radiator 61. In other words, the coolant water from radiator 61 passes through each equipment device in the order of the power feeder 46, the inverter device 48, and the electric motor 12, and returns to the radiator 61 (refer to an arrow A1).
As a flow channel section of coolant water starting from the radiator 61 and returning to the radiator 61, the cooling flow channel 60 has a first flow channel section between the radiator 61 and the power feeder 46, a second flow channel section 60b between the power feeder 46 and the inverter device 48, a third flow channel section between the inverter device 48 and the electric motor 12, and a fourth flow channel section 60d between the electric motor 12 and the radiator 61. These flow channel sections are composed of piping members such as hoses, connection metal fittings, and the like. The pump 63 is provided in the first flow channel section 60a.
The first flow channel section 60a has one end side thereof (upstream side) connected in communication with a connection portion at an outflow side of coolant water from the radiator 61 and the other end side thereof (downstream side) connected in communication with a connection portion at an inflow side of an intra-power-feeder flow channel, which is a flow channel of coolant water and is provided in the power feeder 46. The second flow channel section 60b has one end side thereof (upstream side) connected in communication with a connection portion at an outflow side of the intra-power-feeder flow channel and the other end side thereof (downstream side) connected in communication with a connection portion at an inflow side of an intra-inverter flow channel, which is a flow channel of coolant water and is provided in the inverter device 48.
The third flow channel section 60c has one end side thereof (upstream side) connected in communication with the connection portion at the outflow side of the intra-inverter flow channel and the other end side thereof (downstream side) connected in communication with a connection portion at an inflow side of an intra-motor flow channel, which is a flow channel of coolant water and is provided in the electric motor 12. The fourth flow channel section 60d has one end side thereof (upstream side) connected in communication with a connection portion at an outflow side of the intra-motor flow channel and the other end side thereof (downstream side) connected in communication with a connection portion at an inflow side of coolant water of the radiator 61.
The cooling flow channel 60 has a bypass flow channel section 65 that causes the coolant water to skirt around the power feeder 46. The bypass flow channel section branches from the first flow channel section 60a in communication with the inflow side of the intra-power-feeder flow channel and joins the second flow channel section in communication with the outflow side of the intra-power-feeder flow channel.
In other words, the bypass flow channel section 65 has one end side thereof (upstream side) connected in communication with a predetermined portion of the first flow channel section 60a and defines the connected portion as a branch section 66. The bypass flow channel section 65 also has the other end side thereof (downstream side) connected in communication with a predetermined portion of the second flow channel section 60b and defines the connected portion as a confluence section 67. The bypass flow channel section 65 is a flow channel portion connected in parallel to a flow channel portion that includes a flow channel portion at a downstream side from the branch section 66 of the first flow channel section 60a, a flow channel portion at an upstream side from the confluence section 67 of the second flow channel section 60b, and the intra-power-feeder flow channel positioned between these two flow channel portions.
In the above-mentioned cooling system, coolant water that flows out of the radiator 61 by drive of the pump 63 flows through the first flow channel section 60a and branches at the branch section 66 into a flow toward the power feeder 46 (refer to an arrow A2) and a flow toward the bypass flow channel section 65 (refer to arrow A3). The coolant water that flows toward the power feeder 46 passes through the intra-power-feeder flow channel to cool the power feeder 46 by heat exchange.
The coolant water that has been caused by the bypass flow channel section 65 to skirt joins coolant water discharged from the power feeder 46 at the confluence section 67. The coolant water that has joined at the confluence section 67 cools the inverter device 48 and the electric motor 12 by heat exchange with each device to return to the radiator 61. After being cooled by heat exchange in the radiator 61, the coolant water that flows out of the radiator 61 is forcibly fed by drive of the pump 63, and again flows branched at the branch section 66 into the power feeder 46 and the bypass flow channel section 65.
A flow rate of coolant water flowing through the bypass flow channel section is adjusted to regulate a flow rate of coolant water through the intra-power-feeder flow channel of the power feeder 46. The flow rate of the coolant water flowing through the bypass flow channel section 65 is adjusted, for example, by the diameter or the length of each of piping members that constitute the bypass flow channel section 65.
According to the excavating work machine 1 of the present embodiment with the above-mentioned configuration, efficient cooling can be performed without any cost increase with regard to a configuration in which the electric motor 12 as a drive source, the power feeder 46, which is a device for supplying electric power to the electric motor 12, and the inverter device 48 are cooled by the water cooling system.
Since the excavating work machine 1 is provided with the bypass flow channel section 65 to the power feeder 46 in the cooling circuit, the cooling capability of the cooling circuit to the power feeder 46 can be adjusted by regulating the flow rate of the coolant water flowing through the bypass flow channel section 65. As a result of the above, surplus coolant water for cooling the power feeder 46 is caused by the bypass flow channel section 65 to skirt around the power feeder 46 and is directed at a downstream side of the power feeder 46, thereby being capable of efficiently obtaining cooling action of the coolant water cooled by the radiator 61 and of efficiently cooling the equipment devices through the overall cooling system.
The power feeder 46 may have a prescribed upper limit of a flow rate of coolant water flowing through the intra-power-feeder flow channel. In this case, when coolant water exceeding the upper limit is supplied to the power feeder 46, flow channel resistance increases to obstruct a flow of the coolant water throughout the overall cooling circuit, thereby obtaining insufficient cooling action. Therefore, the bypass flow channel section 65 is provided to adjust the flow rate of the coolant water passing through the power feeder 46, thereby being capable of preventing more coolant water than is needed from being supplied to the power feeder 46 and of efficiently obtaining the cooling action on each equipment device by heat exchange of the coolant water through the overall cooling circuit. In addition, a simple configuration in which the bypass flow channel section 65 is provided can suppress manufacturing cost.
In addition, according to the cooling system of the present embodiment, the electric motor 12 is disposed at a downstream side of the power feeder 46. This configuration allows the flow rate of the coolant water flowing through the bypass flow channel section 65 to be adjusted, which results in making it possible to suppress the manufacturing cost with a simple configuration as well as adjust the cooling capability by the cooling circuit for the electric motor 12 disposed at the downstream side of the power feeder 46.
It is noted that this cooling system according to the present embodiment can have a three-way valve disposed at the branch section 66 of the bypass flow channel section 65. By adopting such a configuration, for example, in a case where the power feeder 46 does not have to be cooled, the flow channel can be switched so that the flow channel to the power feeder 46 side through operation of the three-way valve is shut off to direct all of the coolant water flowing in the first flow channel section 60a to the bypass flow channel section 65. On the contrary, the flow channel can be switched so that the flow channel to the bypass flow channel section 65 side through operation of the three-way valve is shut off to direct all of the coolant water flowing in the first flow channel section 60a to the power feeder 46 side.
Descriptions will be made on a second embodiment according to the present invention with reference to
As illustrated in
The flow rate controlling valve 71 is a throttle valve that is provided at a predetermined portion of the bypass flow channel section 65 and in which a cross-sectional area of a flow channel (conduit) provided is changed to limit a flow rate of coolant water flowing in the bypass flow channel section 65. The flow rate controlling valve 71 has an operation section such as a handle that is rotatably operated by means of a predetermined tool and the like, and is configured to change the cross-sectional area of the flow channel through operation of the operation section. The cross-sectional area of the flow channel at the flow rate controlling valve 71 is narrowed to reduce the flow rate of coolant water flowing through the bypass flow channel section 65 while being widened to increase the flow rate of the coolant water flowing through the bypass flow channel section 65.
A configuration of the cooling system according to the present embodiment enables the flow rate of the coolant water flowing through the bypass flow channel section 65 to be easily adjusted through operation of the flow rate controlling valve 71 without any change of the diameter or the length of each of piping members that constitute the bypass flow channel section 65. This makes it possible to easily and appropriately adjust the flow rate of the coolant water flowing through the bypass flow channel section 65 in accordance with, for example, a specification of the power feeder 46 and a circuit configuration of the cooling circuit, thereby achieving more efficient cooling.
In particular, according to the present embodiment, since an inverter device 48 and an electric motor 12 are provided at a downstream side of the power feeder 46, the flow rate controlling valve 71 in the bypass flow channel section 65 adjusts the flow rate, thereby being capable of suppressing manufacturing cost and easily adjusting cooling capability to a configuration of each device. This enables the cooling circuit as a whole to be cooled more efficiently.
Descriptions will be made on a modified example according to the second embodiment is described with reference to
The flow rate controlling valve 72 is a solenoid valve that is provided at a predetermined portion of the bypass flow channel section 65 and that changes a cross-sectional area of a flow channel (conduit) by electromagnetic operating. The flow rate controlling valve 72 has a configuration that changes the cross-sectional area of the flow channel by operating upon receiving a control signal from a control section, which is not illustrated. It is noted that the flow rate controlling valve 72 is not limited to an electric type but may also be a hydraulic type or a pneumatic type.
According to a configuration in which the bypass flow channel section 65 has the flow rate controlling valve 72 as a flow rate adjusting section, it is possible to automatically control a flow rate in the bypass flow channel section 65 in accordance with operating manners of various kinds of equipment devices in the excavating work machine 1. This enables the flow rate of the coolant water flowing through the bypass flow channel section 65 to be adjusted automatically and appropriately in accordance with the operating manner of the excavating work machine 1, thereby achieving more efficient cooling.
Descriptions will be made on a third embodiment according to the present invention with reference to
The flow rate controlling valve 81 is a solenoid valve that is provided at a predetermined portion of the bypass flow channel section 65 and that changes a cross-sectional area of a flow channel (conduit) by electromagnetic operating. The flow rate controlling valve 81 has an actuator that causes a valve body to operate in response to control signals (operation signals) from the flow rate controlling section 82 and changes the cross-sectional area of the flow channel by operating upon receiving the control signals from the flow rate controlling section 82.
The flow rate controlling section 82 controls an operating of the flow rate controlling valve 81 so that the flow rate of the coolant water in the bypass flow channel section 65 can be changed in accordance with a power feeding mode to be switched through operation of the mode changeover switch as described above. Therefore, the flow rate controlling section 82 is configured to directly or indirectly receive an input of an instruction signal from the mode changeover switch and to control the flow rate controlling valve 81 on the basis of the instruction signal from the mode changeover switch. The flow rate controlling section 82 is composed of a microcomputer and the like and controls the flow rate controlling valve 81 in accordance with the power feeding mode on the basis of a preset program and the like.
A specific manner in which the flow rate controlling valve 81 is controlled by the flow rate controlling section 82 is as follows. The flow rate controlling section 82 controls the flow rate controlling valve 81 so that a bypass flow rate that is a flow rate of the coolant water passing through the bypass flow channel section 65 in a battery power feeding mode (first mode) for supplying electric power to an electric motor 12 only by a battery unit 47 is greater than a bypass flow rate in an external power feeding mode (second mode) for supplying electric power to the electric motor 12 from outside by a power feeder 46. In addition, the flow rate controlling section 82 controls the flow rate controlling valve 81 so that the bypass flow rate in the battery power feeding mode (first mode) is greater than a bypass flow rate in a power storage mode (third mode) for storing electric power, which is supplied from outside by the power feeder 46, in the battery unit 47.
As is illustrated in
The flow rate controlling section 82 controls an operating of the flow rate controlling valve 81 so that a first bypass flow rate, which is the bypass flow rate F2 in the battery feeding mode illustrated in
In addition, the flow rate controlling section 82 controls the operating of the flow rate controlling valve 81 so that a first bypass flow in the battery power feeding mode illustrated in
In particular, in the battery power feeding mode illustrated in
Since the power feeder 46 does not supply electric power from a commercial power source 49 and turns into a substantially non-operating state, priority of cooling the power feeder 46 is set lower in comparison with an inverter device 48 in an operating state. Therefore, a flow rate of coolant water for cooling the power feeder 46 (power feeder side flow rate F1) is smaller than the bypass flow rate F2, and the inverter device 48 is cooled preferentially.
Moreover, in the external power feeding mode illustrated in
In the external power feeding mode, there are cases of supplying electric power from the battery unit 47 to the electric motor 12 and charging the battery unit 47 from the commercial power source 49 by the power feeder 46 in addition to supplying electric power to the electric motor 12 from the commercial power source 49 by the power feeder 46. This requires each of the power feeder 46 and the inverter device 48 to be cooled. Therefore, the flow rate of coolant water for cooling the power feeder 46 (power feeder side flow rate F1) equals to the bypass flow rate F2, and each of the power feeder 46 and the inverter device 48 is cooled equally.
Furthermore, in the power storage mode illustrated in
In the power storage mode, since the battery unit 47 does not supply electric power to the electric motor 12 via the inverter device 48, which causes the inverter device 48 to turn into a substantially non-operating state, priority of cooling the inverter device 48 is set lower in comparison with the power feeder 46 in an operating state. Therefore, the flow rate of coolant water for cooling the power feeder 46 (power feeder side flow rate F1) is greater than the bypass flow rate F2, and the power feeder 46 is cooled preferentially.
As described above, in the cooling system according to the present embodiment, the flow rate controlling valve 81 that controls the bypass flow rate is controlled by the flow rate controlling section 82 so that the bypass flow rate in the battery power feeding mode is greater than the bypass flow rate in the external power feeding mode and the power storage mode.
According to a configuration of the cooling system corresponding to the present embodiment, cooling capability to the power feeder 46 can be actively increased in a state in which the power feeder 46 operates, thereby being capable of taking advantage of the cooling capability by coolant water efficiently in accordance with the power feeding mode. This results in suppressing manufacturing cost and achieving more efficient cooling of the cooling circuit as a whole more efficiently.
Descriptions will be made on a fourth embodiment of the present invention with reference to
In other words, the second bypass flow channel section 95 has one end side thereof (upstream side) connected in communication with a predetermined portion of the second flow channel section 60b and defines the connected portion as a branch section 96. The second bypass flow channel section 95 also has the other end side thereof (downstream side) connected in communication with a predetermined portion of the fourth flow channel section 60d and defines the connected portion as a confluence section 97. In the second flow channel section 60b, the branch section 96 is disposed at a downstream side from the confluence section 67 with respect to the bypass flow channel section 65. The second bypass flow channel section 95 is a flow channel portion connected in parallel to a flow channel portion at a downstream side from the branch section 96 of the second flow channel section 60b, a flow channel portion at an upstream side from the confluence section 97 of the fourth flow channel section 60d, and a flow channel portion that including an intra-power-feeder flow channel and an intra-motor flow channel that are positioned between these two flow channel portions.
Thus, in a case where in the cooling system according to the present embodiment, the branch section 66 and the confluence section 67 of the bypass flow channel section 65 are defined as a first branch section and a first confluence section, respectively, the cooling system has the branch section 96 at an upstream side of the second bypass flow channel section 95 as a second branch section and the confluence section 97 at a downstream side of the second bypass flow channel section 95 as a second confluence section.
In the above-mentioned configuration of cooling system, coolant water flowing in the second flow channel section 60b branches at the branch section 96 into a flow toward the inverter device 48 (refer to an arrow B1) and a flow toward the second bypass flow channel section 95 (refer to an arrow B2). The coolant water that flows toward the inverter device 48 passes through the intra-inverter flow channel to cool the inverter device 48 by heat exchange, and then, passes through the intra-motor flow channel from the third flow channel section 60C to cool the electric motor 12 by heat exchange.
Coolant water that has been caused by the second bypass flow channel section 95 to skirt joins coolant water discharged from the electric motor 12 at the confluence section 97. The coolant water that has joined at the confluence section 97 returns to the radiator 61. After being cooled by heat exchange in the radiator 61, the coolant water flows out of the radiator 61, is forcibly fed by the drive of a pump 63 to flow branched at the branch section 66 into the power feeder 46 side and the bypass flow channel section 65, and joins at the confluence section 67. Then, the coolant water again flows branched at the branch section 96 into the inverter device 48 side and the second bypass flow channel section 95.
Additionally, in the cooling system according to the present embodiment, the cooling flow channel 60 has a second flow rate controlling valve 99 that adjusts a flow rate of the coolant water passing through the second bypass flow channel section 95. The second flow rate controlling valve 99 is a second flow rate adjusting section in a case where a flow rate controlling valve 72 provided in the bypass flow channel section 65 is set as a first flow rate adjusting section.
The second flow rate controlling valve 99 is a solenoid valve that is provided at a predetermined portion of the second bypass flow channel section 95 and that changes a cross-sectional area of a flow channel (conduit) by electromagnetic operating. The second flow rate controlling valve 99 has a configuration that changes the cross-sectional area of the flow channel by operating upon receiving a control signal from a control section, which is not illustrated. It is noted that the second flow rate controlling valve 99 is not limited to an electric type but may also be a hydraulic type or a pneumatic type. In addition, the flow rate of coolant water flowing through the second bypass flow channel section 95 is adjusted, for example, by the diameter or the length of each of piping members that constitute the second bypass flow channel section 95.
According to the configuration of the cooling system corresponding to the present embodiment, since the excavating work machine 1 is provided with the second bypass flow channel section 95 for the inverter device 48 and the electric motor 12 in the cooling circuit, cooling capability of the cooling circuit to the inverter device 48 and the electric motor 12 can be adjusted by regulating the flow rate of the coolant water flowing through the second bypass flow channel section 95. As a result of the above, surplus coolant water for cooling the inverter device 48 and the electric motor 12 is caused by the second bypass flow channel section 95 to skirt around the inverter device 48 and the electric motor 12 and is directed at a downstream side of the electric motor 12, thereby being capable of efficiently obtaining cooling action of the coolant water cooled by the radiator 61 and of efficiently cooling the equipment devices through the overall cooling system.
Each of the inverter device 48 and the electric motor 12 may have a prescribed upper limit of a flow rate of coolant water flowing through the intra-inverter flow channel and the intra-motor flow channel. In this case, when coolant water exceeding the upper limit is supplied to the inverter device 48 or the electric motor 12, flow channel resistance increases to obstruct a flow of the coolant water throughout the overall cooling circuit, thereby obtaining insufficient cooling action. Therefore, the second bypass flow channel section 95 is provided to adjust the flow rate of the coolant water passing through the inverter device 48 and the electric motor 12, thereby being capable of preventing more coolant water than is needed from being supplied to the inverter device 48 and the electric motor 12 and of efficiently obtaining the cooling action on each equipment device by heat exchange of the coolant water through the overall cooling circuit. In addition, a simple configuration in which the second bypass flow channel section 95 is provided can suppress manufacturing cost.
According to the present embodiment, the second bypass flow channel section 95 has the second flow rate controlling valve 99. The above-mentioned configuration enables the flow rate of the coolant water flowing through the second bypass flow channel section 95 to be easily adjusted through operation of the second flow rate controlling valve 99 without any change of the diameter or the length of each of piping members that constitute the second bypass flow channel section 95. This makes it possible to easily and appropriately adjust the flow rate of the coolant water flowing through the second bypass flow channel section 95 according to, for example, the specifications of the inverter device 48 and the electric motor 12 and the circuit configuration of the cooling circuit, thereby achieving more efficient cooling.
In particular, according to a configuration in which the second flow rate controlling valve 99 is provided as a second flow rate adjusting section, it is possible to automatically control a flow rate in the second bypass flow channel section 95 in accordance with operating manners of various kinds of equipment devices in the excavating work machine 1. This enables the flow rate of the coolant water flowing through the second bypass flow channel section 95 to be adjusted automatically and appropriately in accordance with the operating manner of the excavating work machine 1, thereby achieving more efficient cooling. It is noted that the second flow rate adjusting section may have an operation section such as a handle that is rotatably operated by means of a predetermined tool and the like and may have a throttle valve configured to change the cross-sectional area of the flow channel through operation of the operation section.
Descriptions will be made on a fifth embodiment of the present invention with reference to
In other words, the first flow channel section 60a between the radiator 61 and the power feeder 46 has a first upstream side flow channel section 60a1 between the radiator 61 and the battery unit 47 and a first downstream side flow channel section between the battery unit 47 and the power feeder 46.
The first upstream side flow channel section 60a1 has one end side thereof (upstream side) connected in communication with a connection portion at an outflow side of coolant water of the radiator 61 and the other end side thereof (downstream side) connected in communication with a connection portion of an inflow side of an intra-battery flow channel, which is a flow channel of coolant water and is provided in the battery unit 47. The first downstream flow side channel section 60a2 has one end side thereof (upstream side) connected in communication with a connection portion at an outflow side of the intra-battery flow channel and the other end side thereof (downstream side) connected in communication with a connection portion of an inflow side of an intra-power-feeder flow channel of the power feeder 46.
In addition to a bypass flow channel section 65 and a second bypass flow channel section 95, the cooling flow channel 60 has a third bypass flow channel section 105, which is a bypass flow channel section for a battery that causes coolant water to skirt around the battery unit 47. The third bypass flow channel section 105 branches from the first upstream side flow channel section 60a1, which is a flow channel section in communication with the inflow side of the intra-battery flow channel of the battery unit 47 and joins the first downstream side flow channel section 60a2, which is a flow channel section in communication with the outflow side of the intra-battery flow channel.
In other words, the third bypass flow channel section 105 has one end side thereof (upstream side) connected in communication with a predetermined portion of the first upstream side flow channel section 60a1 and defines the connected portion as a branch section 106.
The third bypass flow channel section 105 also has the other end side thereof (downstream side) connected in communication with a predetermined portion of the first downstream side flow channel section 60a2 and defines the connected portion as a confluence section 107. In the first downstream side flow channel section 60a2, the confluence section 107 is disposed at an upstream side from the branch section 66 of the bypass flow channel section 65. The third bypass flow channel section 105 is a flow channel portion connected in parallel to a flow channel portion that includes a flow channel portion at a downstream side from the branch section 106 of the first upstream side flow channel section 60a1, a flow channel portion at an upstream side from the confluence section 107 of the first downstream side flow channel section 60a2, and the intra-battery flow channel that is positioned between these two flow channel portions.
Thus, in a case where in the cooling system according to the present embodiment, it is defined that the branch section 66 and the confluence section 67 of the bypass flow channel section 65 are as a first branch section and a first confluence section, respectively, and that the branch section 96 and the confluence section 97 for the second bypass flow channel section 95 are as a second branch section and a second confluence section, respectively, the cooling system has the branch section 106 at an upstream side of the third bypass flow channel section 105 as a third branch section and the confluence section 107 at a downstream side of the third bypass flow channel section 105 as a third confluence section.
In the above-mentioned configuration of cooling system, coolant water that flows out of the radiator 61 by drive of a pump 63 flows through the first upstream side flow channel section 60a1 and branches at the branch section 106 into a flow toward the battery unit 47 (refer to an arrow C1) and a flow toward the third bypass flow channel section 105 (refer to an arrow C2). The coolant water that flows toward the battery unit 47 passes through the intra-battery flow channel to cool the battery unit 47 by heat exchange.
The coolant water that has been caused by the third bypass flow channel section 105 to skirt joins coolant water discharged from the battery unit 47 at the confluence section 107. The coolant water that has joined at the confluence section 107 branches at the branch section 66 into a flow toward the power feeder 46 and a flow toward the bypass flow channel section 65.
Additionally, in the cooling system according to the present embodiment, the cooling flow channel 60 has a third flow rate controlling valve 109 as a flow rate adjusting section for a battery that adjusts a flow rate of the coolant water passing through the third bypass flow channel section 105. The third flow rate controlling valve 109 is a third flow rate adjusting section in a case where the flow rate controlling valve 72 provided in the bypass flow channel section 65 is set as a first flow rate adjusting section and the second flow rate controlling valve 99 provided in the second bypass flow channel section 95 is set as a second flow rate adjusting section.
The third flow rate controlling valve 109 is a solenoid valve that is provided at a predetermined portion of the third bypass flow channel section 105 and that changes a cross-sectional area of a flow channel (conduit) by electromagnetic operating. The third flow rate controlling valve 109 has a configuration that changes the cross-sectional area of the flow channel by operating upon receiving a control signal from a control section, which is not illustrated. It is noted that the third flow rate controlling valve 109 is not limited to an electric type but may also be a hydraulic type or a pneumatic type. In addition, the flow rate of coolant water flowing through the third bypass flow channel section 105 is adjusted, for example, by the diameter or the length of each of piping members that constitute the third bypass flow channel section 105.
According to the configuration of the cooling system corresponding to the present embodiment, since the excavating work machine 1 includes the battery unit 47 as an object to be cooled in a cooling circuit and is provided with the third bypass flow channel section 105 for the battery unit 47 in the cooling circuit, cooling capability of the cooling circuit to the battery unit 47 can be adjusted by regulating the flow rate of the coolant water flowing through the third bypass flow channel section 105. As a result of the above, surplus coolant water for cooling the battery unit 47 is caused by the third bypass flow channel section 105 to skirt around the battery unit 47 and is directed at a downstream side of the battery unit 47, thereby being capable of efficiently obtaining cooling action of the coolant water cooled by the radiator 61 and of efficiently cooling the equipment devices through the overall cooling system.
The battery unit 47 may have a prescribed upper limit of a flow rate of coolant water flowing through the intra-battery flow channel. In this case, when coolant water exceeding the upper limit is supplied to the battery unit 47, flow channel resistance increases to obstruct a flow of the coolant water throughout the overall cooling circuit, thereby obtaining insufficient cooling action. Therefore, the third bypass flow channel section 105 is provided to adjust the flow rate of the coolant water passing through the battery unit 47 in accordance with an operating state such as a discharge/storage state of the battery unit 47, thereby being capable of preventing more coolant water than is needed from being supplied to the battery unit 47 and of efficiently obtaining the cooling action on each equipment device by heat exchange of the coolant water through the overall cooling circuit. In addition, a simple configuration in which the third bypass flow channel section 105 is provided can suppress manufacturing cost.
According to the present embodiment, the third bypass flow channel section 105 also has the third flow rate controlling valve 109. The above-mentioned configuration enables the flow rate of the coolant water flowing through the third bypass flow channel section 105 to be easily adjusted through operation of the third flow rate controlling valve 109 without any change of the diameter or the length of each of piping members that constitute the third bypass flow channel section 105. This makes it possible to easily and appropriately adjust the flow rate of the coolant water flowing through the third bypass flow channel section 105 in accordance with, for example, the specifications of the battery unit 47 and the circuit configuration of the cooling circuit, thereby achieving more efficient cooling.
In particular, according to a configuration in which the third flow rate controlling valve 109 is provided as a third flow rate adjusting section, it is possible to automatically control a flow rate in the third bypass flow channel section 105 in accordance with operating manners of various kinds of equipment devices in the excavating work machine 1. This enables the flow rate of the coolant water flowing through the third bypass flow channel section 105 to be adjusted automatically and appropriately in accordance with the operating manner of the excavating work machine 1, thereby achieving more efficient cooling. It is noted that the third flow rate adjusting section may have an operation section such as a handle that is rotatably operated by means of a predetermined tool and the like and may have a throttle valve configured to change the cross-sectional area of the flow channel through operation of the operation section.
In addition, according to the cooling system of the present embodiment, the battery unit 47 is disposed at an upstream side from the electric motor 12, the inverter device 48, and the power feeder 46. In particular, in the present embodiment, the battery unit 47 is disposed at the most upstream side of a flow of coolant water starting from a radiator 61. This configuration enables the battery unit 47 to be disposed at a position where comparatively high cooling action can be obtained, and allows the flow rate of the coolant water flowing through the third bypass flow channel section 105 to be adjusted, which results in making it possible to suppress the manufacturing cost with the simple configuration as well as to adjust the cooling capability by the cooling circuit for the battery unit 47.
Furthermore, the cooling system according to the present embodiment can employ a flow rate controlling section that is configured to directly or indirectly receive an input of an instruction signal from a mode changeover switch and to control each controlling valve on the basis of the instruction signal from the mode changeover switch as a control section controlling the flow rate controlling valve 72 of the bypass flow channel section 65, the second flow rate controlling valve 99 of the second bypass flow channel section 95, and the third flow rate controlling valve 109 of the third bypass flow channel section 105. This configuration makes it possible to control each flow rate controlling valve in accordance with the power feeding mode.
Specifically, for example, in a case of a battery power feeding mode (refer to
Additionally, in a case of an external power feeding mode (refer to
Additionally, in a case of a power storage mode (refer to
Thus, this cooling system of the present embodiment makes it possible to control each flow rate controlling valve in accordance with the power feeding mode. This enables an optimum cooling manner corresponding to an operating state of each equipment device in each power feeding mode to be achieved with a simple and inexpensive configuration.
Descriptions will be made on a sixth embodiment of the present invention with reference to
As illustrated in
As illustrated in
The confluence section 67 is disposed at a swiveling frame 7 at a location below the radiator 61 so as to be hidden by the radiator 61 in a plane view with respect to the radiator 61 that is erected at a right side of a rear portion of a swiveling frame 7. The position below the radiator 61 is a position to the right of an electric motor 12 that is disposed at a rear portion of the swiveling frame 7. A vertical direction of the confluence section 67 is located within a range of a dimension in vertical direction of the electric motor 12. Piping members that constitute each of the second flow channel section 60b and the bypass flow channel section 65 are disposed in accordance with such an arrangement of the confluence section 67.
According to a configuration of the cooling system corresponding to the present embodiment, a space below the radiator 61 in the swiveling frame 7 can be effectively utilized. In particular, in a relatively small-sized mini-shovel such as the excavating work machine 1 according to the present embodiment, a layout of the device configuration in the swiveling frame 7 is largely limited, so that the arrangement of the confluence section 67 according to the present embodiment makes it possible to efficiently arrange piping members that constitute a cooling system in a limited space.
In addition, since the confluence section 67 of the bypass flow channel section is disposed below the radiator 61, the confluence section 67 can be easily accessed by opening a rear cover section 32 of an upper swiveling body 20B. This causes improvement of maintainability for the bypass flow channel section 65.
The excavating work machine 1 according to the present embodiment is configured to be cooled by an air cooling system with respect to the battery unit 47. Specifically, as illustrated in
According to this configuration, the battery unit 47 is disposed at an upstream side of the electric fan 62 in an air flow taken by the electric fan 62 into an exterior cover section of the upper swiveling body 20B. That is to say, the air taken into the exterior cover section of the upper swiveling body 20B cools the battery unit 47 and then, cools the radiator 61. Thus, fresh air can cool the battery unit 47.
As is described above, the battery unit 47 is cooled both by the water-cooling system by means of the cooling flow channel 60 and by the air cooling system with air taken into the exterior cover section of the upper swiveling body 20B. This enables the battery unit 47 to be efficiently cool, thereby improving cooling action in the cooling system.
Descriptions on the above-mentioned embodiments merely constitute examples according to the present invention, and the construction machine according to the present invention is not limited to the above-mentioned embodiments. Accordingly, it is a matter of course that a variety of modifications can be made in response to a design and the like within a scope without departing from technical spirit of the present invention even if such modifications are out of the embodiments described above. Further, the effects described in the present disclosure are merely illustrative and are not limited, and other effects may also be exerted. Configurations in each of the above-mentioned embodiments and configurations in the modified examples can be combined as appropriate.
The cooling system in each of the above-mentioned embodiments may include configurations other than those described above as objects to be cooled. With regard to an arrangement order of each configuration in the flow of coolant water starting from the radiator 61, an appropriate order can be adopted regardless of cooling capacity of each configuration. For example, the cooling system according to the first embodiment (refer to
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-210451 | Dec 2020 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/043730 | 11/30/2021 | WO |
