Patent Grant
12104349
The present invention relates to a construction machine configured such that a hydraulic actuator is driven by a hydraulic pump for a closed circuit.
In recent years, in construction machines such as hydraulic excavators and wheel loaders, energy saving has been an important development item. For energy saving of a construction machine, energy saving of a hydraulic system itself is important, and it has been examined to apply a hydraulic closed circuit system in which a hydraulic actuator is connected in a closed circuit manner to and directly controlled by a hydraulic pump. This system does not suffer from pressure loss by a control valve and does not suffer from flow rate loss either because the pump delivers hydraulic fluid only of a required flow rate. Also, it is possible for the system to regenerate positional energy of the actuator and energy upon deceleration. Therefore, energy saving is possible.
As a background art of a construction machine that includes a hydraulic closed circuit combined therein, a configuration is described in Patent Document 1. In the configuration, a plurality of variable displacement hydraulic pumps are branched and connected to a plurality of hydraulic actuators via a solenoid switching valve so as to configure a closed circuit, to thereby make it possible to achieve a combined operation and a high-speed operation of the actuators.
In the hydraulic circuit disclosed in Patent Document 1, at the time of no-operation (the engine is operating) of the construction machine or at the time of traveling, it is necessary to control the pump delivery volume of the hydraulic pumps for a closed circuit to zero such that the flow rate is not delivered. This is because, at the time of no-operation or traveling, the solenoid switching valve that connects the hydraulic pumps for a closed circuit and the actuators to each other is in a closed state and, if the flow rate should be delivered, then the delivery pressure rises to a relief pressure. Consequently, the pumps are acted upon by a high load, and the reliability degrades. Further, since also the load to the engine increases, the energy saving performance of the construction machine deteriorates.
As the hydraulic pump for a closed circuit, a variable displacement swash plate hydraulic pump is commonly used, and in order to control the pump delivery volume to zero, it is necessary to control the tilting angle of the swash plate to zero. In the state in which the tilting angle is zero, the piston in the pump is little displaced with respect to the cylinder and is pressed against a cylinder wall surface by the centrifugal force of the piston itself. Therefore, if this state continues, then there is the possibility that an oil film at a sliding portion may be broken to cause abrasion of or damage to the piston or the cylinder, resulting in decrease of the reliability. Especially in such a hydraulic pump for a closed circuit of a large delivery volume as is used in a large construction machine, since the piston is heavy and besides long term reliability is also demanded, the foregoing is a big problem.
The present invention has been made in view of the problem described above, and it is an object of the present invention to provide a construction machine configured such that a hydraulic actuator is driven by a hydraulic pump for a closed circuit, by which oil film breakage of the hydraulic pump for a closed circuit at the time of no-operation or traveling is prevented to improve the reliability and a high operation rate can be obtained.
In order to attain the object described above, the present invention provides a construction machine comprising a closed circuit pump consisting of a bidirectionally tiltable hydraulic pump having two suction/delivery ports, a hydraulic actuator connected in a closed circuit manner to the closed circuit pump, a charge pump, a charge line connected to a delivery port of the charge pump, a check valve that is provided in a hydraulic line connecting the charge line and the closed circuit pump to each other and permits hydraulic operating fluid to flow from the charge line into the closed circuit pump, a charge relief valve provided in the charge line, an operation lever for instructing an operation of the hydraulic actuator, and a controller that controls a delivery volume of the closed circuit pump according to an input from the operation lever. The construction machine comprises a switching valve that is provided in a hydraulic line connecting one of delivery ports of the closed circuit pump and the charge line to each other and is opened and closed according to a control signal from the controller. The controller is configured to, in a case where a state in which the delivery volume of the closed circuit pump is kept to zero continues for a predetermined time period or more, open the switching valve and keep the delivery volume of the closed circuit pump to a predetermined delivery volume or more, the predetermined delivery volume being greater than zero.
According to the present invention configured in such a manner as described above, in a case where a state in which a tilting amount of the closed circuit pump is zero continues for a predetermined time period or more, keeping the tilting amount of the closed circuit pump to a predetermined tilting amount that is equal to or greater than zero causes a piston in the closed circuit pump to be displaced with respect to a cylinder. Therefore, oil is introduced to a sliding portion between the piston and the cylinder to thereby assure an oil film, and consequently, abrasion of the piston or the cylinder can be prevented. Further, by establishing communication of the delivery port of the closed circuit pump with the charge line via the switching valve, it is possible to suppress a delivery pressure of the closed circuit pump to a low level equal to or lower than a charge pressure. Consequently, it is possible to prevent deterioration in fuel consumption and improve durability of the closed circuit pump.
According to the present invention, provided is a construction machine configured such that a hydraulic actuator is driven by a hydraulic pump for a closed circuit, by which oil film breakage of the hydraulic pump for a closed circuit at the time of no-operation or traveling is prevented to improve the reliability and a high operation rate can be obtained.
In the following, a construction machine according to an embodiment of the present invention is described with reference to the drawings, taking a hydraulic excavator as an example. It is to be noted that, in the figures, equivalent members are denoted by the same reference character, and overlapping description of them is suitably omitted.
Referring to
To the front side of the upper swing structure 102, a front implement 103 for performing excavation work and so forth is mounted. The front implement 103 includes a boom 2 coupled pivotably in the upward and downward direction to the front side of the upper swing structure 102, an arm 4 coupled pivotably in the upward and downward direction and in the forward and rearward direction to a distal end portion of the boom 2, and a bucket 6 coupled pivotably in the upward and downward direction and in the forward and rearward direction to a distal end portion of the arm 4. The boom 2, the arm 4, and the bucket 6 are driven by a boom cylinder 1, an arm cylinder 3, and a bucket cylinder 5, respectively, which are single rod type hydraulic cylinders.
A cab 104 in which an operator is to board is provided on the upper swing structure 102. In the cab 104, an operation lever 56a (depicted in
Referring to
The charge pump 11 is connected at a suction port thereof to a tank 25 and at a delivery port thereof to a charge line 90. The charge line 90 is connected to the tank 25 via a charge relief valve 20. The charge relief valve 20 holds a delivery pressure of the charge pump 11 (pressure of the charge line 90) to a substantially fixed low pressure.
The closed circuit pump 12 is connected at one of suction/delivery ports thereof to a bottom side hydraulic chamber 1a of the boom cylinder 1 via a switching valve 43a and through a bottom side hydraulic line 91a, and at the other of the suction/delivery ports thereof to a rod side hydraulic chamber 1b of the boom cylinder 1 via the switching valve 43a and through a rod side hydraulic line 91b. The switching valve 43a switches the flow line between conduction and interruption in accordance with a signal supplied from a controller 57, and is in the interruption state when no signal is supplied. The closed circuit pump 12 is connected in a closed circuit manner to the boom cylinder 1 when the switching valve 43a is placed into the conduction state.
Further, the closed circuit pump 12 is connected at one of the suction/delivery ports thereof to a bottom side hydraulic chamber 3a of the arm cylinder 3 via a switching valve 43b and through a bottom side hydraulic line 92a, and at the other of the suction/delivery ports thereof to a rod side hydraulic chamber 3b of the arm cylinder 3 via the switching valve 43b and through a rod side hydraulic line 92b. The switching valve 43b switches the flow line between conduction and interruption in accordance with a signal supplied from the controller 57, and is in the interruption state when no signal is supplied. The closed circuit pump 12 is connected in a closed circuit manner to the arm cylinder 3 when the switching valve 43b is placed into the conduction state.
The closed circuit pump 14 is connected at one of suction/delivery ports thereof to the bottom side hydraulic chamber 1a of the boom cylinder 1 via a switching valve 45a and through the bottom side hydraulic line 91a, and at the other of the suction/delivery ports thereof to the rod side hydraulic chamber 1b of the boom cylinder 1 via the switching valve 45a and through the rod side hydraulic line 91b. The switching valve 45a switches the flow line between conduction and interruption in accordance with a signal supplied from the controller 57, and is in the interruption state when no signal is supplied. The closed circuit pump 14 is connected in a closed circuit manner to the boom cylinder 1 when the switching valve 45a is placed into the conduction state.
The closed circuit pump 14 is connected at one of the suction/delivery ports thereof to the bottom side hydraulic chamber 3a of the arm cylinder 3 via a switching valve 45b and through the bottom side hydraulic line 92a, and at the other of the suction/delivery ports thereof to the rod side hydraulic chamber 3b of the arm cylinder 3 via the switching valve 45b and through the rod side hydraulic line 92b. The switching valve 45b switches the flow line between conduction and interruption in accordance with a signal supplied from the controller 57, and is in the interruption state when no signal is supplied. The closed circuit pump 14 is connected in a closed circuit manner to the arm cylinder 3 when the switching valve 45b is placed into the conduction state.
The open circuit pump 13 is connected at a suction port thereof to the tank 25 and at a delivery port thereof to a delivery hydraulic line 93. The delivery hydraulic line 93 is connected to the tank 25 via a bleed-off valve 64. The bleed-off valve 64 changes its opening area in accordance with a signal supplied from the controller 57, and is in a fully open state when no signal is supplied. Further, the delivery hydraulic line 93 is connected to the bottom side hydraulic line 91a of the boom cylinder 1 via a switching valve 44a and is connected to the bottom side hydraulic line 92a of the arm cylinder 3 via a switching valve 44b. The switching valves 44a and 44b switch the flow line between conduction and interruption in accordance with a signal supplied from the controller 57, and are in the interruption state when no signal is supplied.
The open circuit pump 15 is connected at a suction port thereof to the tank 25 and at a delivery port thereof to a delivery hydraulic line 94. The delivery hydraulic line 94 is connected to the tank 25 via a bleed-off valve 65. The bleed-off valve 65 changes its opening area in accordance with a signal supplied from the controller 57, and is in a fully open state when no signal is supplied. Further, the delivery hydraulic line 94 is connected to the bottom side hydraulic line 91a of the boom cylinder 1 via a switching valve 46a and is connected to the bottom side hydraulic line 92a of the arm cylinder 3 via a switching valve 46b. The switching valves 46a and 46b switch the flow line between conduction and interruption in accordance with a signal supplied from the controller 57, and are in the interruption state when no signal is supplied.
The closed circuit pump 12 is connected at one of the suction/delivery ports thereof (on the side connected to the rod side hydraulic chamber 1b of the boom cylinder 1 and also to the bottom side hydraulic chamber 3a of the arm cylinder 3) to the charge line 90 through a branch hydraulic line 95, and a switching valve 70 is provided in the branch hydraulic line 95. Further, the closed circuit pump 14 is connected at one of the suction/delivery ports thereof (on the side connected to the rod side hydraulic chamber 1b of the boom cylinder 1 and also to the bottom side hydraulic chamber 3a of the arm cylinder 3) to the charge line 90 through a branch hydraulic line 96, and a switching valve 71 is provided in the branch hydraulic line 96. The switching valves 70 and 71 switch the flow line between conduction and interruption in accordance with a signal supplied from the controller 57, and are in the interruption state when no signal is supplied.
The bottom side hydraulic line 91a and the rod side hydraulic line 91b of the boom cylinder 1 are connected to the charge line 90 via check valves 37a and 37b and a flushing valve 34, and the bottom side hydraulic line 92a and the rod side hydraulic line 92b of the arm cylinder 3 are connected to the charge line 90 via check valves 38a and 38b and a flushing valve 35. The closed circuit pump 12 is connected at the suction/delivery ports thereof to the charge line 90 via check valves 30a and 30b and main relief valves 80a and 80b, and the closed circuit pump 14 is connected at the suction/delivery ports thereof to the charge line 90 via check valves 31a and 31b and main relief valves 81a and 81b. The check valves 30a and 30b are built in the closed circuit pump 12, and the check valves 31a and 31b are built in the closed circuit pump 14.
Each of the check valves 30a, 30b, 31a, 31b, 37a, 37b, 38a, and 38b sucks, when the pressure in the closed circuit decreases, hydraulic operating fluid from the charge line 90 into the circuit to thereby prevent cavitation of the circuit. The flushing valves 34 and 35 are low pressure selecting valves that connect the low pressure side of the closed circuit and the charge line 90 to each other, and keep the balance in hydraulic fluid amount in the closed circuit by discharging surplus hydraulic operating fluid in the closed circuit to the charge line 90 or by sucking hydraulic operating fluid lacking in the closed circuit from the charge line 90. Each of the main relief valves 80a, 80b, 81a, and 81b relieves, when the pressure in the closed circuit exceeds a predetermined pressure (main relief pressure), hydraulic operating fluid to the tank 25, to thereby protect the circuit.
The controller 57 issues a command to the pumps 12 to 15 and the switching valves 43a to 46b, 70, and 71 in response to an input from the operation lever 56a or 56d and sensor information such as the engine speed and the pressures to the individual portions. Further, the controller 57 includes an unload controlling section 57a for performing unload control to be hereinafter described. The unload controlling section 57a is implemented, for example, as one function of a program executed by the controller 57.
Referring to
Rotational power from the engine 9 is inputted to the shaft 303, and the cylinder 304, the plurality of pistons 305 accommodated in the cylinder 304, and so forth operate rotationally together with the shaft 303. The pistons 305 slidably rotate in contact with the swash plate 308. Since the swash plate 308 has an angle α, the pistons 305 are displaced in an axial direction with respect to the cylinder 304. For example, the pistons 305 suck hydraulic operating fluid from the suction/delivery port 310 and delivers the hydraulic operating fluid to the suction/delivery port 311.
The swash plate 308 is provided tiltably through the cradle 309 in the casing 301. The front surface side of the swash plate 308 forms a smooth surface 308a that guides the shoes 306 slidably. In contrast, the rear surface side of the swash plate 308 is supported tiltably (slidably) on the cradle 309. The cradle 309 is provided fixedly on the casing 301 and positioned around the shaft 303.
The tilting angle α of the swash plate 308 can be adjusted by a regulator and a servo piston which are not depicted. When the tilting angle α is zero, the pump delivery flow rate is zero, and when the tilting angle α has a negative value, the hydraulic operating fluid is sucked from the suction/delivery port 311 and is delivered to the suction/delivery port 310.
The charge line 90 is connected to the charge port 312. If the pressure in the suction/delivery ports 310 and 311 becomes equal to or lower than a charge pressure, then the check valves 30a and 30b (check valves 31a and 31b) are opened, and the hydraulic operating fluid from the charge pump 11 is sucked, to thereby prevent cavitation in the closed circuit pump 12 (14).
An example of operation of the actuators in the configuration described above is described first.
Referring to
When a pull-in operation of the arm cylinder 3 is to be performed, the switching valves 43b and 44b are placed into a conduction state, the hydraulic operating fluid is delivered from the closed circuit pump 12 in a direction opposite to that in the case described above, and the bleed-off valve 64 is opened. Consequently, the hydraulic operating fluid is discharged from the bottom side hydraulic chamber 3a of the arm cylinder 3, so that the arm cylinder 3 performs a pull-in operation.
When there is no lever input from the operator at the time of waiting for work or the like, all of the switching valves 43a to 46b are placed into an interruption state, and even in a case where the front implement 103 of the hydraulic excavator 100 is in the air as depicted in
In this case, as depicted in
Therefore, in the present embodiment, in order to solve the problem described above, the switching valves 70 and 71 are provided in the branch hydraulic lines 95 and 96, respectively, and the unload controlling section 57a is provided in the controller 57.
The controller 57 first decides whether or not the required pump delivery volume to the closed circuit pump 12 is zero (step S1).
When it is decided in step S1 that the required pump delivery volume is not zero (No), the pistons 305 are in a state displaced with respect to the cylinder 304, and the pistons 305 and the cylinder 304 are not to be abraded. Therefore, the state of the pump delivery volume being zero is continued. In particular, the controller 57 sets a zero tilt duration Tzero to zero (step S2), and while keeping the command for the switching valve 70 to interruption (Close), the controller 57 applies the required delivery volume to the command delivery volume for the closed circuit pump 12 (step S3).
When it is decided in step S1 that the required pump delivery volume is zero (Yes), the controller 57 decides whether or not the engine speed N exceeds a predetermined rotation speed Nhigh (step S4).
When it is decided No (the engine speed N is equal to or lower than the predetermined rotation speed Nhigh) in step S4, since the centrifugal force acting upon the piston 305 of the closed circuit pump 12 is small and the possibility that the pistons 305 or the cylinder 304 may be abraded is sufficiently low, the state of the pump delivery volume being zero is continued as it is. In particular, the controller 57 sets the zero tilt duration Tzero to zero (step S2), and while keeping the command for the switching valve 70 to interruption (Close), the controller 57 applies the required delivery volume to the command delivery volume for the closed circuit pump 12 (step S3).
When it is decided Yes (the engine speed N exceeds the predetermined rotation speed Nhigh) in step S4, the controller 57 adds a control cycle ΔT to the zero tilt duration Tzero in the preceding control cycle to calculate the zero tilt duration Tzero at the present point of time (step S5).
Subsequently to step S5, the controller 57 decides whether or not the zero tilt duration Tzero exceeds a predetermined waiting time period Tlimit (step S6). In the present embodiment, the waiting time period Tlimit is defined as a function of the engine speed N and is set such that it decreases as the engine speed N increases with respect to the predetermined rotation speed Nhigh as depicted in
When the controller 57 decides No (the zero tilt duration Tzero is equal to or shorter than the predetermined waiting time period Tlimit) in step S6, it continues the state of the pump delivery volume being zero. In other words, while keeping the command for the switching valve 70 to interruption (Close), the controller 57 applies the required delivery volume to the command delivery volume for the closed circuit pump 12 (step S3).
When the controller 57 decides YES (the zero tilt duration Tzero exceeds the waiting time period Tlimit) in step S6, it sets the command to the switching valve 70 to open (Open) and sets the command delivery volume for the closed circuit pump 12 to a predetermined delivery volume Vset (step S7).
Subsequently to step S3 or step S7, the controller 57 outputs a command to the switching valve 70 and the closed circuit pump 12 (step S8), thereby ending the flow.
As a result, the following advantageous effects are achieved.
Since the pistons 305 in the closed circuit pump 12 are displaced with respect to the cylinder 304 with the closed circuit pump delivery volume kept to a level equal to or higher than the predetermined delivery volume Vset, the hydraulic fluid is introduced to the sliding portion to thereby assure an oil film, by which abrasion can be prevented. Further, since the suction/delivery ports of the closed circuit pump 12 are connected to the charge line 90 via the switching valve 70, the delivery pressure of the closed circuit pump 12 is suppressed to a low level equal to or lower than the charge pressure. Consequently, degradation of fuel consumption can be prevented, and the durability of the closed circuit pump 12 itself can be improved.
Further, since the waiting time period Tlimit until unload control is started is provided and the waiting time period Tlimit is changed according to the rotation speed N, for example, in such a case where the probability of abrasion is low as upon engine idling, the waiting time period Tlimit is set to infinity such that unload control is not performed. Since this results in significant reduction in the number of times of operation of the switching valves 70 and 71, the reliability of the switching valves 70 and 71 can be assured readily.
Further, as depicted in
Further, the present embodiment adopts a configuration in which the switching valves 70 and 71 for unload control are connected to only either one of the bottom side hydraulic chambers 1a and 3a and the rod side hydraulic chambers 1b and 3b of the hydraulic cylinders 1 and 3 and are thus connected to the side on which a high pressure by the own weight of the front implement 103 does not act. In particular, in the present embodiment, as a frequently used aerial posture, such a scene as depicted in
Consequently, even in a case in which the switching valve 70 is stuck open (stuck-open failure) at a point of time at which the operator intends to perform a very small boom-raising operation, for example, from the aerial posture of
In the present embodiment, provided is the hydraulic excavator 100 comprising the closed circuit pumps 12 and 14 each consisting of a bidirectionally tiltable hydraulic pump having two suction/delivery ports, the actuators 1 and 3 each connected in a closed circuit manner to the closed circuit pumps 12 and 14, the charge pump 11, the charge line 90 connected to the delivery port of the charge pump 11, the check valves 30a, 30b, 31a, and 31b that are provided in the hydraulic lines each connecting the charge line 90 and the closed circuit pump 12 or 14 to each other and permit the hydraulic operating fluid to flow from the charge line 90 into the closed circuit pumps 12 and 14, the charge relief valve 20 provided in the charge line 90, the operation levers 56a and 56d for instructing operations of the actuators 1 and 3, and the controller 57 that controls the delivery volumes of the closed circuit pumps 12 and 14 according to inputs from the operation levers 56a and 56d. The hydraulic excavator 100 includes the switching valves 70 and 71 that are provided in the branch hydraulic lines 95 and 96 each connecting one of the suction/delivery ports of the closed circuit pump 12 or 14 and the charge line 90 to each other and are opened and closed according to a control signal from the controller 57. The controller 57 is configured to, in a case where the state in which the delivery volumes of the closed circuit pumps 12 and 14 are kept to zero continues for the predetermined time period Tlimit or more, open the switching valves 70 and 71 and keep the delivery volumes of the closed circuit pumps 12 and 14 to the predetermined delivery volume Vset or more, the predetermined delivery volume being greater than zero.
According to the present embodiment configured in such a manner as described above, keeping the delivery volumes of the closed circuit pumps 12 and 14 equal to or greater than the predetermined delivery volume Vset causes the pistons 305 in each of the closed circuit pumps 12 and 14 to be displaced with respect to the cylinder 304, and therefore, oil is introduced into the sliding portion to thereby assure an oil film and can prevent abrasion. Further, connecting the delivery ports of the closed circuit pumps 12 and 14 to the charge line 90 via the switching valves 70 and 71 suppresses the pump pressure to a low level (to a pressure equal to or lower than the charge pressure), and therefore, it is possible to prevent deterioration in fuel consumption and improve the durability of the closed circuit pumps 12 and 14. As a result, in the construction machine configured such that a hydraulic actuator is driven by a hydraulic pump for a closed circuit, oil film breakage of the hydraulic pump for a closed circuit that is the most important equipment can be prevented. Therefore, it is possible to provide a construction machine in which the reliability of the closed circuit pump is improved and a high operation rate is achieved. It is to be noted that, while, in the present embodiment, the switching valves 70 and 71 are provided on the rod side of the boom cylinder 1 and the bottom side of the arm cylinder 3, the switching valves 70 and 71 may otherwise be provided on the bottom side of the boom cylinder 1 and the rod side of the arm cylinder 3.
Further, the controller 57 in the present embodiment is configured to set the predetermined time period Tlimit shorter as the rotation speed N of the closed circuit pumps 12 and 14 increases.
Consequently, since the waiting time period Tlimit until unload control is started changes according to the rotation speed N of the closed circuit pumps 12 and 14, in a case where the possibility of abrasion is low as upon engine idling, for example, the unload control is not performed. As a result, the number of times of operation of the switching valves 70 and 71 decreases, and therefore, assurance of the reliability of the switching valves 70 and 71 is facilitated.
Further, in the present embodiment, out of the check valves 30a, 30b, 31a, and 31b, the charge relief valve 20, and the switching valves 70 and 71 all connected to the charge line 90, the check valves 30a, 30b, 31a, and 31b are arranged nearest from the delivery port of the charge pump 11.
Consequently, since, during unload control, oil of a comparatively low temperature is sucked from the tank 25 into the closed circuit pumps 12 and 14 via the charge pump 11, temperature rise of the closed circuit pumps 12 and 14 is suppressed, and the reliability and the durability can be improved.
Further, the hydraulic excavator 100 according to the present embodiment comprises the front implement 103 including the boom 2 and the arm 4. The closed circuit pumps 12 and 14 include the first closed circuit pump 12 and the second closed circuit pump 14, and the actuators 1 and 3 include the boom cylinder 1 that drives the boom 2 and the arm cylinder 3 that drives the arm 4. The switching valves 70 and 71 include the first switching valve 70 provided in the first branch hydraulic line 95 that connects one of the suction/delivery ports of the first closed circuit pump 12 and the charge line 90 to each other, and the second switching valve 71 provided in the second branch hydraulic line 96 that connects one of the suction/delivery ports of the second closed circuit pump 14 and the charge line 90 to each other. Both the switching valve 70 and the switching valve 71 are arranged on the rod side of the boom cylinder 1 and the bottom side of the arm cylinder 3.
Consequently, even in a case where the switching valves 70 and 71 are stuck open (stuck-open failure), such a movement of the front implement 103 as to suddenly move down in its own weight direction can be prevented, and therefore, a motion not intended by the operator can be suppressed.
While the embodiment of the present invention has been described in detail, the present invention is not limited to the embodiment described above and includes various modifications. For example, the embodiment described above has been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily restricted to what includes all the configurations described hereinabove.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-202551 | Nov 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/037923 | 10/6/2020 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2021/090627 | 5/14/2021 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 20160032565 | Shimizu et al. | Feb 2016 | A1 |
| 20160333903 | Peterson | Nov 2016 | A1 |
| Number | Date | Country |
|---|---|---|
| 58-144104 | Sep 1983 | JP |
| 59-40602 | Mar 1984 | JP |
| 2000-161312 | Jun 2000 | JP |
| 2015-48899 | Mar 2015 | JP |
| Entry |
|---|
| International Search Report (PCT/ISA/210) issued in PCT Application No. PCT/JP2020/037923 dated Dec. 22, 2020 with English translation (four (4) pages). |
| Japanese-language Written Opinion (PCT/ISA/237) issued in PCT Application No. PCT/JP2020/037923 dated Dec. 22, 2020 with English translation (three (3) pages). |
| International Preliminary Report on Patentability (PCT/IB/338 & PCT/IB/373) issued in PCT Application No. PCT/JP2020/037923 dated May 19, 2022, including English translation of document C2 (Japanese-language Written Opinion (PCT/ISA/237) filed on Feb. 23, 2022) (five (5) pages). |
| Number | Date | Country | |
|---|---|---|---|
| 20220282448 A1 | Sep 2022 | US |
