WO2016056101A1 - 4気筒内燃機関の排気装置 - Google Patents
4気筒内燃機関の排気装置 Download PDFInfo
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- WO2016056101A1 WO2016056101A1 PCT/JP2014/077068 JP2014077068W WO2016056101A1 WO 2016056101 A1 WO2016056101 A1 WO 2016056101A1 JP 2014077068 W JP2014077068 W JP 2014077068W WO 2016056101 A1 WO2016056101 A1 WO 2016056101A1
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- Prior art keywords
- exhaust
- cylinder
- collective
- exhaust port
- cylinders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N13/00—Exhaust or silencing apparatus characterised by constructional features ; Exhaust or silencing apparatus, or parts thereof, having pertinent characteristics not provided for in, or of interest apart from, groups F01N1/00 - F01N5/00, F01N9/00, F01N11/00
- F01N13/08—Other arrangements or adaptations of exhaust conduits
- F01N13/10—Other arrangements or adaptations of exhaust conduits of exhaust manifolds
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02F—CYLINDERS, PISTONS OR CASINGS, FOR COMBUSTION ENGINES; ARRANGEMENTS OF SEALINGS IN COMBUSTION ENGINES
- F02F1/00—Cylinders; Cylinder heads
- F02F1/24—Cylinder heads
- F02F1/243—Cylinder heads and inlet or exhaust manifolds integrally cast together
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02F—CYLINDERS, PISTONS OR CASINGS, FOR COMBUSTION ENGINES; ARRANGEMENTS OF SEALINGS IN COMBUSTION ENGINES
- F02F1/00—Cylinders; Cylinder heads
- F02F1/24—Cylinder heads
- F02F1/42—Shape or arrangement of intake or exhaust channels in cylinder heads
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02F—CYLINDERS, PISTONS OR CASINGS, FOR COMBUSTION ENGINES; ARRANGEMENTS OF SEALINGS IN COMBUSTION ENGINES
- F02F1/00—Cylinders; Cylinder heads
- F02F1/24—Cylinder heads
- F02F1/42—Shape or arrangement of intake or exhaust channels in cylinder heads
- F02F1/4264—Shape or arrangement of intake or exhaust channels in cylinder heads of exhaust channels
- F02F2001/4278—Exhaust collectors
Definitions
- the present invention relates to an exhaust system for an in-line four-cylinder internal combustion engine, and more particularly to an exhaust system having at least one collective exhaust port formed by joining exhaust ports of a pair of cylinders whose ignition order is not continuous within a cylinder head.
- Patent Document 1 discloses that in an in-line four-cylinder internal combustion engine, exhaust ports of cylinders # 2 and # 3 whose ignition order is not continuous are merged inside the cylinder head, while exhaust ports of cylinders # 1 and # 4 are left as they are.
- An exhaust device configured to open on the side of the cylinder head is disclosed. That is, the exhaust ports of the # 2 and # 3 cylinders are configured as one collective exhaust port, and the exhaust port of the # 1 cylinder and the exhaust port of the # 4 cylinder are configured as individual exhaust ports for each individual cylinder. Yes.
- the collective exhaust ports for the # 2 and # 3 cylinders are connected to the catalytic converter via one collective exhaust pipe, and the individual exhaust ports of the # 1 and # 4 cylinders are independent individual exhaust pipes. Is connected to the catalytic converter.
- the temperature of the exhaust gas introduced into the catalytic converter via the collective exhaust pipe can be high during the cold start. This is advantageous in terms of early activity of the catalyst.
- the length of the collective exhaust pipe for the # 2 and # 3 cylinders is made shorter than the length of the individual exhaust pipe for the # 1 and # 4 cylinders, thereby suppressing heat dissipation from the collective exhaust pipe. ing.
- the configuration in which the exhaust ports of some cylinders are merged inside the cylinder head as described above is advantageous in terms of early activation of the catalyst after a cold start.
- the temperature of the exhaust gas flowing into the catalytic converter through the collective exhaust port and collective exhaust pipe tends to be excessively high, and there is a concern that the catalyst deteriorates.
- the exhaust ports of at least one pair of cylinders whose ignition timings are separated by 360 ° among the four cylinders open on the side of the cylinder head as a collective exhaust port joined inside the cylinder head In the exhaust system of a four-cylinder internal combustion engine in which the collective exhaust pipe connected to the collective exhaust port is connected to a single catalytic converter together with exhaust pipes of other cylinders,
- the equivalent diameter at the outlet of the collective exhaust port is larger than the equivalent diameter of the individual exhaust ports of the two cylinders before merging
- the outlet portion has an elliptical shape or an elliptical shape that is long in the cylinder row direction, and the short diameter thereof is configured to be equal to or less than the equivalent diameter of the individual exhaust ports of the two cylinders before joining.
- the amount of heat released when high-temperature gas flows through the pipeline is affected by the surface area of the pipeline, that is, the heat radiation area, the flow rate of the gas in contact with the wall of the pipeline, the volume of the gas, etc.
- the equivalent diameter of the collective exhaust port and collective exhaust pipe The larger the is, the less heat dissipation. Therefore, at the time of cold start, the exhaust gas can be introduced into the catalytic converter while keeping the temperature high.
- the cross-sectional shape of the collective exhaust pipe is basically the same as the shape of the collective exhaust port outlet.
- the exhaust gas is discharged to the catalytic converter during cold start by flattening so that the short diameter is equal to or less than the equivalent diameter of the exhaust port before merging.
- it can be introduced while keeping the temperature as high as possible, and at the same time, it can satisfy the conflicting requirement to suppress the temperature of the exhaust gas introduced into the catalytic converter as much as possible at high speed and high load.
- Sectional drawing of the cylinder head provided with the exhaust apparatus which concerns on this invention The side view by the side of the exhaust port of this cylinder head.
- the perspective view which shows the example from which an exhaust manifold differs.
- the side view of the cylinder head which shows a 2nd Example.
- FIGS. 1 to 3 show an embodiment in which the present invention is applied to an in-line four-cylinder internal combustion engine.
- the exhaust ports 2a to 2d of the cylinders # 1 to # 4 extend toward one side surface 1a of the cylinder head 1, and the intake ports 3a to 3d are connected to the other side. It extends toward the side surface 1b.
- the exhaust ports 2a and 2d of the # 1 cylinder and the # 4 cylinder open individually to the side surface 1a of the cylinder head 1 as individual exhaust ports, and the exhaust ports of the # 2 and # 3 cylinders. 2b and 2c merge with each other inside the cylinder head 1 and open to the side surface 1a of the cylinder head 1 as one collective exhaust port 2bc.
- the cylinder head 1 is provided with a water jacket 4 so as to surround the exhaust ports 2a to 2d, and is forcibly cooled by circulation of cooling water.
- FIG. 2 shows a side surface 1a of the cylinder head 1, and as shown in the figure, the individual exhaust ports 2a and 2d of the # 1 and # 4 cylinders are opened in a substantially circular shape.
- the outlet portion of the collective exhaust port 2bc of the # 2 and # 3 cylinders located in the center is opened in an elliptical shape or an oval shape that is long in the cylinder row direction.
- an oval shape is formed by a semicircular portion at both ends and an intermediate straight portion.
- the equivalent diameter at the outlet of the collective exhaust port 2bc is larger than the equivalent diameters of the exhaust ports 2b and 2c of the # 2 cylinder and # 3 cylinder before merging.
- the exhaust ports 2b and 2c of the # 2 and # 3 cylinders and the exhaust ports 2a and 2d of the # 1 and # 4 cylinders have basically the same equivalent diameter, so at the outlet of the collective exhaust port 2bc.
- the equivalent diameter is set larger than the equivalent diameter at the outlet of the individual exhaust port 2a of the # 1 cylinder and the individual exhaust port 2d of the # 4 cylinder.
- the minor axis along the vertical direction of the outlet of the collective exhaust port 2bc that forms an oval is less than or equal to the equivalent diameter of the exhaust ports 2b and 2c of the # 2 cylinder and # 3 cylinder before merging.
- it is slightly smaller than the equivalent diameter of the exhaust ports 2b and 2c of the # 2 cylinder and # 3 cylinder before merging.
- the individual exhaust ports 2a and 2d of the # 1 and # 4 cylinders have basically the same equivalent diameter as the exhaust ports 2b and 2c of the # 2 and # 3 cylinders, and are opened in a substantially circular shape.
- the outlet portion of the collective exhaust port 2bc has an elliptical shape having a short diameter slightly smaller than the diameter of the individual exhaust ports 2a and 2d and extending long in the cylinder row direction. .
- the ratio of the major axis to the minor axis is 1.6.
- FIG. 3 shows the exhaust manifold 5 attached to the side surface 1 a of the cylinder head 1.
- the exhaust manifold 5 includes a # 1 individual exhaust pipe 6 connected to the individual exhaust port 2a of the # 1 cylinder, a # 4 individual exhaust pipe 7 connected to the individual exhaust port 2d of the # 4 cylinder, and a central collective exhaust. And a collective exhaust pipe 8 connected to the port 2bc.
- the base ends of the three exhaust pipes 6, 7, and 8 are supported by the head mounting flange 9.
- the # 1 individual exhaust pipe 6 and the # 4 individual exhaust pipe 7 have a substantially circular cross-sectional shape, and have an equivalent diameter basically equal to that of the outlet portions of the individual exhaust ports 2a and 2d on the side surface 1a of the cylinder head 1. Have.
- the collective exhaust pipe 8 has an elongated oval cross-sectional shape extending in the cylinder row direction corresponding to the shape of the outlet opening at the side surface 1a of the cylinder head 1, and has an equivalent diameter basically equal to that of the outlet. As well as flatness.
- the tips of # 1 individual exhaust pipe 6, # 4 individual exhaust pipe 7 and collective exhaust pipe 8 are connected to a diffuser portion 11a on the upstream side of a single catalytic converter 11, respectively.
- the catalytic converter 11 is a cylindrical monolithic catalyst carrier accommodated in a cylindrical metal case, and the diffuser portion 11a forms a space whose diameter gradually increases between the end face of the catalyst carrier. It has a substantially conical shape.
- the collective exhaust pipe 8 extends linearly from the head mounting flange 9 along the direction orthogonal to the cylinder row direction, and is curved so that the tip portion is directed downward, and is connected to the upstream end portion of the diffuser portion 11a. Has been. At the connection with the catalytic converter 11, the collective exhaust pipe 8 has a substantially semicircular cross-sectional shape (not shown).
- the # 1 individual exhaust pipe 6 and the # 4 individual exhaust pipe 7 positioned in the front and rear of the cylinder row direction are curved and extend in the cylinder row direction so as to be substantially symmetric in plan view, and the tip portion is directed downward. And is connected to the upstream end of the diffuser portion 11a. More specifically, the # 1 individual exhaust pipe 6 and the # 4 individual exhaust pipe 7 merge in a substantially Y shape or a T shape in the immediate vicinity of the catalytic converter 11, and the connecting pipe portion 12 becomes one after the merge. Is connected to the diffuser section 11a. In the connection part with the catalytic converter 11, the connection pipe part 12 has a substantially semicircular cross-sectional shape symmetrical to the end part of the collective exhaust pipe 8 (not shown).
- the collective exhaust pipe 8 is arranged inside, that is, close to the cylinder head 1, and the individual exhaust pipes 6 and 7 are arranged so as to pass above or outside the collective exhaust pipe 8. Both passage lengths are set to be as long as possible.
- the exhaust of the # 1 cylinder and the exhaust of the # 4 cylinder individually flow to the catalytic converter 11 via the individual exhaust ports 2a and 2d and the individual exhaust pipes 6 and 7, whereas the # 2 cylinder And the exhaust of the # 3 cylinder flow to the catalytic converter 11 through the common collective exhaust port 2bc and the collective exhaust pipe 8. Therefore, at the cold start, the exhausts of the # 2 and # 3 cylinders are supplied to the catalytic converter 11 while maintaining a relatively high temperature, contributing to early activation of the catalyst.
- FIG. 4 shows the relationship between the equivalent diameter of the exhaust port and the amount of heat release during cold start
- the horizontal axis shows the equivalent diameter of the exhaust port relative to a certain equivalent diameter D0 (for example, 36 mm).
- the vertical axis indicates the amount of heat release in the form of an increase / decrease rate with respect to the heat release amount of the reference equivalent diameter D0.
- the individual characteristic lines a to f show the characteristics when the minor axis is changed in the range of 24 mm to 47 mm, and the overall tendency that does not depend on the flatness is on each characteristic line a to f. It is shown by a curve g connecting points when the circle is a perfect circle. As shown in FIG.
- the equivalent diameter of the exhaust port is large. Since a small amount of exhaust flows in the vicinity of the center of the exhaust port without making much contact with the inner wall surface of the low temperature exhaust port, the larger the equivalent diameter, the smaller the heat radiation.
- the equivalent diameter of the collective exhaust port 2bc is set to be larger than the equivalent diameter of the individual exhaust ports 2b, 2c, and the exhaust of each cylinder flows alternately as an intermittent flow therein. Subsequent cooling of the exhaust gas is suppressed and early activation of the catalyst can be achieved. The same applies to the collective exhaust pipe 8.
- FIG. 5 shows the relationship between the equivalent diameter of the exhaust pipe and the amount of heat radiation (passage surface area) during high-speed and high-load operation after completion of warm-up of the internal combustion engine
- the horizontal axis represents the equivalent diameter of the exhaust pipe.
- the vertical axis shows the amount of heat dissipation in proportion to the surface area of the passage, and the amount of increase / decrease with respect to the amount of heat dissipation (passage surface area) in a perfect circle. Is shown.
- the individual characteristic lines a to f show the characteristics when the minor axis is changed in the range of 24 mm to 47 mm. As shown in the figure, the larger the equivalent diameter, the larger the passage surface area.
- the exhaust temperature is prevented from excessively rising during high-speed and high-load operation after the completion of warm-up, in which deterioration of the catalyst is a problem, and at the cold start, the cooling of the exhaust temperature is suppressed.
- early activation of the catalyst can be realized.
- the exhaust temperature after the cold start can be maintained at the highest level.
- the above ratio is desirably 1.6 or more.
- the exhaust ports 2b and 2c of the # 2 cylinder and # 3 cylinder are merged as the collective exhaust port 2bc, while the # 1 cylinder and the # 4 cylinder are made independent as individual exhaust ports.
- the exhaust port of the # 1 cylinder and the exhaust port of the # 4 cylinder are also merged as the second collective exhaust port 2ad inside the cylinder head 1. It has become.
- Each of the openings of the collective exhaust ports 2bc and 2ad has an elliptical shape or an oval shape (in the illustrated example, an oval shape) that extends long in the cylinder row direction.
- the short diameter is larger than the equivalent diameter of each cylinder and is equal to or less than the equivalent diameter of each exhaust port of the two cylinders before joining.
- first collective exhaust port 2bc and the second collective exhaust port 2ad are arranged at different positions in the vertical direction on the side surface 1a of the cylinder head 1, and at least partially overlap in the cylinder row direction. Has been placed. In the illustrated example, the first collective exhaust port 2bc is positioned relatively upward.
- the exhaust manifold has a configuration including two collective exhaust exhaust pipes corresponding to the shape and arrangement of the opening in FIG.
- the first collective exhaust port 2bc and the second collective exhaust port 2ad are vertically adjacent to each other via the common partition wall, so that the exhaust temperature after the cold start is increased. It becomes more advantageous in securing.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Exhaust Silencers (AREA)
- Cylinder Crankcases Of Internal Combustion Engines (AREA)
- Exhaust Gas After Treatment (AREA)
Abstract
Description
この集合排気ポートに接続された集合排気管が、他の気筒の排気管とともに単一の触媒コンバータに接続されてなる4気筒内燃機関の排気装置において、
上記集合排気ポートの出口部における等価直径が、合流前の2つの気筒の個々の排気ポートの等価直径よりも大きく、
上記出口部は、気筒列方向に長い楕円形ないし長円形をなし、その短径が、合流前の2つの気筒の個々の排気ポートの等価直径以下である、ように構成されている。
Claims (5)
- 4つの気筒の中で点火時期が360°離れた少なくとも1対の気筒の排気ポートが、シリンダヘッド内部で合流した集合排気ポートとしてシリンダヘッド側面に開口し、
この集合排気ポートに接続された集合排気管が、他の気筒の排気管とともに単一の触媒コンバータに接続されてなる4気筒内燃機関の排気装置において、
上記集合排気ポートの出口部における等価直径が、合流前の2つの気筒の個々の排気ポートの等価直径よりも大きく、
上記出口部は、気筒列方向に長い楕円形ないし長円形をなし、その短径が、合流前の2つの気筒の個々の排気ポートの等価直径以下である、4気筒内燃機関の排気装置。 - 上記出口部において、上記短径に対する長径の比が、1.6以上である、請求項1に記載の4気筒内燃機関の排気装置。
- ♯2気筒と♯3気筒の排気ポートが上記集合排気ポートとして構成され、
♯1気筒と♯4気筒の排気ポートは、個々の気筒毎に独立した個別排気ポートとしてシリンダヘッド側面に開口し、かつ個々に独立した個別排気管を介して上記触媒コンバータに接続されている、請求項1または2に記載の4気筒内燃機関の排気装置。 - ♯2気筒と♯3気筒の排気ポートが第1の集合排気ポートとして構成され、
♯1気筒と♯4気筒の排気ポートが第2の集合排気ポートとして構成されている、請求項1または2に記載の4気筒内燃機関の排気装置。 - 上記第1の集合排気ポートと上記第2の集合排気ポートとが、シリンダヘッド側面において上下に異なる高さ位置に配置され、かつ気筒列方向には、少なくとも一部が重なり合って配置されている、請求項4に記載の4気筒内燃機関の排気装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/077068 WO2016056101A1 (ja) | 2014-10-09 | 2014-10-09 | 4気筒内燃機関の排気装置 |
MYPI2017701212A MY183436A (en) | 2014-10-09 | 2014-10-09 | Exhaust device for four-cylinder internal combustion engine |
CN201480082545.XA CN106795800B (zh) | 2014-10-09 | 2014-10-09 | 4气缸内燃机的排气装置 |
EP14903602.2A EP3205854B1 (en) | 2014-10-09 | 2014-10-09 | Exhaust device for four-cylinder internal combustion engine |
JP2016552765A JP6195024B2 (ja) | 2014-10-09 | 2014-10-09 | 4気筒内燃機関の排気装置 |
US15/516,689 US10240507B2 (en) | 2014-10-09 | 2014-10-09 | Exhaust device for four-cylinder internal combustion engine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2014/077068 WO2016056101A1 (ja) | 2014-10-09 | 2014-10-09 | 4気筒内燃機関の排気装置 |
Publications (1)
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WO2016056101A1 true WO2016056101A1 (ja) | 2016-04-14 |
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Family Applications (1)
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PCT/JP2014/077068 WO2016056101A1 (ja) | 2014-10-09 | 2014-10-09 | 4気筒内燃機関の排気装置 |
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Country | Link |
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US (1) | US10240507B2 (ja) |
EP (1) | EP3205854B1 (ja) |
JP (1) | JP6195024B2 (ja) |
CN (1) | CN106795800B (ja) |
MY (1) | MY183436A (ja) |
WO (1) | WO2016056101A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230417168A1 (en) * | 2022-06-23 | 2023-12-28 | Paccar Inc | Pulse turbo charging exhaust system |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6421532B2 (ja) * | 2014-10-09 | 2018-11-14 | 日産自動車株式会社 | 内燃機関の排気装置 |
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JP2007205174A (ja) * | 2006-01-31 | 2007-08-16 | Toyota Motor Corp | 内燃機関 |
JP2008038838A (ja) * | 2006-08-09 | 2008-02-21 | Toyota Motor Corp | 内燃機関 |
JP2009133214A (ja) * | 2007-11-28 | 2009-06-18 | Ibiden Co Ltd | 排気管 |
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JP2003262120A (ja) * | 2002-03-08 | 2003-09-19 | Nissan Motor Co Ltd | 4気筒エンジンの排気マニホールド |
JP4394868B2 (ja) * | 2002-07-30 | 2010-01-06 | 日産自動車株式会社 | エンジンの排気装置 |
JP4463210B2 (ja) * | 2006-01-13 | 2010-05-19 | 本田技研工業株式会社 | 集合型排気ポートが形成されたシリンダヘッドを備える多気筒内燃機関 |
JP2007285168A (ja) * | 2006-04-14 | 2007-11-01 | Toyota Motor Corp | 内燃機関のシリンダヘッド構造 |
JP4760526B2 (ja) * | 2006-05-18 | 2011-08-31 | 日産自動車株式会社 | 内燃機関のシリンダヘッド |
US8079214B2 (en) * | 2007-12-14 | 2011-12-20 | Hyundai Motor Company | Integrally formed engine exhaust manifold and cylinder head |
JP4725656B2 (ja) * | 2009-02-13 | 2011-07-13 | マツダ株式会社 | 多気筒エンジンの排気通路構造 |
WO2013172129A1 (ja) * | 2012-05-15 | 2013-11-21 | 日産自動車株式会社 | 内燃機関の排気装置 |
WO2014103585A1 (ja) * | 2012-12-25 | 2014-07-03 | 日産自動車株式会社 | 内燃機関 |
US9574522B2 (en) * | 2014-08-27 | 2017-02-21 | GM Global Technology Operations LLC | Assembly with cylinder head having integrated exhaust manifold and method of manufacturing same |
-
2014
- 2014-10-09 JP JP2016552765A patent/JP6195024B2/ja active Active
- 2014-10-09 EP EP14903602.2A patent/EP3205854B1/en active Active
- 2014-10-09 CN CN201480082545.XA patent/CN106795800B/zh active Active
- 2014-10-09 WO PCT/JP2014/077068 patent/WO2016056101A1/ja active Application Filing
- 2014-10-09 US US15/516,689 patent/US10240507B2/en active Active
- 2014-10-09 MY MYPI2017701212A patent/MY183436A/en unknown
Patent Citations (3)
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JP2007205174A (ja) * | 2006-01-31 | 2007-08-16 | Toyota Motor Corp | 内燃機関 |
JP2008038838A (ja) * | 2006-08-09 | 2008-02-21 | Toyota Motor Corp | 内燃機関 |
JP2009133214A (ja) * | 2007-11-28 | 2009-06-18 | Ibiden Co Ltd | 排気管 |
Non-Patent Citations (1)
Title |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230417168A1 (en) * | 2022-06-23 | 2023-12-28 | Paccar Inc | Pulse turbo charging exhaust system |
US11933207B2 (en) * | 2022-06-23 | 2024-03-19 | Paccar Inc | Pulse turbo charging exhaust system |
Also Published As
Publication number | Publication date |
---|---|
EP3205854A1 (en) | 2017-08-16 |
US20170298803A1 (en) | 2017-10-19 |
MY183436A (en) | 2021-02-18 |
JPWO2016056101A1 (ja) | 2017-04-27 |
EP3205854A4 (en) | 2017-10-04 |
US10240507B2 (en) | 2019-03-26 |
JP6195024B2 (ja) | 2017-09-13 |
EP3205854B1 (en) | 2018-08-15 |
CN106795800B (zh) | 2019-04-30 |
CN106795800A (zh) | 2017-05-31 |
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