EP2998685A2 - Échangeur thermique - Google Patents

Échangeur thermique Download PDF

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Publication number
EP2998685A2
EP2998685A2 EP15184640.9A EP15184640A EP2998685A2 EP 2998685 A2 EP2998685 A2 EP 2998685A2 EP 15184640 A EP15184640 A EP 15184640A EP 2998685 A2 EP2998685 A2 EP 2998685A2
Authority
EP
European Patent Office
Prior art keywords
heat exchanger
exchanger according
gradation
rounded
broadening
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15184640.9A
Other languages
German (de)
English (en)
Other versions
EP2998685A3 (fr
Inventor
Dr.-Ing. Ulrich Maucher
Jürgen BARWIG
Steffen Ensminger
Dr.-Ing. Eberhard Pantow
Claudia Lang
Timo Peifer
Matthias Schmid
Jürgen Steimer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mahle International GmbH
Original Assignee
Mahle International GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mahle International GmbH filed Critical Mahle International GmbH
Publication of EP2998685A2 publication Critical patent/EP2998685A2/fr
Publication of EP2998685A3 publication Critical patent/EP2998685A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28DHEAT-EXCHANGE APPARATUS, NOT PROVIDED FOR IN ANOTHER SUBCLASS, IN WHICH THE HEAT-EXCHANGE MEDIA DO NOT COME INTO DIRECT CONTACT
    • F28D7/00Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall
    • F28D7/16Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits being arranged in parallel spaced relation
    • F28D7/163Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits being arranged in parallel spaced relation with conduit assemblies having a particular shape, e.g. square or annular; with assemblies of conduits having different geometrical features; with multiple groups of conduits connected in series or parallel and arranged inside common casing
    • F28D7/1653Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits being arranged in parallel spaced relation with conduit assemblies having a particular shape, e.g. square or annular; with assemblies of conduits having different geometrical features; with multiple groups of conduits connected in series or parallel and arranged inside common casing the conduit assemblies having a square or rectangular shape
    • F28D7/1661Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits being arranged in parallel spaced relation with conduit assemblies having a particular shape, e.g. square or annular; with assemblies of conduits having different geometrical features; with multiple groups of conduits connected in series or parallel and arranged inside common casing the conduit assemblies having a square or rectangular shape with particular pattern of flow of the heat exchange media, e.g. change of flow direction
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28FDETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
    • F28F9/00Casings; Header boxes; Auxiliary supports for elements; Auxiliary members within casings
    • F28F9/02Header boxes; End plates
    • F28F9/0219Arrangements for sealing end plates into casing or header box; Header box sub-elements
    • F28F9/0221Header boxes or end plates formed by stacked elements
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02MSUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M26/00Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
    • F02M26/13Arrangement or layout of EGR passages, e.g. in relation to specific engine parts or for incorporation of accessories
    • F02M26/22Arrangement or layout of EGR passages, e.g. in relation to specific engine parts or for incorporation of accessories with coolers in the recirculation passage
    • F02M26/29Constructional details of the coolers, e.g. pipes, plates, ribs, insulation or materials
    • F02M26/32Liquid-cooled heat exchangers
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28DHEAT-EXCHANGE APPARATUS, NOT PROVIDED FOR IN ANOTHER SUBCLASS, IN WHICH THE HEAT-EXCHANGE MEDIA DO NOT COME INTO DIRECT CONTACT
    • F28D7/00Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall
    • F28D7/16Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits being arranged in parallel spaced relation
    • F28D7/1684Heat-exchange apparatus having stationary tubular conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits being arranged in parallel spaced relation the conduits having a non-circular cross-section
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28DHEAT-EXCHANGE APPARATUS, NOT PROVIDED FOR IN ANOTHER SUBCLASS, IN WHICH THE HEAT-EXCHANGE MEDIA DO NOT COME INTO DIRECT CONTACT
    • F28D9/00Heat-exchange apparatus having stationary plate-like or laminated conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall
    • F28D9/0031Heat-exchange apparatus having stationary plate-like or laminated conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits for one heat-exchange medium being formed by paired plates touching each other
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28DHEAT-EXCHANGE APPARATUS, NOT PROVIDED FOR IN ANOTHER SUBCLASS, IN WHICH THE HEAT-EXCHANGE MEDIA DO NOT COME INTO DIRECT CONTACT
    • F28D9/00Heat-exchange apparatus having stationary plate-like or laminated conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall
    • F28D9/0031Heat-exchange apparatus having stationary plate-like or laminated conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits for one heat-exchange medium being formed by paired plates touching each other
    • F28D9/0037Heat-exchange apparatus having stationary plate-like or laminated conduit assemblies for both heat-exchange media, the media being in contact with different sides of a conduit wall the conduits for one heat-exchange medium being formed by paired plates touching each other the conduits for the other heat-exchange medium also being formed by paired plates touching each other
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28FDETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
    • F28F1/00Tubular elements; Assemblies of tubular elements
    • F28F1/006Tubular elements; Assemblies of tubular elements with variable shape, e.g. with modified tube ends, with different geometrical features
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28FDETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
    • F28F1/00Tubular elements; Assemblies of tubular elements
    • F28F1/02Tubular elements of cross-section which is non-circular
    • F28F1/025Tubular elements of cross-section which is non-circular with variable shape, e.g. with modified tube ends, with different geometrical features
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F28HEAT EXCHANGE IN GENERAL
    • F28FDETAILS OF HEAT-EXCHANGE AND HEAT-TRANSFER APPARATUS, OF GENERAL APPLICATION
    • F28F1/00Tubular elements; Assemblies of tubular elements
    • F28F1/02Tubular elements of cross-section which is non-circular
    • F28F1/04Tubular elements of cross-section which is non-circular polygonal, e.g. rectangular
    • F28F1/045Tubular elements of cross-section which is non-circular polygonal, e.g. rectangular with assemblies of stacked elements

Definitions

  • the invention relates to a heat exchanger, in particular a charge air cooler or an exhaust gas cooler for a motor vehicle, according to the preamble of claim 1.
  • Exhaust gas coolers have the job; To cool hot exhaust gas from internal combustion engines, so that this cooled exhaust gas can be mixed back into the intake air. In this case, to increase the thermodynamic efficiency of an internal combustion engine, the cooling to a very low level.
  • This principle is generally known as cooled exhaust gas recirculation and is used to achieve a reduction of pollutants, in particular nitrogen oxides, in the exhaust gas.
  • Such heat exchangers have become known, which are formed from a stack of disc pairs, wherein between a pair of discs, a first flow channel is formed and between two stacked disc pairs a second flow channel is formed.
  • the first flow channel is usually closed to the outside and fluidly connectable only via inlet and outlet openings in the stack or on a housing comprising the stack with a fluid channel to a first fluid in the first flow channel or omit.
  • the first fluid is usually a cooling fluid, such as cooling water.
  • the second flow channel is also usually designed to be open on its narrow side in order, for example, to distribute a second fluid to or from the plurality of second flow channels via an intended connection element, which are arranged adjacent to one another and stacked.
  • a gas is used as the second fluid, such as air, exhaust gas or an exhaust gas-air mixture.
  • the inflowing second fluid is usually very hot, so that the leading edge of the pairs of discs on the inflow side of the second fluid in the heat exchanger is exposed to very high thermal stress.
  • the temperature transition from the very hot uncooled gas inlet region of the second flow channel to the region of the heat exchanger in communication with the coolant leads to high stresses due to the different thermal expansion due to the different temperatures.
  • the gas flow in the inlet region of the hot gas is usually carried out with relatively thick-walled diffusers to withstand the high pressures and temperatures, the heat-transmitting discs of the heat exchanger from efficiency, cost and Weight reasons are designed as thin as possible.
  • the diffuser and the disks expand differently and high stresses result on the thin-walled disks of the disk stack, in particular in the corners of the disks at the hot gas inlet.
  • An embodiment of the invention relates to a heat exchanger, in particular exhaust gas cooler, with one or two shell-like discs forming tubes which form a first and a second fluid channel, wherein the respective fluid channels are adjacent to each other, wherein the first fluid channel formed open at at least one of its ends is for inflow and / or outflow of the first fluid, wherein the tubes are formed at the ends by a gradation inwardly or outwardly so that the second fluid channels are closed at the end, wherein the gradation in the corner regions of the tube a greater extent T in Has tube longitudinal direction, as between the corner areas.
  • a flat front edge is formed at the front edge of the disk pair, where the hot second fluid flows, in which preferably no or only a small first fluid is arranged on the inside, so that there the risk of boiling is reduced.
  • the first fluid channel rises in height, where the pair of discs of the fluid channel but preferably already laterally in contact with the housing or the diffuser, so that there due to better heat dissipation, the risk of boiling is already reduced.
  • the tube has a tube longitudinal side and a tube narrow side, wherein the gradation on at least one Pipe end is provided in the pipe width side or in the pipe narrow side or on the pipe narrow side and on the tube longitudinal side.
  • the first fluid channel is formed in cross-section approximately U-shaped with a gradation inwardly or H-shaped with a gradation to the outside.
  • the first fluid channel is formed in cross-section approximately U-shaped or H-shaped. If the first fluid channel is approximately U-shaped, then the outer wall of the disk stack can be advantageously formed by fluid channels for a first fluid as a coolant, which causes an outer wall with a relatively low temperature. The same can also be provided with H-shaped fluid channels. However, if the first fluid channel is approximately H-shaped, then the outer wall of the disc stack can also be formed by fluid channels for a second fluid as fluid to be cooled in order to achieve large cross sections for the second fluid.
  • the gradation is embossed by embossing in one and / or in the other of the two panes. This can be achieved by embossing the gradation.
  • the gradation is impressed by embossing in one of the two panes, wherein the other disc is formed substantially flat. This facilitates the manufacture and connection of the two discs, because then the stepped portion of a disc can be easily placed on the substantially flat other disc.
  • the gradation in the transition from the bottom to the side walls has a rounded broadening of the edge region with a lower height or has a greater height when graded outwards. This will make the flatter area in the corner in transition increased from the bottom to the side wall in the longitudinal direction, which reduces possible thermal stresses.
  • the rounded broadening in the ground is formed such that the dimension of the edge region of lesser height measured along the longitudinal side decreases, starting from the side wall in the direction of the center of the fluid channel. As a result, a continuous transition is achieved, which reduces the stresses and at the same time keeps the risk of boiling relatively low.
  • the rounded broadening also extends into at least one side wall, preferably in both side walls. This improves the transition from the bottom to the sidewall in the region of the corner with respect to the stresses which occur and the stresses in the material of the disc are reduced.
  • the rounded broadening in a side wall is designed such that the dimension of the edge region of lesser height in the longitudinal direction of the flow channel decreases starting from the bottom in the direction of the middle of the height of the side wall.
  • the clear inner width of the fluid channel on the side wall is reduced only in a partial area of the height by the rounded area.
  • the dimension of the rounded broadening decreases arcuately. So it is also advantageous if the dimension of the rounded broadening decreases S-shaped.
  • the FIG. 1 shows a schematic arrangement of two pairs of disks 1, each formed of a first disc 2 and a second disc 3 and form a first fluid channel 4 for a first fluid between the discs 2, 3, wherein between each adjacent disc pairs 1, a second fluid channel 5 for a second fluid is formed.
  • the disks 2, 3 preferably have a substantially flat bottom 6, 8 and side walls 7, 9 protruding therefrom.
  • the respective discs 2, 3 of a pair of discs 1 are superimposed and fluid-tightly connected together at their edge, as soldered to form the sealed fluid channel. Either on one of the side walls 7, 9 or on both side walls 7, 9 and / or on the bottom 6, 8 not shown openings are provided to admit the first fluid in the first fluid channel 4 and to let it out again from the first fluid channel 4.
  • the second fluid channels 5 are Usually designed to be open at their ends, in order to be able to be flowed substantially frontally.
  • the pairs of disks 1 are U-shaped in section, so that the first flow channel 4 not only extends in a plane of the bottom 6, 8, but also extends in the vertical along the plane of the side walls 7, 9.
  • the stack of disk pairs 1 is bounded laterally by walls of the first fluid channel 4, which in the case of a cooling fluid-carrying fluid channel 4 may mean a cooled outer wall.
  • the heat exchanger is not so hot to the outside, which makes it favorable for the installation of the heat exchanger.
  • FIG. 2 shows a schematic arrangement of two other disc pairs 21, each formed of a first disc 22 and a second disc 23 and form a first fluid channel 24 for a first fluid between the discs 22, 23, wherein between each adjacent disc pairs 21, a second fluid channel 25th is formed for a second fluid.
  • the disks 22, 23 preferably have a substantially flat bottom 26, 28 and side walls 27, 29 protruding therefrom.
  • the respective discs 22, 23 of a pair of discs 1 are placed one on top of the other and fluid-tightly connected together at their edges, as soldered to form the sealed fluid channel 24.
  • the second fluid channels 25 are usually designed to be open at their end faces in order to be able to be flowed on substantially frontally.
  • first fluid channels 24 are then designed to be open according to their end faces, in order to be able to be flown in front of the first fluid substantially frontally.
  • the disk pairs 21 are H-shaped in section, so that the first flow channel 24 extends not only in a plane of the bottom 26, 28, but also extends in the vertical along the plane of the side walls 27, 29, starting from the Ground in both vertical directions up and down.
  • disk pairs 1, 21 can be produced by stacking a bundle or a stack of disk pairs, by means of which a heat exchanger is made.
  • the heat exchanger in particular designed as an exhaust gas cooler or intercooler, preferably comprises a disk stack consisting of several elongated disk pairs, wherein the disk pairs have a longitudinal side and a narrow side, wherein each two interconnected disks form a first, in particular elongated fluid channel between them and between two disk pairs each one second, in particular elongated fluid channel is formed.
  • the longitudinal direction or the longitudinal side defines the direction or side between two openings as inlet and outlet for a fluid, which are formed on the narrow sides, also called end faces.
  • the extension in the longitudinal direction may be longer, equal or shorter than the extension of the narrow side.
  • FIG. 5 shows such an elongated disc pair 1 from above in a plan view. It can be seen the elongated shape of the disc pair 1 and thus also the elongated shape of the individual discs 2, 3, which have a longitudinal side 40 and a narrow side 41, wherein the inflow side for the second fluid channels 5 are usually arranged on the narrow side, while the not shown Inlets or outlets of the first fluid channels can also be arranged laterally or above and / or below.
  • the longitudinal side 40 may also be shorter than the narrow side 41.
  • the flow takes place in the direction of the longitudinal side, ie in the longitudinal direction, wherein the inlets and outlets are arranged on the narrow sides.
  • FIGS. 3 and 4 each show an embodiment of a front edge 42 of a disc pair 31 in the region of the narrow side 41 of the disc pair 31.
  • the upper disc 32 is placed on the lower disc 33 and the two discs 32, 33 form at the front edge a gradation 34.
  • This gradation 34 is after FIG. 3 S-shaped, wherein the depth T is smaller than in the embodiment of the FIG. 4 ,
  • the forward end 35 of the fluid channel 36 is relatively pointed and elongate, which increases the risk of boiling locally.
  • FIG. 6 shows an enlarged view of the pair of discs 1 after FIG. 5 and the FIG. 7 a section through the pair of discs 1 according to FIG. 5
  • the pair of discs 1 is formed such that it has a bottom 50 and laterally projecting side walls 51, 52, wherein both the bottom 50 and the side walls 51, 52 are each formed double-walled.
  • each of the disks 2, 3 has a substantially flat bottom 6, 8 and two side walls 7, 9, which form the disk pair 1 as a double-walled structure.
  • the disc pair 1 with a gradation 54 as a transition from the one disc. 2 is formed to the other disc 3, wherein the transition forms an edge region 55 of lesser height h and another region 56 of greater height H, wherein the region 56 connects to the region 55.
  • the edge region 55 with a lesser height is formed with a rounded broadening 58.
  • the gradation 54 is advantageously embossed by impressing in one and / or in the other of the two discs 2, 3.
  • the FIGS. 3, 4 show that the step 54 is impressed by imprinting in only one of the two discs, such as the upper disc, wherein the other disc, as the lower disc, is substantially planar.
  • the gradation but also in the other disc, such as the lower disc be introduced, in which case the other, such as upper disc is flat.
  • the indentation may alternatively be incorporated in each of the two discs 2, 3.
  • FIG. 8 shows the corner of the FIG. 6 in an enlarged view. It can be seen that the edge region 55 in the transition from the bottom to the side walls has a rounded broadening 58 of the edge region 55 with a lesser height. This widening 58 is formed in the bottom so that the dimension s of the edge region 55 of lesser height measured along the longitudinal side L decreases, starting from the side wall, towards the center 59 of the fluid channel. It can also be seen that the dimension s of the rounded widening 58 decreases in an arcuate or s-shaped manner.
  • the widening 58 ends at the corner to the transition to the side walls.
  • FIG. 9 shows that the rounded widening 58 of the floor also extends into at least one side wall 51 and preferably also into both side walls 51.
  • the broadening in the side wall 51 is designated 60.
  • the rounded broadening 60 is formed in a side wall 51 such that the dimension of the edge region 51 of lesser height in the longitudinal direction L of the fluid channel, starting from the bottom, decreases towards the middle of the height of the side wall 51.
  • the dimension of the rounded broadening 60 is advantageously also arc-shaped or S-shaped decreasing.
  • FIGS. 10 and 12 each show tubes with their end portions, wherein the tube 100 of the FIG. 10 shows a step 101 which is the same across the width of the tube 100.
  • a tube 110 is shown which has a step 111, wherein the step 111 in the corners 112 is deeper than between the corners 112, that is pulled further inward in the longitudinal direction of the tube 110.
  • the step 113 in the corner thus forms a kind of bow to transition from the depth of the stepping in the corner to the depth of the stepping in the area between the corners 112.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Thermal Sciences (AREA)
  • Geometry (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Heat-Exchange Devices With Radiators And Conduit Assemblies (AREA)
EP15184640.9A 2014-09-22 2015-09-10 Échangeur thermique Withdrawn EP2998685A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014219093.2A DE102014219093A1 (de) 2014-09-22 2014-09-22 Wärmetauscher

Publications (2)

Publication Number Publication Date
EP2998685A2 true EP2998685A2 (fr) 2016-03-23
EP2998685A3 EP2998685A3 (fr) 2016-03-30

Family

ID=54105711

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15184640.9A Withdrawn EP2998685A3 (fr) 2014-09-22 2015-09-10 Échangeur thermique

Country Status (4)

Country Link
US (1) US10837708B2 (fr)
EP (1) EP2998685A3 (fr)
JP (1) JP2016070656A (fr)
DE (1) DE102014219093A1 (fr)

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JP6209078B2 (ja) * 2013-12-20 2017-10-04 株式会社ティラド ヘッダプレートレス型熱交換器
WO2017073779A1 (fr) * 2015-10-29 2017-05-04 株式会社ティラド Structure de noyau d'échangeur de chaleur sans plaque de collecteur
DE102016210261A1 (de) * 2016-06-10 2017-12-14 Bayerische Motoren Werke Aktiengesellschaft Wärmetauscher und Herstellungsverfahren dafür
US12071913B1 (en) 2023-07-31 2024-08-27 Rolls-Royce North American Technologies Inc. Inlets for gas turbine engine bypass duct heat exchangers

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DE10024389A1 (de) 1999-05-25 2000-11-30 Denso Corp Abgas-Wärmeaustauschvorrichtung
DE102005034137A1 (de) 2005-07-19 2007-01-25 Behr Gmbh & Co. Kg Wärmeübertrager
WO2014040797A1 (fr) 2012-09-17 2014-03-20 Behr Gmbh & Co. Kg Échangeur thermique

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DE10247264A1 (de) * 2002-10-10 2004-04-29 Behr Gmbh & Co. Plattenwärmeübertrager in Stapelbauweise
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JP2006284165A (ja) * 2005-03-07 2006-10-19 Denso Corp 排気ガス熱交換器
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Publication number Priority date Publication date Assignee Title
DE10024389A1 (de) 1999-05-25 2000-11-30 Denso Corp Abgas-Wärmeaustauschvorrichtung
DE102005034137A1 (de) 2005-07-19 2007-01-25 Behr Gmbh & Co. Kg Wärmeübertrager
WO2014040797A1 (fr) 2012-09-17 2014-03-20 Behr Gmbh & Co. Kg Échangeur thermique

Also Published As

Publication number Publication date
EP2998685A3 (fr) 2016-03-30
US20160084583A1 (en) 2016-03-24
DE102014219093A1 (de) 2016-03-24
JP2016070656A (ja) 2016-05-09
US10837708B2 (en) 2020-11-17

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