WO2018155244A1 - Dispositif de récupération d'énergie et procédé de récupération d'énergie - Google Patents

Dispositif de récupération d'énergie et procédé de récupération d'énergie Download PDF

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Publication number
WO2018155244A1
WO2018155244A1 PCT/JP2018/004725 JP2018004725W WO2018155244A1 WO 2018155244 A1 WO2018155244 A1 WO 2018155244A1 JP 2018004725 W JP2018004725 W JP 2018004725W WO 2018155244 A1 WO2018155244 A1 WO 2018155244A1
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Prior art keywords
container
pressure side
fluid
inertial
frequency
Prior art date
Application number
PCT/JP2018/004725
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English (en)
Japanese (ja)
Inventor
前川　智史
菅野　直紀
喜雄 井上
元康 園部
Original Assignee
株式会社神戸製鋼所
高知県公立大学法人
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
Priority claimed from JP2017155216A external-priority patent/JP6717451B2/ja
Application filed by 株式会社神戸製鋼所, 高知県公立大学法人 filed Critical 株式会社神戸製鋼所
Priority to US16/485,370 priority Critical patent/US10738798B2/en
Priority to EP18758436.2A priority patent/EP3569870B1/fr
Publication of WO2018155244A1 publication Critical patent/WO2018155244A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/027—Installations or systems with accumulators having accumulator charging devices
    • F15B1/033—Installations or systems with accumulators having accumulator charging devices with electrical control means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/024—Installations or systems with accumulators used as a supplementary power source, e.g. to store energy in idle periods to balance pump load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/26—Supply reservoir or sump assemblies
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/21—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge
    • F15B2211/212—Systems with pressure sources other than pumps, e.g. with a pyrotechnical charge the pressure sources being accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration

Definitions

  • the present invention relates to an energy recovery device and an energy recovery method for recovering energy of a working fluid.
  • Patent Document 1 the technique described in Patent Document 1 is known as an energy recovery device that recovers the energy of a working fluid.
  • the technology includes an inertial fluid container that communicates with the discharge side of the actuator, and a low-pressure side container and a high-pressure side container that are respectively connected in parallel to the inertial fluid container. Further, a low-pressure side switch composed of a solenoid valve is provided between the inertial fluid container and the low-pressure side container, and a high-pressure side switch composed of a solenoid valve is provided between the inertial fluid container and the high-pressure side container. It has been.
  • the high-pressure side switch and the low-pressure side switch are alternately opened and closed at a high frequency, so that the energy of the working fluid can be recovered in the high-pressure side container.
  • the present invention relates to an energy recovery device that recovers energy of a working fluid discharged from a fluid chamber, an energy recovery device capable of suppressing a decrease in energy recovery rate due to a flow rate fluctuation of the working fluid in a flow path, And an energy recovery method.
  • an energy recovery device that recovers the energy of a working fluid
  • the energy recovery device is a fluid chamber in which the working fluid is enclosed, and the volume of the fluid chamber is variable.
  • a low pressure side container having a second internal space communicating with the first internal space of the inertial fluid container and receiving the working fluid flowing out from the inertial fluid container; and a pressure higher than the second internal space of the low pressure side container
  • a high-pressure side container that receives the working fluid that has flowed out of the inertial fluid container, and has a third internal space that communicates with the first internal space of the inertial fluid container.
  • a low-pressure side switch that operates to open and close the low-pressure side opening by forming a low-pressure side opening that allows the working fluid to flow between the pressure vessel and the low-pressure side container;
  • a high-pressure side switch that operates to open and close the high-pressure side opening by forming a high-pressure side opening that allows the working fluid to flow to and from the inertial fluid container; and the low-pressure side opening and closing from the inertia fluid container
  • a switch passage that leads to the working fluid and the high-pressure side switch and guides the working fluid, and communicates the inertial fluid container with the low-pressure side container and the high-pressure side according to a reduction in the volume of the fluid chamber
  • the switch controller controls a switching frequency for switching a communication destination of the inertial fluid container between the low-pressure side container and the high-pressure side container, and includes at least the inertial fluid container and the switch channel. It is set to a frequency in the vicinity of the Nth order (N is a natural number) anti-resonance frequency of the flow path.
  • FIG. 1 is a schematic hydraulic circuit diagram of an energy recovery device according to a first embodiment of the present invention. It is the graph which showed the relationship between the opening time of the high voltage
  • the energy recovery device concerning a 1st embodiment of the present invention, it is a graph which showed an example of the relation (frequency response of flow rate variation) of the frequency of pressure variation which occurs in the flow path of working fluid, and the flow rate variation of working fluid.
  • FIG. 8A shows the time transition of the flow rate of the working fluid near the outlet of the inertial fluid chamber, the flow rate of the working fluid of the high-pressure side switch, and the flow rate of the working fluid of the low-pressure side switch, corresponding to the control of the switch shown in FIG. It is a graph which shows.
  • FIG. 8A It is a graph which shows the frequency response of the pressure fluctuation
  • FIG. 9A FIG.
  • FIG. 9A shows a time transition of the flow rate of the working fluid near the outlet of the inertial fluid chamber, the flow rate of the working fluid of the high-pressure side switch, and the flow rate of the working fluid of the low-pressure side switch, corresponding to the control of the switch shown in FIG. It is a graph which shows. It is a graph which shows the frequency response of the pressure fluctuation of the working fluid near the exit of an inertial fluid chamber corresponding to control of the switch shown in Drawing 9A. It is a graph which shows the frequency response of the flow volume fluctuation
  • FIG. 13A It is a graph which shows the frequency response of the pressure fluctuation
  • FIG. 13A It is a graph which shows the frequency response of the pressure fluctuation
  • FIG. 14A shows a time transition of the flow rate of the working fluid near the outlet of the inertial fluid chamber, the flow rate of the working fluid of the high-pressure side switch, and the flow rate of the working fluid of the low-pressure side switch, corresponding to the control of the switch shown in FIG. It is a graph which shows. It is a graph which shows the frequency response of the pressure fluctuation of the working fluid near the exit of an inertial fluid chamber corresponding to control of the switch shown in Drawing 14A. It is a graph which shows the frequency response of the flow volume fluctuation
  • 2 is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the outlet of the inertial fluid chamber in the energy recovery device shown in FIG. 1.
  • 2 is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the outlet of the inertial fluid chamber in the energy recovery device shown in FIG. 1.
  • 2 is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the outlet of the inertial fluid chamber in the energy recovery device shown in FIG. 1.
  • 2 is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the outlet of the inertial fluid chamber in the energy recovery device shown in FIG. 1.
  • 2 is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the outlet of the inertial fluid chamber in the energy recovery device shown in FIG. 1.
  • 2 is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the outlet of the inertial fluid chamber in the energy recovery device shown in FIG. 1.
  • 2 is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the outlet of the inertial fluid chamber in the energy recovery device shown in FIG. 1. It is the graph which expanded the periphery of the antiresonance frequency (primary) and the resonance frequency (primary) among the graphs of FIG.
  • FIG. 1 is a schematic hydraulic circuit diagram of an energy recovery device 1 according to the present embodiment.
  • FIG. 2 is a graph showing the relationship between the opening time of the high-pressure side switch and the low-pressure side switch provided in the energy recovery device 1 according to this embodiment and the opening degree of each switch.
  • the energy recovery device 1 recovers the energy of the working fluid. Examples of the working fluid include hydraulic oil, water, and air, but are not particularly limited.
  • a hydraulic circuit fluid circuit
  • energy input to the hydraulic cylinder is converted into hydraulic oil energy
  • the energy recovery device 1 recovers the energy of the hydraulic oil. To do.
  • an energy recovery apparatus 1 includes a hydraulic cylinder 20, an inertia fluid chamber 21 (inertia fluid container), a low pressure side switch 3L, a high pressure side switch 3H, and a low pressure source LP (low pressure side container). ), A high pressure source HP (high pressure side container), and a control unit 5 (switch control unit).
  • the hydraulic cylinder 20 includes a cylindrical cylinder body 201 and a piston 202 that can reciprocate within the cylinder body 201.
  • a rod 202 ⁇ / b> A is connected to one end side of the piston 202.
  • the piston 202 partitions the internal space of the cylinder body 201 into a piston side chamber 203 (fluid chamber) and a rod side chamber 204.
  • the hydraulic cylinder 20 can input and output energy with the outside through the rod 202A.
  • At least the piston side chamber 203 of the hydraulic cylinder 20 is filled with hydraulic oil. As shown in FIG. 1, when an external force F is applied to the rod 202A, the piston 202 moves so that the volume of the piston side chamber 203 is reduced.
  • the piston side chamber 203 constitutes a fluid chamber of the present invention.
  • the piston side chamber 203 is filled with hydraulic oil, and the volume of the piston side chamber 203 is variable.
  • the inertial fluid chamber 21 includes a cylindrical internal space (first internal space) communicating with the piston side chamber 203 of the hydraulic cylinder 20.
  • the inertial fluid chamber 21 receives the hydraulic oil discharged from the piston side chamber 203 that is contracted as the piston 202 moves.
  • the inertial fluid chamber 21 has a pipe shape, and the inertial fluid chamber 21 has a circular cross-sectional shape.
  • the inertia fluid chamber 21 is a cylindrical member (straight pipe shape) extending linearly along the direction of the flow of hydraulic oil.
  • the volume of the internal space of the inertial fluid chamber 21 is smaller than the volume of the internal space of the hydraulic cylinder 20.
  • the internal space of the inertial fluid chamber 21 is filled with hydraulic oil.
  • a low pressure pipe PL and a high pressure pipe PH are connected in parallel to a fluid chamber outlet 210 that is an outlet of the inertial fluid chamber 21.
  • the flow path connected to the fluid chamber outlet 210 is branched into two immediately after the fluid chamber outlet 210.
  • the low pressure source LP is connected to the end of the low pressure pipe PL.
  • the low-pressure source LP has an internal space (second internal space).
  • the internal space of the low pressure source LP communicates with the inertial fluid chamber 21 via the low pressure pipe PL.
  • the low pressure source LP receives the hydraulic oil that has flowed out of the inertial fluid chamber 21.
  • the low pressure source LP is, for example, a tank for storing hydraulic oil.
  • the internal space of the low pressure source LP is normally kept at atmospheric pressure. As a result, the pressure of the hydraulic oil in the low pressure source LP is substantially equal to the atmospheric pressure, and is set to be lower than the internal pressure of the piston side chamber 203.
  • the low pressure side switch 3L is disposed between the inertial fluid chamber 21 and the low pressure source LP.
  • the low pressure side switch 3L is a solenoid valve.
  • the low pressure side switch 3L forms an unillustrated opening (low pressure side opening) that permits the flow of hydraulic oil between the inertial fluid chamber 21 and the low pressure source LP, and opens and closes the opening. Operate. That is, the low pressure side switch 3L communicates and blocks the inertial fluid chamber 21 and the low pressure source LP.
  • the high pressure source HP is connected to the end of the high pressure pipe PH.
  • the high pressure source HP includes an internal space (third internal space).
  • the internal space of the high pressure source HP communicates with the inertial fluid chamber 21 via the high pressure pipe PH.
  • the high pressure source HP receives the hydraulic fluid that has flowed out of the inertial fluid chamber 21.
  • the high pressure source HP may be a tank in which hydraulic oil having a higher pressure than the low pressure source LP is accumulated, or an accumulator.
  • the internal space of the high-pressure source HP is set to a pressure higher than at least the internal space of the low-pressure source LP. In this embodiment, the internal space is set to a pressure higher than the pressure of the piston-side chamber 203.
  • the high-pressure side switch 3H is disposed between the inertial fluid chamber 21 and the high-pressure source HP.
  • the high-pressure side switch 3H is a solenoid valve.
  • the high-pressure side switch 3H forms an opening (not shown) (low-pressure side opening) that allows the working oil to flow between the inertial fluid chamber 21 and the high-pressure source HP, and opens and closes the opening. Operate. That is, the high-pressure side switch 3H communicates and blocks the inertial fluid chamber 21 and the high-pressure source HP.
  • a region from the fluid chamber outlet 210 to the opening of the low-pressure side switch 3L is defined as a low-pressure side branch 31.
  • a region from the fluid chamber outlet 210 to the opening of the high-pressure side switch 3 ⁇ / b> H in the high-pressure pipe PH is defined as a high-pressure side branch path 32.
  • the low-pressure side branch path 31 and the high-pressure side branch path 32 constitute the switch channel of the present invention.
  • the switch channel is a channel (pipe) that is arranged so as to branch from the fluid chamber outlet 210 of the inertial fluid chamber 21 and guides hydraulic oil to the low pressure side switch 3L and the high pressure side switch 3H. .
  • the control unit 5 controls the operation of the high pressure side switch 3H and the low pressure side switch 3L.
  • the control unit 5 has a function of instructing the switching timing to the high voltage side switch 3H and the low voltage side switch 3L.
  • the control unit 5 controls the low-pressure side switch 3L and the high-pressure side opening / closing so that the communication destination of the inertial fluid chamber 21 is alternately switched between the low-pressure source LP and the high-pressure source HP according to the reduction in the volume of the piston-side chamber 203.
  • the opening / closing operation of the device 3H is controlled.
  • the hydraulic oil in the inertial fluid chamber 21 flows into the low-pressure source LP. At this time, a fluid inertia force is generated in the internal space of the inertial fluid chamber 21 by the flow of the hydraulic oil.
  • the controller 5 closes the opening of the low pressure side switch 3L and opens the opening of the high pressure side switch 3H, the high pressure source HP is generated by the inertial force of the fluid generated in the inertia fluid chamber 21 as described above.
  • the hydraulic oil can be poured into and accumulated.
  • the control part 5 can recover the inertial force of the fluid by closing the high pressure side switch 3H again and opening the low pressure side switch 3L. For this reason, the control part 5 switches the switching period of the low voltage
  • a hydraulic device a hydraulic motor or a hydraulic pump
  • control unit 5 when performing the energy recovery operation, alternately switches the opening and closing operations of low-pressure side switch 3L and high-pressure side switch 3H at high speed.
  • the control unit 5 includes a control current output unit, a PWM converter, and a drive circuit.
  • the control current output unit outputs a pulse signal for controlling the switching operation of the low voltage side switch 3L and the high voltage side switch 3H.
  • the pulse signal is composed of a predetermined rectangular wave, and the open / close times of the low-voltage side switch 3L and the high-voltage side switch 3H are controlled by the duty ratio d of the pulse signal.
  • the duty ratio d is defined by the following equation 1.
  • T1 is a time (cycle) per cycle of opening / closing of the low-voltage side switch 3L and the high-voltage side switch 3H
  • T2 is a time during which the high-voltage side switch 3H is open in one cycle.
  • the duty ratio d defined by Equation 1 corresponds to the high-pressure side duty ratio d1 for controlling the opening time of the high-pressure side opening 3H within the period T1.
  • the time during which the low pressure side switch 3L is open corresponds to T1-T2 in FIG. Therefore, the low-pressure side duty ratio d2 for controlling the opening time of the low-pressure side opening 3L within the period T1 corresponds to 1-d1.
  • the frequency of the pulse signal is controlled as a switching frequency described later.
  • the flow path of the hydraulic oil discharged from the piston side chamber 203 of the hydraulic cylinder 20 includes a flow path (low pressure pipe PL) from the inertia fluid chamber 21 to the low pressure source LP and a high pressure from the inertia fluid chamber 21. And a flow path (high-pressure pipe PH) to the source HP. Since these flow paths are composed of piping or the like, predetermined vibrations are generated according to the flow of hydraulic oil. In addition, when the flow path shown in FIG. 1 is a complete rigid body, such vibration does not occur. The vibration of the flow path (pipe) causes pulsation of the hydraulic oil and affects the flow of the hydraulic oil.
  • FIG. 3 is a graph showing an example of the relationship (frequency response of flow rate fluctuation) between the frequency of pressure fluctuation generated in the flow path of hydraulic fluid and the flow rate fluctuation of hydraulic oil in the energy recovery apparatus 1 according to the present embodiment. is there.
  • the high pressure source HP with the opening of the high pressure side switch 3H fully opened (free end) and the opening of the low pressure side switch 3L fully closed (fixed end).
  • a pressure fluctuation that fluctuates in a sine wave is forcibly applied.
  • FIG. 3 is a waveform showing the flow rate fluctuation (frequency response) of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21 in this case.
  • the data in FIG. 3 may be calculated by simulation, or may be measured by a flow meter provided as a test near the fluid chamber outlet 210.
  • the magnitude of the flow rate variation of the hydraulic oil varies depending on the frequency of the applied pressure variation from the vibration characteristics provided in the entire hydraulic fluid flow path of FIG. 1.
  • “1” shown in the graph of FIG. 3 is the anti-resonance primary frequency of the flow path (system)
  • “2” is the resonance primary frequency
  • “3” is the anti-resonance secondary frequency.
  • "4" is the resonant secondary frequency.
  • the fluctuation in the flow rate of the hydraulic oil at the resonance frequency is a maximum value
  • the fluctuation in the flow rate of the hydraulic oil at the anti-resonance frequency is a minimum value.
  • the resonance frequency is twice the antiresonance frequency.
  • the resonance primary frequency “2” is approximately twice the anti-resonance primary frequency “1”.
  • the switching frequency f in the control of the low pressure side switch 3L and the high pressure side switch 3H by the control unit 5 is suitably set.
  • the switching frequency f of the high-pressure side switch 3H and the low-pressure side switch 3L is determined from the anti-resonance points (“1”, “3”... Is set near the frequency.
  • control unit 5 sets at least the inertia fluid chamber 21 and the switch channel (the low-pressure side branch channel 31, the high-pressure channel 31) to switch the communication destination of the inertia fluid chamber 21 between the low pressure source LP and the high pressure source HP.
  • the frequency is set in the vicinity of the Nth-order (N is a natural number) anti-resonance frequency of the hydraulic oil flow path including the side branch path 32). As a result, as shown in FIG. 3, it is possible to reduce fluctuations in the flow rate of the hydraulic oil as compared with other frequency regions.
  • FIG. 4B to 4E correspond to the control of the switch shown in FIG. 4A.
  • FIG. 4B is a graph showing the time transition of the hydraulic oil pressure in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • FIG. 4C is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21, the flow rate of hydraulic oil in the high pressure side switch 3H, and the flow rate of hydraulic fluid in the low pressure side switch 3L.
  • FIG. 4D is a graph showing the frequency response of the hydraulic oil pressure fluctuation (FIG. 4B) in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21. In other words, FIG. 4D shows the result of processing the pressure fluctuation data of FIG.
  • FIG. 4E is a graph showing the frequency response of the flow rate fluctuation (FIG. 4C) of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • FIG. 4E shows the result of processing the flow rate fluctuation data in the vicinity of the fluid chamber outlet 210 in FIG. 4C by known frequency analysis (hereinafter, FIG. 5E, FIG. 8E, FIG. 9E, FIG. 13E and FIG. The same applies to 14E).
  • a region H is a time during which only the high-pressure side switch 3H is opened and the inertial fluid chamber 21 communicates with the high-pressure source HP. This corresponds to the time for the hydraulic oil to flow toward (the high-pressure side switch passage flow rate is +).
  • Region L is a time during which only the low-pressure side switch 3L is opened and the inertial fluid chamber 21 communicates with the low-pressure source LP, and hydraulic oil flows from the inertial fluid chamber 21 toward the low-pressure source LP in setting. Corresponds to time (the low-pressure side switch passage flow rate is +).
  • the definition of the regions H and L is the same in the later graphs.
  • FIG. 5A is a graph showing the time transition of the opening degree of the high-pressure side switch 3H and the low-pressure side switch 3L.
  • the aforementioned duty ratio d 0.5.
  • 5B to 5E correspond to the control of the switch shown in FIG. 5A.
  • FIG. 5B is a graph showing the time transition of the pressure of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • FIG. 5C is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21, the flow rate of hydraulic oil in the high pressure side switch 3H, and the flow rate of hydraulic fluid in the low pressure side switch 3L. It is.
  • FIG. 5D is a graph showing the frequency response of hydraulic oil pressure fluctuation (FIG. 5B) in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • FIG. 5E is a graph showing the frequency response of the flow rate variation (FIG. 5C) of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • inertial fluid chamber 21 is in communication with high pressure source HP, but hydraulic oil flows backward from high pressure source HP toward inertial fluid chamber 21 (high pressure side).
  • the flow rate through the switch is-). This phenomenon is caused by the fact that the switching fluctuation f of each switch is set to the resonance primary frequency of the system, so that the flow fluctuation of the resonance primary frequency component is greatly excited as shown in FIG. 5E (FIG. 5E). Arrow “1”). In this case, it becomes difficult to prevent a decrease in the amount of recovered energy when recovering the energy of the hydraulic oil.
  • the control unit 5 sets at least the inertia fluid chamber 21 and the switch flow path to the switching frequency f for switching the communication destination of the inertia fluid chamber 21 between the low pressure source LP and the high pressure source HP.
  • the frequency is set in the vicinity of the Nth-order (N is a natural number) anti-resonance frequency of the hydraulic oil flow path including the (low pressure side branch path 31 and high pressure side branch path 32). For this reason, the fluctuation
  • control unit 5 sets the switching frequency f to a frequency in the vicinity of the primary anti-resonance frequency of the hydraulic oil flow path. In this case, it is possible to further suppress the fluctuation in the flow rate of the hydraulic oil that occurs due to the resonance of the flow path of the hydraulic oil including the inertial fluid chamber 21 and the switch flow path (the low pressure side branch path 31 and the high pressure side branch path 32). it can.
  • the energy recovery device 1 (FIG. 1) includes an inertial fluid chamber 22.
  • FIG. 6 is a cross-sectional view of the inertial fluid chamber 22.
  • Region (A) in FIG. 6 corresponds to a cross-sectional view of inertial fluid chamber 22 cut along the longitudinal direction (direction in which hydraulic fluid flows), and region (B) represents inertial fluid chamber 22 in the radial direction (operational). This corresponds to a cross-sectional view taken along the direction in which the oil flows.
  • the inertial fluid chamber 22 has a cylindrical internal space communicating with the piston side chamber 203 of the hydraulic cylinder 20 (FIG. 1).
  • the inertial fluid chamber 22 receives hydraulic oil discharged from the piston side chamber 203 as the piston 202 moves.
  • the inertial fluid chamber 22 has a pipe shape, and the inertial fluid chamber 22 has a circular cross-sectional shape.
  • the volume of the internal space of the inertial fluid chamber 22 is smaller than the volume of the internal space of the hydraulic cylinder 20.
  • the internal space of the inertial fluid chamber 22 is filled with hydraulic oil.
  • a fluid chamber inlet 220 ⁇ / b> A that is an inlet of the inertial fluid chamber 22 communicates with the piston-side chamber 203 of the hydraulic cylinder 20.
  • a low pressure pipe PL and a high pressure pipe PH (FIG. 1) are connected in parallel to the fluid chamber outlet 220B which is the outlet of the inertial fluid chamber 22.
  • the inertial fluid chamber 22 includes a first fluid chamber 221 (first conduit), a second fluid chamber 222 (third conduit), and an intermediate fluid chamber 223 (second conduit).
  • the inner diameter of the intermediate fluid chamber 223 is set larger than the inner diameters of the first fluid chamber 221 and the second fluid chamber 222. Further, the axial length of the intermediate fluid chamber 223 is set to about one-fourth of the entire inertial fluid chamber 22.
  • the cross-sectional area of the intermediate fluid chamber 223 is preferably set to 2 to 3 times the cross-sectional areas of the first fluid chamber 221 and the second fluid chamber 222. Note that the inner diameter of the first fluid chamber 221 and the inner diameter of the second fluid chamber 222 may be the same or different from each other.
  • the inner diameter of the first fluid chamber 221 and the inner diameter of the second fluid chamber 222 are set to the same value.
  • the length of the first fluid chamber 221 is four times 15 times the length of the second fluid chamber 222.
  • the length of the intermediate fluid chamber 223 is set to eight times of 15 times L and the length of the intermediate fluid chamber 223 is set to three times of 15 times L.
  • L 3000 (mm).
  • FIG. 7 is a graph showing an example of the relationship (frequency response of flow rate fluctuation) between the frequency of pressure fluctuation generated in the hydraulic oil flow path and the flow fluctuation of hydraulic oil in the energy recovery apparatus 1 according to the present embodiment.
  • the inertial fluid chamber 22 is arranged instead of the inertial fluid chamber 21, the opening of the high-pressure side switch 3H is fully opened (free end), and the opening of the low-pressure side switch 3L is fully closed ( In the state of the fixed end, a pressure fluctuation that fluctuates in a sine wave is forcibly applied to the high-pressure source HP.
  • FIG. 1 the inertial fluid chamber 22 is arranged instead of the inertial fluid chamber 21, the opening of the high-pressure side switch 3H is fully opened (free end), and the opening of the low-pressure side switch 3L is fully closed ( In the state of the fixed end, a pressure fluctuation that fluctuates in a sine wave is forcibly applied to the high-pressure source HP.
  • FIG. 7 is a waveform showing the flow rate fluctuation (frequency response) of the hydraulic oil in the vicinity of the fluid chamber outlet 220B of the inertial fluid chamber 22 in this case. Note that the data in FIG. 7 may be calculated by simulation, as in FIG. 3, or may be measured by a flow meter provided as a test near the fluid chamber outlet 220B.
  • the magnitude of the flow rate variation of the hydraulic oil varies depending on the frequency of the applied pressure variation from the vibration characteristics provided in the entire hydraulic fluid flow path.
  • “1” shown in the graph of FIG. 7 is the anti-resonance primary frequency of the flow path (system)
  • “2” is the resonance primary frequency
  • “3” is the anti-resonance secondary frequency
  • Yes is the resonant secondary frequency.
  • the antiresonance frequency and the resonance frequency appear alternately.
  • the resonance primary frequency “2” is smaller than twice the anti-resonance primary frequency “1”.
  • the resonance secondary frequency “2 ′” of the system is close to the higher order frequency of the third or higher fundamental frequency. Since the magnitude of the resonant secondary frequency component is smaller than the magnitude of the resonant primary frequency component of the flow fluctuation, the influence is small.
  • FIG. 8A is a graph which shows the time transition of the opening degree of the high voltage
  • FIG. 8B is a graph showing the time transition of the pressure fluctuation of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • FIG. 8C is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21, the flow rate of hydraulic oil in the high pressure side switch 3H, and the flow rate of hydraulic fluid in the low pressure side switch 3L. It is.
  • FIG. 8D is a graph showing the frequency response of hydraulic oil pressure fluctuation (FIG. 8B) in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • FIG. 8E is a graph showing the frequency response of the flow rate fluctuation (FIG. 8C) of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21.
  • a region H in FIG. 8C is a state where the inertial fluid chamber 21 communicates with the high-pressure source HP, but there is a time during which the hydraulic oil flows backward from the high-pressure source HP toward the inertial fluid chamber 21 (the high-pressure side).
  • the flow rate through the switch is-).
  • the resonance frequency is twice the anti-resonance frequency.
  • the resonance primary frequency (arrow “2” in FIG. 8D) exists near the secondary frequency (double frequency) of the fundamental frequency (arrow “1” in FIG. 8D).
  • the secondary component of the fundamental frequency of flow fluctuation (arrow “2” in FIG. 8E) is greatly excited, and a backflow of hydraulic oil occurs. In this case, it becomes difficult to prevent a decrease in the amount of recovered energy when recovering the energy of the hydraulic oil.
  • FIG. 9A is a graph which shows the time transition of the opening degree of the high voltage
  • FIG. 9A is a graph showing the time transition of the pressure fluctuation of the hydraulic oil in the vicinity of the fluid chamber outlet 220B of the inertial fluid chamber 22.
  • FIG. 9C is a graph showing the time transition of the flow rate of hydraulic oil in the vicinity of the fluid chamber outlet 220B of the inertial fluid chamber 22, the flow rate of hydraulic oil in the high pressure side switch 3H, and the flow rate of hydraulic fluid in the low pressure side switch 3L. It is.
  • FIG. 9D is a graph showing the frequency response of hydraulic oil pressure fluctuation (FIG. 9B) in the vicinity of the fluid chamber outlet 220 ⁇ / b> B of the inertial fluid chamber 22.
  • FIG. 9E is a graph showing the frequency response of the flow rate fluctuation (FIG. 9C) of the hydraulic oil in the vicinity of the fluid chamber outlet 220B of the inertial fluid chamber 22.
  • Region H in FIG. 9C is a state where the inertial fluid chamber 22 communicates with the high-pressure source HP, and there is a time during which hydraulic oil flows backward from the high-pressure source HP toward the inertial fluid chamber 22 (high-pressure side opening / closing).
  • the flow rate through the container is-).
  • the backflow of the hydraulic oil is less than in FIG. 8C.
  • the inertial fluid chamber 21 includes the intermediate fluid chamber 223, the secondary frequency of the fundamental frequency (arrow “2 ′” in FIG. 7) from the resonance primary frequency of the system (arrow “2” in FIG. 7), FIG. 9D arrow “2”) is off (shifted).
  • the secondary frequency component (arrow “2” in FIG. 9E) of the fundamental frequency of flow fluctuation in FIG. 9E is smaller than the arrow “2” in FIG. 8E.
  • FIG. 9C the flow rate of the working oil that flows backward is smaller than that in FIG. 8C, and a decrease in the energy recovery amount is suppressed when the energy of the working oil is recovered.
  • the inertial fluid chamber 22 has a frequency that is twice the primary anti-resonance frequency of the hydraulic oil flow path deviates from the primary resonant frequency of the hydraulic oil flow path. It has a shape. For this reason, even when a frequency twice as high as the primary anti-resonance frequency of the hydraulic oil flow path is excited, fluctuations in the flow volume of the hydraulic oil that occur due to resonance of the hydraulic oil flow path are suppressed. be able to.
  • the inertial fluid chamber 22 is a cylindrical member extending along the direction of hydraulic oil flow, and includes a first fluid chamber 221 (first pipe line) communicating with the piston-side chamber 203, and a first fluid chamber 221.
  • first fluid chamber 221 first pipe line
  • first fluid chamber 2221 second pipe
  • second fluid chamber 2223 second pipe
  • second fluid chamber 222 third pipe line
  • the energy recovery device 1 including the inertial fluid chamber 21 formed of a cylindrical member (straight pipe shape) extending linearly along the direction of the flow of the hydraulic oil.
  • the control unit 5 desirably sets the duty ratio d in the range of 0.45 to 0.55. . In this case, it is possible to stably suppress fluctuations in the flow rate of the hydraulic fluid that occurs in association with the resonance of the hydraulic fluid passage including the inertia fluid chamber 21 and the switch passage.
  • the energy recovery device 1 (FIG. 1) includes an inertial fluid chamber 23.
  • FIG. 10 is a cross-sectional view of the inertial fluid chamber 23.
  • Region (A) in FIG. 10 corresponds to a cross-sectional view of inertial fluid chamber 23 cut along the longitudinal direction (direction in which hydraulic oil flows), and region (B) represents inertial fluid chamber 23 in the radial direction (operational). This corresponds to a cross-sectional view taken along the direction in which the oil flows.
  • the inertial fluid chamber 23 has a cylindrical internal space communicating with the piston side chamber 203 of the hydraulic cylinder 20 (FIG. 1).
  • the inertial fluid chamber 23 receives hydraulic oil discharged from the piston side chamber 203 as the piston 202 moves.
  • the inertial fluid chamber 23 has a pipe shape, and the inertial fluid chamber 23 has a circular cross-sectional shape.
  • the volume of the internal space of the inertial fluid chamber 23 is smaller than the volume of the internal space of the hydraulic cylinder 20.
  • the internal space of the inertial fluid chamber 23 is filled with hydraulic oil.
  • the inertial fluid chamber 23 includes a fluid chamber inlet 230A, a fluid chamber outlet 230B, and a plurality of sub-fluid chambers (a third fluid chamber 231, a fourth fluid chamber 232, and a fifth fluid chamber 233) (a plurality of pipelines).
  • the fluid chamber inlet 230 ⁇ / b> A is an inlet of the inertial fluid chamber 23 and communicates with the piston-side chamber 203 of the hydraulic cylinder 20.
  • the fluid chamber outlet 230B is an outlet of the inertial fluid chamber 23, and the low pressure pipe PL and the high pressure pipe PH (FIG. 1) are connected (communicated) in parallel.
  • the inertial fluid chamber 23 includes the third fluid chamber 231 on the most downstream side, the fourth fluid chamber 232, and the fifth fluid chamber 233 on the most upstream side.
  • the fifth fluid chamber 233, the fourth fluid chamber 232, and the third fluid chamber 231 are sequentially arranged from the fluid chamber inlet 230A to the fluid chamber outlet 230B, and the flow of hydraulic oil
  • the cross-sectional area of each fluid chamber in the cross section orthogonal to the direction is set so as to gradually decrease along the flow direction of the hydraulic oil. Note that the cross-sectional areas of the third fluid chamber 231, the fourth fluid chamber 232, and the fifth fluid chamber 223 are constant.
  • the inertial fluid chamber 23 includes a three-stage pipeline, but as described later, the inertial fluid chamber 23 may include a four-stage or more pipeline.
  • the total length of inertial fluid chamber 23 along the direction of hydraulic oil flow is defined as L (mm).
  • the lengths of the third fluid chamber 231, the fourth fluid chamber 232, and the fifth fluid chamber 233 are set to L / 3, in other words, one third of L.
  • the cross-sectional areas of the third fluid chamber 231, the fourth fluid chamber 232, and the fifth fluid chamber 233 are defined as A P1 , A P2 , and A P3 , respectively (A P1 ⁇ A P2 ⁇ A P3 ).
  • it is desirable that the ratio of each cross-sectional area satisfies the following expressions 2 and 3.
  • a 2 A P2 / A P1 ⁇ 5 (Formula 2)
  • a 3 A P3 / A P1 ⁇ 5 (Formula 3)
  • FIGS. 11 and 12 show an example of the relationship between the frequency of the pressure fluctuation generated in the hydraulic oil flow path and the flow fluctuation of the hydraulic oil (frequency response of the flow fluctuation) in the energy recovery device 1 according to the present embodiment. And corresponds to FIG. 3 of the first embodiment. That is, in FIG. 1, an inertial fluid chamber 23 is arranged instead of the inertial fluid chamber 21, the opening of the high-pressure side switch 3H is fully opened (free end), and the opening of the low-pressure side switch 3L is fully closed ( In the state of the fixed end, a pressure fluctuation that fluctuates in a sine wave is forcibly applied to the high-pressure source HP.
  • FIGS. 11 and 12 are waveforms showing the flow rate variation (frequency response) of the hydraulic oil in the vicinity of the fluid chamber outlet 230B of the inertial fluid chamber 23 in this case, and correspond to FIG. 3 of the first embodiment.
  • the total length L of the inertial fluid chamber 23 is set to 3 m
  • the total length L of the inertial fluid chamber 23 is set to 9 m.
  • the data in FIGS. 11 and 12 may be calculated by simulation as in FIG. 3, or may be measured by a flow meter provided experimentally near the fluid chamber outlet 230B.
  • the flow rate variation of the hydraulic fluid is determined according to the frequency of the applied pressure variation from the vibration characteristics provided in the entire hydraulic fluid flow path.
  • the size changes.
  • “1” shown in the graph of FIG. 11 is the anti-resonance primary frequency of the flow path (system)
  • “2” is the resonance primary frequency
  • “3” is the anti-resonance secondary frequency
  • “4” is the resonant secondary frequency
  • “5” is the anti-resonant tertiary frequency (the same applies to FIG. 12).
  • the antiresonance frequency and the resonance frequency appear alternately. Then, as shown in FIG.
  • the antiresonance secondary frequency is twice (90 Hz) the antiresonance primary frequency (45 Hz), and the antiresonance tertiary frequency is Is three times the anti-resonant primary frequency (135 Hz).
  • 13A to 13E correspond to FIGS. 3A to 3E of the first embodiment.
  • the aforementioned duty ratio d is set to 0.75.
  • the inertial fluid chamber 23 has a shape in which a plurality of sub-fluid chambers (pipes) are reduced in stages, so that the flow rate fluctuation of the hydraulic oil is reduced and the energy regeneration rate is improved.
  • the switching frequency f of the high-pressure side switch 3H and the low-pressure side switch 3L is set to the anti-resonant primary frequency (frequency in FIG. 3).
  • the periodic reverse flow portion where the flow rate is zero or less
  • the aforementioned duty ratio d is set to 0.75.
  • FIG. 14C compared with FIG. 8C, the generation
  • the switching frequency f of the high-pressure side switch 3H and the low-pressure side switch 3L is set to a low frequency, the flow fluctuation of the hydraulic oil is reduced and the energy of the hydraulic oil can be efficiently regenerated. .
  • the flow fluctuation of the second-order fundamental frequency component is suppressed (FIG. 14E).
  • the switching frequency f can be set lower than that in FIG. 13 group. Accordingly, since the switching response performance required for the high-pressure side switch 3H and the low-pressure side switch 3L can be lowered, the energy regeneration of the hydraulic oil can be realized at a lower cost.
  • the inertial fluid chamber 23 includes a plurality of sub fluid chambers from the fluid chamber inlet 230A toward the fluid chamber outlet 230B. These fluid chambers are connected so that the cross-sectional area is gradually reduced. Then, when the ratio of each cross-sectional area is set to a predetermined value and optimized so that the switching frequency f is set to the anti-resonant primary frequency of the hydraulic oil flow path, the flow fluctuation of the hydraulic oil is changed. Can be reduced.
  • the frequency response curve can be changed as shown in FIG. 3, FIG. 11, and FIG.
  • the primary anti-resonance frequency of the system is increased compared to the straight pipe shape (straight), and the third-order anti-resonance frequency is increased. Decrease.
  • the secondary antiresonance frequency does not change greatly.
  • the secondary and tertiary antiresonance frequencies approach an integral multiple (2 times, 3 times) of the primary antiresonance frequency.
  • the shape of the inertial fluid chamber 23 is not limited to a three-stage configuration.
  • the inertial fluid chamber 23 may have four or five or more stages.
  • the cross-sectional area of the inertial fluid chamber 23 is reduced stepwise, and the ratio of the cross-sectional areas is set as described above, so that fluctuations in the flow rate of the hydraulic oil are reduced and a high energy regeneration rate is achieved. Secured. Further, in FIGS. 13 and 14 described above, the duty ratio is 0.75, but the same effect is exhibited under other conditions.
  • the present invention is limited to the anti-resonant secondary frequency being twice the anti-resonant primary frequency and the anti-resonant tertiary frequency being three times the anti-resonant primary frequency.
  • the antiresonance secondary frequency may be in the vicinity of twice the antiresonance primary frequency, and the antiresonance tertiary frequency may be in the vicinity of three times the antiresonance primary frequency. Further, at least the antiresonant secondary frequency may be in the vicinity of twice the antiresonant primary frequency. In this case, the neighborhood may be set in a range of ⁇ 5% of the target frequency.
  • the switching frequency f of the low pressure side switch 3L and the high pressure side switch 3H controlled by the control unit 5 is set in the vicinity of the anti-resonance frequency of the flow path (system) through which the hydraulic oil (working fluid) flows. It is desirable.
  • the antiresonance frequency is not limited to the first order, and may be a second order or third order (Nth order, N is a natural number) antiresonance frequency. As shown in FIG. 3, there is a region where the flow rate fluctuation increases as the order increases even at the anti-resonance frequency. For this reason, it is desirable that the switching frequency f be set in the vicinity of the primary anti-resonance frequency.
  • the primary anti-resonance frequency (arrow “1”) is frn (Hz)
  • the primary resonance frequency (arrow “2”) is frt (Hz)
  • the flow rate of hydraulic oil at each frequency When the fluctuations are Vfrn (L / min / (kgf / cm 2 )) and Vfrt (L / min / (kgf / cm 2 )), it is desirable that the set switching frequency f satisfies the following formula 4. . f ⁇ (frn + frt) / 2 (Formula 4) In this case, the switching frequency f is set at a position closer to the primary anti-resonance frequency frn than at least the primary resonance frequency frt.
  • the set switching frequency f satisfies the following formula 5.
  • f ⁇ frn / 2 (Formula 5)
  • the switching frequency f is desirably a frequency that is at least higher than half the frequency of the first-order antiresonance frequency frn.
  • the switching frequency f is not too close to 0, and an increase in flow rate fluctuation is suppressed (FIG. 3). Therefore, it is possible to more stably suppress fluctuations in the flow rate of the hydraulic oil that occurs with the resonance of the flow path of the hydraulic oil.
  • Vf (Vfrn + Vfrt) / 2 (Expression 6)
  • Vf the flow rate fluctuation Vf at the switching frequency f is set in a region closer to the flow rate fluctuation Vfrn at the primary anti-resonance frequency frn than at least the flow rate fluctuation Vfrt at the primary resonance frequency frt. Therefore, increase in flow rate fluctuation and backflow of hydraulic oil are suppressed. As a result, it is possible to more stably suppress fluctuations in the flow rate of the hydraulic oil that occurs with the resonance of the flow path of the hydraulic oil. In this case as well, it is more desirable that the above Expression 5 is satisfied.
  • FIG. 15 is a graph group corresponding to FIG. 4C, and is a graph showing the time transition of the flow rate of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21 in the energy recovery device 1 shown in FIG. 1.
  • the switching frequency f is set to 72.5 Hz
  • the switching frequency f is set to 80 Hz in FIG. 15B
  • the switching frequency f is set to 88 Hz in FIG. 15C
  • the switching frequency f is set to 100 Hz in FIG.
  • the switching frequency f is set to 105 Hz
  • the switching frequency f is set to 110 Hz
  • FIG. 15G the switching frequency f is set to 125 Hz.
  • the aforementioned duty ratio d 0.5.
  • FIG. 15A the flow rate of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21 is periodically negative, and a reverse flow is generated.
  • FIG. 15B the flow rate of the hydraulic oil instantaneously becomes negative, but no back flow actually occurred.
  • FIGS. 15C and 15D the flow rate of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21 is continuously positive, and the hydraulic oil is stably recovered by the high-pressure source HP. .
  • FIG. 15E as in FIG. 15B, although the flow rate of the hydraulic oil is instantaneously negative, no back flow actually occurred.
  • 15F and 15G similarly to FIG. 15A, the flow rate of the hydraulic oil in the vicinity of the fluid chamber outlet 210 of the inertial fluid chamber 21 is periodically negative, and a backflow is generated.
  • FIG. 16 is an enlarged graph around the anti-resonance frequency (primary) and the resonance frequency (primary) in the graph of FIG. From the results of FIG. 15A to FIG. 15G, when the switching frequency f is set in the range of 77.5 Hz to 100 Hz (the following expression 7), the backflow of hydraulic oil does not occur and stable energy recovery can be realized. It is said. That is, when the anti-resonance frequency (primary) of the flow path of the energy recovery device 1 is 88 Hz, 77.5 ⁇ f ⁇ 100 (Hz) (Expression 7) It is desirable that this relationship is satisfied.
  • the inventors of the present invention changed the length of the inertial fluid chamber 21 of the energy recovery device 1 and the lengths of the low pressure side branch path 31 and the high pressure side branch path 32 at a plurality of levels, and evaluated the same as described above. As a result, it was confirmed that when the following formula 8 is satisfied, energy recovery in which backflow is similarly suppressed is realized.
  • the energy recovery method according to the present invention is an energy recovery method for recovering the energy of hydraulic oil, which is a fluid chamber in which hydraulic oil is enclosed, and the volume of the fluid chamber is variable.
  • the inertial fluid container communicating with the fluid chamber
  • the low-pressure side container and the high-pressure side container communicating in parallel with the inertial fluid container on the opposite side of the fluid chamber
  • the inertial fluid container and the low-pressure side container Low pressure side switch for switching the flow of hydraulic oil
  • high pressure side switch for switching the flow of hydraulic oil between the high pressure side container and the inertial fluid container
  • a switch passage for guiding the working fluid is prepared.
  • the inertial fluid container at a switching frequency near the Nth-order (N is a natural number) anti-resonance frequency of the hydraulic fluid flow path including at least the inertial fluid container and the switch flow path.
  • the working fluid can be caused to flow into the high-pressure side container by the inertial force generated in the inertial fluid container when the working fluid flows from the inertial fluid container toward the low-pressure side container.
  • the switching frequency for controlling the switching operation of the high-pressure side switch and the low-pressure side switch is set to a frequency in the vicinity of the Nth-order anti-resonance frequency of the flow path of the working fluid, the inertia fluid container and the switch flow It is possible to suppress fluctuations in the flow rate of the working fluid that occurs due to resonance of the flow path of the working fluid including the passage. For this reason, it becomes possible to suppress the fall of the energy recovery rate resulting from the flow volume fluctuation
  • the energy recovery apparatus 1 and the energy recovery method according to each embodiment of the present invention have been described above.
  • the present invention is not limited to these forms.
  • the following modified embodiments are possible as the energy recovery device and the energy recovery method according to the present invention.
  • the inertia fluid chamber 21, the inertia fluid chamber 22, and the inertia fluid chamber 23 have been described as having a circular cross section, but the present invention is not limited to this.
  • the cross sections of the inertial fluid chamber 21, the inertial fluid chamber 22, and the inertial fluid chamber 23 may have shapes other than a circle.
  • the inertial fluid chamber 22 includes the intermediate fluid chamber 223, so that the frequency twice the primary anti-resonance frequency of the hydraulic oil flow path can be reduced.
  • the embodiment has been described in a manner deviating from the primary resonance frequency of the road, the present invention is not limited to this. Due to the shape of the inertia fluid chamber 22 having a curved pipe with a curved flow path, a frequency twice the primary anti-resonance frequency of the hydraulic oil flow path is the primary resonant frequency of the hydraulic oil flow path.
  • the mode may be deviated or may be based on other shapes and structures.
  • the energy recovery apparatus includes a fluid chamber in which the working fluid is sealed, the fluid chamber having a variable volume, and a first internal space communicating with the fluid chamber.
  • An inertia fluid container that receives the working fluid discharged from the fluid chamber as the size of the fluid chamber decreases, and a second internal space that is set at a lower pressure than the fluid chamber and communicates with the first internal space of the inertia fluid container.
  • a low-pressure side container that receives the working fluid that has flowed out of the inertial fluid container, and a third internal space that is set at a higher pressure than the second internal space of the low-pressure side container and communicates with the first internal space of the inertial fluid container
  • a high-pressure side container that receives the working fluid that has flowed out of the inertial fluid container, and a low-pressure side opening that allows the working fluid to flow between the inertial fluid container and the low-pressure side container
  • a low-pressure side switch that operates to open and close the low-pressure side opening, and a high-pressure side opening that allows the working fluid to flow between the high-pressure side container and the inertial fluid container.
  • a high-pressure side switch that operates to open and close the opening, a switch passage that is arranged from the inertial fluid container to the low-pressure side switch and the high-pressure side switch, and guides the working fluid; and the fluid Controls the opening / closing operation of the high-pressure side switch and the low-pressure side switch so that the communication destination of the inertial fluid container is alternately switched between the low-pressure side container and the high-pressure side container according to the reduction in the volume of the chamber
  • a switch controller that causes the working fluid to flow into the high-pressure side container by an inertial force generated in the first internal space of the inertial fluid container when the working fluid flows toward the low-pressure side container.
  • the switch controller controls a switching frequency for switching a communication destination of the inertial fluid container between the low-pressure side container and the high-pressure side container, and includes at least the inertial fluid container and the switch channel. It is set to a frequency in the vicinity of the Nth order (N is a natural number) anti-resonance frequency of the flow path.
  • the switch controller controls the high-pressure side switch and the high-pressure side switch so that the communication destination of the inertial fluid container is alternately switched between the low-pressure side container and the high-pressure side container according to the reduction in the volume of the fluid chamber. Controls the opening / closing operation of the low-voltage side switch.
  • the switching frequency for controlling the switching operation of the high-pressure side switch and the low-pressure side switch is set to a frequency in the vicinity of the Nth-order anti-resonance frequency of the flow path of the working fluid.
  • the switch control unit sets the switching frequency to a frequency in the vicinity of a primary anti-resonance frequency of the flow path of the working fluid.
  • the frequency in the vicinity of the primary anti-resonance frequency is a frequency closer to the primary anti-resonance frequency than the primary resonance frequency of the flow path of the working fluid.
  • the frequency in the vicinity of the primary anti-resonance frequency is a frequency that is at least larger than half the frequency of the primary anti-resonance frequency.
  • the frequency in the vicinity of the primary anti-resonance frequency is greater than the flow rate fluctuation of the working fluid generated in the flow path at the primary resonance frequency of the flow path of the working fluid. It is desirable that the frequency of the flow rate of the working fluid be close to the flow rate variation of the working fluid at the anti-resonance frequency.
  • the inertial fluid container has a shape in which a frequency twice as high as a primary anti-resonance frequency of the flow path of the working fluid deviates from a primary resonance frequency of the flow path of the working fluid. It is desirable to have.
  • the inertial fluid container is a cylindrical member extending along the flow direction of the working fluid, and communicates with the first conduit and the first conduit that communicate with the fluid chamber.
  • a second pipe having a larger inner diameter than the first pipe; and a third pipe having a smaller inner diameter than the second pipe and communicating with the second pipe and the switch passage. It is desirable.
  • the inertial fluid container is a cylindrical member extending linearly along the flow direction of the working fluid, and the switch controller controls the communication destination of the inertial fluid container with the low pressure It is desirable to set the duty ratio for switching between the side container and the high-pressure side container to be close to 0.5.
  • the switch control unit sets the duty ratio in a range of 0.45 to 0.55.
  • the secondary anti-resonance frequency of the flow path of the working fluid is in the vicinity of twice the primary anti-resonance frequency of the flow path of the working fluid. It may be provided with such a shape.
  • the inertial fluid container has a third-order anti-resonance frequency of the flow path of the working fluid in the vicinity of a frequency that is three times the primary anti-resonance frequency of the flow path of the working fluid. It may be provided with such a shape.
  • the inertial fluid container is a cylindrical member extending along the flow direction of the working fluid
  • the inertial fluid container includes a container inlet communicating with the fluid chamber, and the switch flow.
  • the cross-sectional area may be set so as to gradually decrease along the flow direction of the working fluid.

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Abstract

Afin d'empêcher une réduction du taux de récupération d'énergie provoquée par des fluctuations de débit dans un fluide de travail dans un chemin d'écoulement dans un dispositif de récupération d'énergie qui récupère de l'énergie à partir d'un fluide de travail éjecté à partir d'une chambre de fluide, ce dispositif de récupération d'énergie (1) est équipé d'un récipient de fluide à inertie (21), d'un récipient côté basse-pression (LP), d'un récipient côté haute-pression (HP), d'un dispositif d'ouverture/fermeture côté basse-pression (3L), d'un dispositif d'ouverture/fermeture côté haute-pression (3H), de chemins d'écoulement à ouverture/fermeture (31, 32), et d'une unité de commande (5) de dispositif d'ouverture/fermeture. L'unité de commande (5) de dispositif d'ouverture/fermeture (5) commute en alternance la destination de communication du récipient de fluide à inertie (21) entre le récipient côté basse-pression (LP) et le récipient côté haute-pression (HP) conformément à une réduction du volume d'une chambre de fluide (203), et amène l'huile hydraulique à s'écouler dans le récipient côté haute-pression (HP) au moyen de la force d'inertie produite dans le récipient de fluide à inertie (21) lorsque l'huile hydraulique s'écoule vers le récipient côté basse-pression (LP). L'unité de commande (5) de dispositif d'ouverture/fermeture règle la fréquence de commutation des dispositifs d'ouverture/fermeture sur une fréquence proche de la Nème (où N est un nombre naturel) fréquence d'antirésonance du chemin d'écoulement de l'huile hydraulique.
PCT/JP2018/004725 2017-02-27 2018-02-09 Dispositif de récupération d'énergie et procédé de récupération d'énergie WO2018155244A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US16/485,370 US10738798B2 (en) 2017-02-27 2018-02-09 Energy recovery device and energy recovery method
EP18758436.2A EP3569870B1 (fr) 2017-02-27 2018-02-09 Dispositif de récupération d'énergie et procédé de récupération d'énergie

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2017-034607 2017-02-27
JP2017034607 2017-02-27
JP2017-155216 2017-08-10
JP2017155216A JP6717451B2 (ja) 2017-02-27 2017-08-10 エネルギー回収装置、およびエネルギー回収方法

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014163419A (ja) 2013-02-22 2014-09-08 Kochi Univ Of Technology エネルギー回収装置およびエネルギー回収方法
JP2014169763A (ja) * 2013-03-05 2014-09-18 Kochi Univ Of Technology 脈動抑制機構

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014163419A (ja) 2013-02-22 2014-09-08 Kochi Univ Of Technology エネルギー回収装置およびエネルギー回収方法
JP2014169763A (ja) * 2013-03-05 2014-09-18 Kochi Univ Of Technology 脈動抑制機構

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See also references of EP3569870A4

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