JP6067414B2 - Swivel construction machine - Google Patents

Description

  The present invention relates to a swing construction machine such as a hydraulic excavator in which an upper swing body is mounted on a lower traveling body via a swing bearing device.

  The hydraulic excavator as a swing construction machine is a mechanical hydraulic excavator that drives a hydraulic pump using an engine as a power source, a hybrid hydraulic excavator that uses an engine and an electric motor as a power source, and a hydraulic pump that uses an electric motor as a power source. There are known three types of electric excavators that drive the motor.

  Each type of hydraulic excavator includes a self-propelled lower traveling body projecting upward in the center and provided with a support cylinder, a swing bearing device provided on the support cylinder of the lower traveling body, and the swing The upper revolving body is provided on the bearing device so as to be able to turn, and the working device is provided on the front side of the upper revolving body so as to be able to move up and down.

  Among these types of hydraulic excavators, the hybrid hydraulic excavator is equipped with an engine that drives a hydraulic pump and a prime mover consisting of an electric motor on the upper swing body, and is provided in the work device by pressure oil discharged from the hydraulic pump. The hydraulic cylinder is driven. On the other hand, the upper swing body of the hydraulic excavator includes a swing device that is positioned on the swing frame and rotates the upper swing body with respect to the lower traveling body. As a turning motor of this turning device, one using an electric motor is known (for example, see Patent Document 1).

JP 2009-263887 A

  In the hybrid hydraulic excavator of Patent Document 1 described above, the swing motor of the swing device is configured by an electric motor. In this case, the electric motor has a characteristic that it is a high rotation type and has a low driving torque as compared with a hydraulic motor of the same size. For this reason, when using an electric motor as a turning motor, it is necessary to add a reduction mechanism to the output side of the turning motor to increase the drive torque. Alternatively, it is conceivable to obtain a high driving torque by providing a plurality of turning motors (turning devices) on the turning frame.

  However, as described above, when a speed reduction mechanism is added to the output side of the turning motor, the size of the turning device is increased by the amount of the added speed reduction mechanism. On the other hand, when a plurality of swiveling devices are provided, a large space for the number of installed devices is required. Here, since the upper swing body is equipped with many devices such as a cab, an engine, an oil storage tank, and a control valve on the swing frame, when a large installation space is secured for the swing device, the upper swing body There is a problem that becomes larger.

  The present invention has been made in view of the above-described problems of the prior art, and an object of the present invention is to obtain a high driving torque without enlarging the turning motor even when the turning motor is electrified. It is an object of the present invention to provide a swivel construction machine that can be used.

  A swing-type construction machine according to the present invention includes a self-propelled lower traveling body that protrudes upward in the center and is provided with a support cylinder, a swing bearing device that is provided on the support cylinder of the lower traveling body, An upper swing body provided on the swing bearing device so as to be capable of swinging, the swing bearing device being provided on a support cylinder of the lower traveling body, an inner ring having an internal gear on an inner peripheral surface, and the inner ring And an outer ring provided on the upper turning body and a plurality of rolling elements provided between the inner ring and the outer ring.

  In order to solve the above-described problem, the feature of the configuration adopted by the invention of claim 1 is that a sun gear corresponding to the internal gear of the inner ring is provided at the rotation center axis position of the swing bearing device. The upper revolving body is located between the sun gear and the internal gear of the inner ring, meshes with both the sun gear and the internal gear, and revolves around the sun gear while rotating. A planetary gear is provided, the upper swing body is provided with a swing body side electric motor that is positioned above the sun gear and rotationally drives the sun gear, and the lower travel body is positioned below the sun gear. Thus, a traveling body side electric motor that rotationally drives the sun gear is provided.

  According to a second aspect of the present invention, the upper swing body is provided with the swing body side electric motor around the rotation center axis, and the support cylinder of the lower traveling body is coaxial with the swing body side electric motor. The traveling body side electric motor is arranged at a position to be.

  According to a third aspect of the present invention, the output shaft of the revolving-body-side electric motor and the output shaft of the traveling-body-side electric motor are formed as a single output shaft that rotates integrally, and the single output shaft has a single output shaft on the outer peripheral side thereof. A clutch mechanism for rotatably providing the sun gear with respect to the output shaft, and connecting or releasing the single output shaft and the sun gear between the single output shaft and the sun gear; There is a configuration to provide.

  According to a fourth aspect of the present invention, a differential mechanism is provided between the output shaft of the revolving body side electric motor and the output shaft of the traveling body side electric motor, and the sun gear is provided at a position surrounding the differential mechanism. The differential mechanism rotates the sun gear when the output shafts of the two electric motors are rotated in the same direction, and rotates the sun gear when only the output shaft of one of the electric motors is rotated. There is a configuration in which the output shaft of the other electric motor is driven to rotate without rotating.

  According to a fifth aspect of the present invention, the upper ring portion of the inner ring of the slewing bearing device is provided with a plurality of annular annular electrodes that are electrically connected to electrical components provided on the lower traveling body, and the upper slewing device is provided. The body is provided with a brush device having a plurality of contacts that are electrically connected to electrical components provided on the upper swing body and are in contact with the annular electrodes in an energized state.

  According to the first aspect of the present invention, since the swing body side electric motor is provided in the upper swing body and the travel body side electric motor is provided in the lower travel body, a high driving torque can be obtained by the two electric motors. In this case, it is only necessary to secure a space for installing one electric motor in the upper swing body by disposing one electric motor on the lower traveling body, and thus the upper swing body can be reduced in size. . On the other hand, since the lower traveling body is generally formed as a box body having an internal space by a can-making structure, the traveling body side electric motor can be obtained by using this internal space without increasing the size of the lower traveling body. Can be arranged.

  Moreover, a large reduction ratio is obtained on the inner diameter side of the slewing bearing device by the sun gear provided at the position of the slewing center axis of the slewing bearing device and the planetary gear provided between the sun gear and the internal gear of the inner ring. It forms a planetary gear mechanism that can Therefore, the swing body side electric motor and the traveling body side electric motor need not be provided with a separate speed reduction mechanism, or may be provided with a speed reduction mechanism having a small number of speed reduction stages, so that these electric motors can be reduced in size. As a result, even when the turning motor is electrified, the upper turning body can be smoothly turned with high driving torque without increasing the size of the turning motor.

  According to the invention of claim 2, the swing body side electric motor provided on the upper swing body and the travel body side electric motor provided on the lower travel body are arranged with the swing center axis of the swing bearing device as the rotation center. The configuration can be simplified with a small number of parts without using a gear or the like for transmitting power separately.

  According to the invention of claim 3, when the sun gear is rotationally driven, a clutch mechanism is used to provide a single output shaft composed of the output shaft of the turning body side electric motor and the output shaft of the traveling body side electric motor, and the sun gear. Connect between them. Accordingly, the rotational force of the single output shaft can be transmitted to the sun gear via the clutch mechanism, and the upper swing body can be swung via the planetary gear and the swivel bearing device. In a state where the turning operation is not performed, the clutch mechanism is opened, for example, by driving the turning body side electric motor, the traveling body side electric motor can be rotationally driven as a power generator, and the electric power generated by this regeneration is traveled in the lower part. It can be used for an electric motor for running the body.

  According to the invention of claim 4, when the sun gear is rotationally driven, the rotational force of each electric motor is obtained by rotating the output shaft of the revolving body side electric motor and the output shaft of the traveling body side electric motor in the same direction. Can be transmitted to the sun gear through the differential mechanism, and the upper swing body can be swung through the planetary gear and the swivel bearing device. In a state where the turning operation is not performed, if only the output shaft of one electric motor is rotated, the differential mechanism rotates and drives the output shaft of the other electric motor without rotating the sun gear. The motor can be rotationally driven as a power generator, and the electric power generated by this regeneration can be used for an electric motor for traveling of the lower traveling body.

  According to the fifth aspect of the present invention, for example, when an electric motor for traveling is provided in the lower traveling body, the control section for controlling the electric motor is a control section provided in the upper swing body, a power source for control, etc. Need to be electrically connected. However, in the swing type construction machine, the upper swing body can swing freely on the lower traveling body, and therefore it cannot be connected only by the lead wire.

  Therefore, a plurality of annular annular electrodes are provided on the upper surface of the inner ring of the slewing bearing device, which are electrically connected to a control unit that is an electrical component of the lower traveling body. On the other hand, the upper swing body is provided with a brush device that has a plurality of contacts that are electrically connected to a control unit, a control power source, and the like, which are electrical components, and that are in contact with the respective annular electrodes. Thereby, the control part, control power supply, etc. of an upper revolving structure and the control part of a lower traveling body can be electrically connected.

  As a result, the control unit of the upper swing body, a configuration for electrically connecting the control power source and the like and the control unit of the lower traveling body, a so-called slip ring mechanism is formed using the inner ring of the existing swing bearing device By doing so, it can be manufactured at a lower cost than when a dedicated slip ring is designed. Thereby, the electric motor for driving | running | working a lower traveling body can be electrified cheaply.

1 is a front view showing a hybrid excavator applied to a first embodiment of the present invention. It is a rear view which expands and shows the hydraulic shovel of FIG. 1 from the rear side. It is a top view which expands and shows a turning frame. It is a top view of the principal part expansion which shows the baseplate of a turning frame with a turning bearing apparatus. Enlarged view of the support frame body of the track frame, the bottom plate of the revolving frame, the slewing bearing device, the sun gear, the planetary gear, the revolving body side electric motor, the traveling body side electric motor, the slip ring, etc. as seen from the direction of arrows V-V in FIG. It is a longitudinal cross-sectional view. It is a top view which shows a slewing bearing apparatus with an annular electrode. It is a top view of the principal part expansion which expands and shows the A section in FIG. It is a longitudinal cross-sectional view of the principal part expansion which shows a cyclic | annular electrode and a brush apparatus with a part of slewing bearing apparatus and a slewing frame. FIG. 6 is a cross-sectional view of the slewing bearing device, the sun gear, and the planetary gear as viewed from the direction of arrows IX-IX in FIG. 5. It is a circuit diagram which shows the electric circuit and hydraulic circuit between a lower traveling body and an upper turning body. It is a control state figure of the revolving body side electric motor and the traveling body side electric motor in turning operation and running operation. FIG. 6 is an enlarged longitudinal sectional view of a configuration including a clutch mechanism according to a second embodiment of the present invention as viewed from the same position as in FIG. 5. It is a longitudinal cross-sectional view of the principal part expansion which shows the clutch mechanism etc. in FIG. FIG. 6 is a control state diagram of a swing body side electric motor, a travel body side electric motor, a swing body side clutch mechanism, and a travel body side clutch mechanism in a swing operation and a travel operation. It is the expanded longitudinal cross-sectional view which looked at the structure provided with the differential mechanism by the 3rd Embodiment of this invention from the same position as FIG. It is a longitudinal cross-sectional view of the principal part expansion which shows the differential mechanism etc. in FIG. It is a control state figure of the revolving body side electric motor and the traveling body side electric motor in turning operation and running operation.

  Hereinafter, as a swivel construction machine according to an embodiment of the present invention, a hybrid hydraulic excavator using an engine and an assist generator motor in combination among hybrid hydraulic excavators and electric hydraulic excavators will be described as an example, and will be described in detail according to the accompanying drawings. explain.

  In the case of an electric hydraulic excavator, the engine may be eliminated and the hydraulic pump may be driven only by the electric motor.

  1 to 11 show a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a hybrid hydraulic excavator as a swing construction machine. The hydraulic excavator 1 includes a self-propelled crawler-type lower traveling body 2 and a swing bearing device provided on the lower traveling body 2. 3, an upper swing body 4 that is pivotably mounted on the lower traveling body 2 via the swing bearing device 3, and is provided so as to be able to move up and down on the front side of the upper swing body 4 so as to excavate earth and sand. It is comprised with the working device 5 which performs.

  The working device 5 includes a boom 5A attached to each vertical plate 14 and 15 of the revolving frame 12 to be described later, an arm 5B attached to the distal end portion of the boom 5A, and an arm 5B. The bucket 5C is rotatably attached to the front end of the cylinder, and the boom cylinder 5D, the arm cylinder 5E, and the bucket cylinder 5F are hydraulic cylinders that drive the bucket 5C.

  Here, as shown in FIGS. 1 and 2, the lower traveling body 2 includes a track frame 6 having side frames 6 </ b> L and 6 </ b> R located on both the left and right sides and extending in the front and rear directions, and the track frame 6. Drive wheels 7L, 7R provided at one end in the length direction of the left and right side frames 6L, 6R, idle wheels 8L, 8R provided at the other ends of the side frames 6L, 6R, The drive wheels 7L and 7R and the crawler belts 9L and 9R wound around the idle wheels 8L and 8R are configured.

  The left driving wheel 7L is rotationally driven by the left traveling electric motor 10L, and the right driving wheel 7R is rotationally driven by the right traveling electric motor 10R. These electric motors 10L and 10R for traveling independently drive and control the crawler belts 9L and 9R, and are rotationally driven by power supply from the power storage device 25 and the traveling body side electric motor 40 described later.

  On the other hand, the track frame 6 is formed as a box body having an internal space by, for example, a can-making structure, and a traveling body side electric motor 40 to be described later is disposed using the internal space. A support cylinder 11 is provided on the upper side of the center portion of the track frame 6, and a flange-like mounting flange 11 </ b> A (see FIGS. 2 and 5) protruding outward in the radial direction is provided at the upper end of the support cylinder 11. ) Is provided. On the mounting flange 11 </ b> A, an inner ring 26 of the slewing bearing device 3 to be described later is mounted by a large number of bolts 29.

  Further, as shown in FIG. 5, a disk-shaped motor mounting plate 11B is mounted on the inner peripheral side of the mounting flange 11A so as to close the support cylinder 11, and at the central position of the motor mounting plate 11B. A motor attachment hole 11C for attaching the traveling body side electric motor 40 is provided. The motor mounting plate 11B also serves as a bottom plate of a grease bath that holds lubricating grease (not shown) around an internal gear 26B, sun gears 32 and 33, and a planetary gear 34, which will be described later.

  The upper swing body 4 has a swing frame 12 (described later) mounted on the lower traveling body 2 via the swing bearing device 3 so as to be rotatable. A cab 19, counterweight 20, power storage device 21, engine 22, assist power generation motor 24, revolving body side electric motor 38, slip ring 41, and the like are provided on the revolving frame 12.

  A revolving frame 12 forms a support structure for the upper revolving structure 4. As shown in FIG. 3, the revolving frame 12 has a bottom plate 13 made of a thick steel plate or the like extending in the front and rear directions, and is erected on the bottom plate 13 and has a predetermined interval in the left and right directions. The left vertical plate 14 and the right vertical plate 15 extending in the direction, the left side frame 16 and the right side frame 17 which are arranged at intervals outside the vertical plates 14 and 15 and extend in the front and rear directions, and the bottom plate 13. A plurality of projecting beams 18 projecting from the vertical plates 14 and 15 in the left and right directions, and supporting the left and right side frames 16 and 17 at the front ends thereof. A foot part of the boom 5A of the working device 5 is attached to the front side of each vertical plate 14 and 15 so as to be able to be lifted and lowered.

  Here, the bottom plate 13 of the swivel frame 12 functions as a carrier of a planetary gear mechanism 37 that swivels together with a planetary gear 34 described later with the swivel center O as an axis. As shown in FIG. 4, in the bottom plate 13, a large number of female screw holes 13 </ b> A are centered on the turning center O so as to correspond to each bolt insertion hole 27 </ b> D formed in the outer ring 27 of the turning bearing device 3 described later. It is formed in an annular shape so as to penetrate upward and downward. A motor mounting hole 13B for mounting a rotating body side electric motor 38, which will be described later, is provided at the axis position of the rotation center O of the bottom plate 13. A number of female screw holes 13C are provided around the motor mounting hole 13B. It is formed penetrating upward and downward.

  On the other hand, the bottom plate 13 is formed between each female screw hole 13A and the motor mounting hole 13B and is formed with a plurality of, for example, three pin holes 13D penetrating upward and downward at equal intervals in the circumferential direction. Has been. As shown in FIG. 5, the pin hole 13 </ b> D is inserted with a support pin 35 for rotatably attaching a later-described planetary gear 34 to the bottom plate 13 (the turning frame 12).

  Further, a brush mounting hole 13E for mounting a brush device 45 to be described later is provided at a position closer to the front side of the bottom plate 13, and for example, two female screw holes 13F are provided above and below the brush mounting hole 13E. It is formed in the direction. The brush mounting hole 13E is provided at a position closer to the front side of the bottom plate 13. However, the brush mounting hole 13E can be disposed at a position other than the front position as long as it is located on the upper side of the annular electrode 43 described below and does not interfere with the surroundings.

  Reference numeral 19 denotes a cab (see FIG. 1) provided on the left front side of the revolving frame 12. A driver's seat on which an operator is seated is provided in the cab 19, and an operating lever for traveling is provided around the driver's seat. A working operation lever and the like (both not shown) are provided. Reference numeral 20 denotes a counterweight attached to the rear portion of the revolving frame 12.

  Reference numeral 21 denotes a revolving unit-side power storage device (see FIG. 10) provided on the revolving frame 12, and this power storage device 21 is called a capacitor and is connected to a commercial power source to store electric charges. The power storage device 21 is connected to the swing body side electric motor 38 and supplies power to the swing body side electric motor 38.

  An engine 22 is provided on the turning frame 12 between the cab 19 and the counterweight 20, and a hydraulic pump 23 and an assist power generation motor 24 are connected to the engine 22. Here, the hydraulic pump 23 discharges pressure oil as a power source for driving the cylinders 5D, 5E, and 5F of the work device 5, and the cylinders 5D, 5E, It is connected to 5F. On the other hand, the assist power generation motor 24 generates power by being rotationally driven by the engine 22 or assists the engine 22.

  25 is a power storage device on the traveling body side provided on the track frame 6 of the lower traveling body 2, and the power storage device 25 is called a capacitor and is connected to a commercial power source, like the power storage device 21 on the revolving body side described above. It stores electric charge. The power storage device 25 is connected to the traveling electric motors 10L and 10R and supplies power to the traveling electric motors 10L and 10R.

  Next, the configuration of the slewing bearing device 3 according to the first embodiment provided for pivotally supporting the upper swing body 4 on the lower traveling body 2 will be described.

  As shown in FIG. 4, the slewing bearing device 3 is provided on the support cylinder 11 of the lower traveling body 2 with the pivot center O as an axis, and can swing the upper revolving body 4 in the horizontal direction with respect to the lower traveling body 2. To support. As shown in FIGS. 5 and 6, the slewing bearing device 3 includes an annular inner ring 26 mounted on the support cylinder 11 of the lower traveling body 2, and a concentric circle on the radially outer side of the inner ring 26. The inner ring 26 and the outer ring 27 are arranged so as to be able to roll between an annular outer ring 27 provided, and a track 26A provided on the outer peripheral side of the inner ring 26 and a track 27A provided on the inner peripheral side of the outer ring 27. And a large number of steel balls 28 as rolling elements that support the rotation of the balls.

  The inner ring 26 is integrally mounted on the support cylinder 11 by screwing bolts 29 inserted into the mounting flange 11A of the support cylinder 11 constituting the lower traveling body 2 into respective female screw holes 26E described later. It has been. Here, the inner ring 26 is formed in an annular shape with, for example, a rectangular cross section, and a semicircular track 26A is formed on the outer peripheral surface thereof. On the other hand, an internal gear 26B having the number of teeth Z1 with which the planetary gear 34 meshes is formed on the inner peripheral side of the inner ring 26. An electrode table 42 and an annular electrode 43 described later are attached to the upper surface portion 26 </ b> C of the inner ring 26. Furthermore, a large number of female screw holes 26E are formed in the lower surface portion 26D of the inner ring 26 at predetermined intervals in the circumferential direction.

  As shown in FIG. 8, the inner ring 26 is provided with four through holes 26F penetrating from the upper surface portion 26C to the lower surface portion 26D, for example, according to the number of annular electrodes 43 described later (only one is shown). . The through hole 26F is for inserting lead wires 44A to 45D for electrically connecting each annular electrode 43 and the fourth to seventh PCUs 63 to 66.

  The outer ring 27 is formed in an annular shape having a square cross section, for example, and is slightly larger in diameter than the inner ring 26, and a semicircular track 27A facing the track 26A of the inner ring 26 is formed on the inner peripheral surface thereof. Yes. Here, the outer ring 27 has an upper surface portion 27B higher than the upper surface portion 26C of the inner ring 26 so that the upper portion of the inner ring 26 does not interfere with the bottom plate 13 when the outer ring 27 is attached to the bottom plate 13 of the turning frame 12. Placed in position. Thus, in a state where the upper surface portion 27B of the outer ring 27 is attached to the bottom plate 13 of the turning frame 12, the upper surface portion 26C of the inner ring 26 and the bottom plate 13 are caused by the step between the upper surface portion 27B of the outer ring 27 and the upper surface portion 26C of the inner ring 26. A space can be formed between the two. An annular electrode 43 can be provided on the upper surface portion 26C of the inner ring 26 using this space.

  As shown in FIGS. 5 and 6, the outer ring 27 is provided with a large number of bolt insertion holes 27D penetrating from the upper surface portion 27B to the lower surface portion 27C at a predetermined interval. The outer ring 27 is integrally attached to the bottom plate 13 by screwing bolts 30 inserted into the respective bolt insertion holes 27 </ b> D into the female screw holes 13 </ b> A of the bottom plate 13.

  The slewing bearing device 3 is provided with an upper annular seal member 31A and a lower annular seal member 31B (see FIG. 8) on the inner peripheral surface of the outer ring 27 and the outer peripheral surface of the inner ring 26. Grease is held around each steel ball 28 by 31B.

  Next, the sun gears 32 and 33 and the planetary gear 34 constituting the planetary gear mechanism 37 that is a part of the characteristic part of the first embodiment will be described with reference to FIGS. 5 and 9.

  Reference numeral 32 denotes a revolving-body-side sun gear provided at the axis position of the revolving center O of the revolving bearing device 3 between the motor mounting plate 11B of the support cylinder 11 and the bottom plate 13 of the revolving frame 12. This revolving body side sun gear 32 is disposed in the axial direction (upward and downward direction) corresponding to the internal gear 26B of the inner ring 26, specifically, closer to the upper revolving body 4 side (upper side). The swirler-side sun gear 32 is formed as an external gear with the number of teeth Z2 having a tooth width dimension that is about half of the tooth width dimension (upper and lower length dimensions) of the planetary gear 34, which will be described later. A female spline hole 32A is formed. The turning body side sun gear 32 is inserted into a female spline hole 32 </ b> A by an output shaft 38 </ b> C of a turning body side electric motor 38 to be described later, and is rotated by the turning body side electric motor 38.

  Reference numeral 33 denotes a traveling body side sun gear which is located below the revolving body side sun gear 32 and is arranged coaxially with the revolving body side sun gear 32. This traveling body side sun gear 33 is similar to the swirling body side sun gear 32, and has an external gear with the number of teeth Z2 having a tooth width dimension of about half of the tooth width dimension (upper and lower length dimensions) of the planetary gear 34. The female spline hole 33A is formed in the center position. The traveling body side sun gear 33 is inserted into an output shaft 40C of a traveling body side electric motor 40 described later in the female spline hole 33A, and is rotated by the traveling body side electric motor 40.

  In the first embodiment, the revolving body side sun gear 32 and the traveling body side sun gear 33 are provided so as to overlap in the upward and downward directions, and the output shaft 38C of the revolving body side electric motor 38 is connected to the revolving body side sun gear 32. The output shaft 40C of the traveling body side electric motor 40 is connected to the revolving body side sun gear 32. However, the output shaft 38C of the revolving body side electric motor 38 and the output shaft 40C of the traveling body side electric motor 40 are connected to one sun gear. It is good also as a structure which connects in the state which opposed both.

  Reference numeral 34 denotes a plurality of, for example, three planetary gears provided on the upper swing body 4. The three planetary gears 34 are arranged at equal intervals in the circumferential direction between the sun gears 32 and 33 and the internal gear 26B of the inner ring 26, and between the sun gears 32 and 33 and the internal gear 26B. It meshes with both. Thereby, each planetary gear 34 revolves around each sun gear 32, 33 while rotating. Each planetary gear 34 has a tooth width dimension equivalent to the tooth width dimension of the sun gears 32 and 33 and the tooth width dimension of the internal gear 26B of the inner ring 26 in a state where the planetary gears 34 are arranged in an upward and downward direction. It is formed as a Z3 external gear. A bearing hole 34 </ b> A is formed at the center position of each planetary gear 34, and is rotatably supported by a support pin 35 inserted into the pin hole 13 </ b> D of the bottom plate 13 via a bearing 36.

  Here, the planetary gear mechanism 37 is configured by meshing the planetary gears 34 with the internal gears 26 </ b> B of the inner ring 26 and the sun gears 32 and 33. When the sun gears 32 and 33 are rotationally driven, the planetary gear mechanism 37 revolves around the sun gears 32 and 33 while rotating the planetary gears 34, so that the planetary gear mechanism 37 also serves as a carrier with a large reduction ratio. The bottom plate 13 of the frame 12, that is, the upper swing body 4 can be swung. In this case, the planetary gear mechanism 37 can obtain a large reduction ratio as shown in the following expression 1, where the reduction ratio i, the number of teeth Z1 of the internal gear 26B, and the number of teeth Z2 of the sun gears 32 and 33 are given. .

  Thereby, even when the driving torques of the swing body side electric motor 38 and the traveling body side electric motor 40 described later are low, a high driving torque can be obtained by the deceleration by the planetary gear mechanism 37. Therefore, the electric motors 38 and 40 do not need to be provided with a separate speed reduction mechanism, or need only be provided with a speed reduction mechanism having a small number of reduction stages (small reduction ratio). Therefore, the electric motors 38 and 40 can be downsized. it can.

  Next, the structure of the revolving body side electric motor 38 and the traveling body side electric motor 40 which are the characteristic parts of 1st Embodiment is demonstrated.

  Reference numeral 38 denotes a swing body side electric motor provided in the upper swing body 4. The revolving unit side electric motor 38 drives the revolving unit side sun gear 32 to rotate, and is disposed on the upper side of the revolving unit side sun gear 32 so that the axis of the revolving center O is the center of rotation. The revolving body side electric motor 38 houses a stator, a rotor and the like (both not shown) in a casing 38A, and a flange 38B is provided projecting radially outward at a lower position of the casing 38A. ing. On the other hand, an output shaft 38C rotatably attached to the casing 38A is provided at the rotational axis position of the rotor, and a male spline 38C1 is formed on the output shaft 38C on the tip side protruding downward. .

  The swing body side electric motor 38 is engaged with the male spline 38C1 in the female spline hole 32A of the swing body side sun gear 32 while the tip end side of the output shaft 38C is inserted into the motor mounting hole 13B of the bottom plate 13 constituting the swing frame 12. Insert the flange portion 38B into contact with the upper surface of the bottom plate 13. In this state, the rotating body side electric motor 38 can be mounted on the bottom plate 13 by screwing the bolt 39 inserted through the flange portion 38B into the female screw hole 13C of the bottom plate 13.

  The revolving body side electric motor 38 has a characteristic that it is a high rotation type and has a low driving torque as compared with a hydraulic motor of the same size. However, the turning body side electric motor 38 can obtain a high driving torque by utilizing the large reduction ratio of the planetary gear mechanism 37 by connecting the output shaft 38C to the turning body side sun gear 32 of the planetary gear mechanism 37. it can. Therefore, the swinging body side electric motor 38 protrudes on the bottom plate 13 because it is not necessary to provide a reduction mechanism in the casing 38A or add the number of reduction stages of the existing reduction mechanism, for example, in order to increase the drive torque. The casing 38A to be arranged can be reduced in size.

  Reference numeral 40 denotes a traveling body side electric motor provided in the lower traveling body 2. The traveling body side electric motor 40 rotates the traveling body side sun gear 33 and is disposed below the traveling body side sun gear 33. Specifically, the traveling body side electric motor 40 is attached to the motor mounting plate 11 </ b> B of the support cylinder 11 provided on the track frame 6 of the lower traveling body 2. The traveling body side electric motor 40 is disposed around the axis of the turning center O so as to be coaxial with the turning body side electric motor 38, and substantially the same as the turning body side electric motor 38, the casing 40 </ b> A, the flange portion 40 </ b> B, the output shaft. 40C.

  The traveling body side electric motor 40 inserts the male spline 40C1 into the female spline hole 33A of the traveling body side sun gear 33 in a meshed manner while inserting the distal end side of the output shaft 40C into the motor mounting hole 11C of the support cylinder 11 and flanges. The part 40B is brought into contact with the lower surface of the motor mounting plate 11B. In this state, the bolt 39 inserted through the flange portion 40B is screwed into a female screw hole (not shown) of the motor mounting plate 11B, so that the traveling body side electric motor 40 is placed in the support cylinder 11 (in the track frame 6). ) Can be installed.

  The traveling body side electric motor 40 configured as described above can obtain a high driving torque by connecting its output shaft 40C to the traveling body side sun gear 33 of the planetary gear mechanism 37, similarly to the turning body side electric motor 38. it can. Therefore, the casing 38A of the traveling body side electric motor 40 can also be reduced in size.

  Here, since the two motors of the swing body side electric motor 38 and the travel body side electric motor 40 are provided as the swing motors for driving the upper swing body 4 to swing on the lower traveling body 2, the two electric motors 38 are provided. , 40 can be combined, and a high driving torque can be obtained. In this case, since the traveling body side electric motor 40 is arranged using the space in the track frame 6 of the lower traveling body 2, the upper revolving body 4 has a space for installing the revolving body side electric motor 38. What is necessary is just to ensure, and the upper revolving body 4 can be reduced in size.

  Next, the configuration of the slip ring 41 that electrically connects the lower traveling body 2 and the upper swing body 4 will be described.

  That is, reference numeral 41 denotes a slip ring provided between the swing bearing device 3 and the upper swing body 4. The slip ring 41 electrically connects the lower traveling body 2 and the upper revolving body 4 while allowing the upper revolving body 4 to revolve on the lower traveling body 2. The slip ring 41 includes an electrode table 42, an annular electrode 43, and a brush device 45, which will be described later.

  As shown in FIG. 8, reference numeral 42 denotes an electrode table provided on the upper surface portion 26 </ b> C of the inner ring 26 constituting the slewing bearing device 3. As shown in FIG. 6, the electrode base 42 is formed as an annular flat plate having substantially the same diameter as the upper surface portion 26 </ b> C of the inner ring 26, and an annular electrode 43 described later is attached to the upper surface side. Since the annular electrode 43 is attached to the electrode table 42, the upper surface side or the whole of the electrode table 42 is configured using an insulating material.

  Reference numerals 43 </ b> A to 43 </ b> D denote a plurality of, for example, four annular electrodes (hereinafter, referred to as an annular electrode 43 as a whole) provided on the electrode table 42 that becomes the upper surface portion 26 </ b> C of the inner ring 26. The annular electrode 43 is formed as a quadruple arc on a concentric circle centered on the turning center O by the slewing bearing device 3, and as shown in FIG. 7, for example, the inner side becomes the annular electrode 43A and the outer side becomes the annular electrode 43D. It has become. As shown in FIG. 8, the lead wires 44 </ b> A to 44 </ b> D connected to the annular electrodes 43 </ b> A to 43 </ b> D extend in the through hole 26 </ b> F of the inner ring 26 toward the track frame 6.

  Of the annular electrodes 43, the annular electrodes 43A and 43B are communication electrodes that communicate various information and control commands, and are connected to control units 63B, 64B, 65B, and 66B of PCUs 63, 64, 65, and 66, which will be described later. Has been. On the other hand, the annular electrodes 43C and 43D are power supply electrodes for driving the control units 63B, 64B, 65B, and 66B, and are connected to the control units 63B, 64B, 65B, and 66B.

  Reference numeral 45 denotes a brush device for the slip ring 41. The brush device 45 is located on the upper side of the annular electrode 43 and is provided on the bottom plate 13 of the revolving frame 12. As shown in FIG. 8, the brush device 45 includes a brush guide 46, a lid member 47, a contact member 49, and the like which will be described later.

  46 is a brush guide serving as a mounting base for the brush device 45. The brush guide 46 is formed in a cylindrical shape to be fitted into the brush mounting hole 13E of the bottom plate 13, and is upward and downward so as to be parallel to the axis thereof. The four brush insertion holes 46A are formed through. These four brush insertion holes 46 </ b> A are arranged directly above the corresponding annular electrodes 43 </ b> A to 43 </ b> D in a state where the brush guide 46 is attached to the brush attachment hole 13 </ b> E of the bottom plate 13. A flange portion 46B is formed on the upper portion of the brush guide 46 so as to project in the radial direction, and two bolt insertion holes 46C are formed in the flange portion 46B at symmetrical positions in the radial direction.

  Reference numeral 47 denotes a lid member provided on the upper side of the brush guide 46, and the lid member 47 is formed in a covered cylinder shape having an opening on the lower side. The lid member 47 can cover fixing plates 50A to 50D of contact members 49A to 49D, which will be described later, by being attached to the upper side of the brush guide 46. A flange portion 47A and two bolt insertion holes 47B are formed in the lower portion of the lid member 47 so as to correspond to the flange portion 46B and the bolt insertion hole 46C of the brush guide 46.

  Thus, the brush guide 46 and the lid member 47 are inserted into the brush mounting holes 13E of the bottom plate 13 and the bolts 48 inserted into the bolt insertion holes 46C and 47B of the flange portions 46B and 47A are inserted into the female screw holes 13F. It can be attached to a predetermined position of the bottom plate 13 by screwing to the bottom plate 13.

  Reference numerals 49A to 49D denote four sets of contact members (hereinafter referred to as contact members 49 as a whole) provided on the brush guide 46 so as to correspond to the four annular electrodes 43A to 43D. Among the contact members 49, the inner contact members 49A and 49B located on the turning center side are electrically connected to the annular electrodes 43A and 43B, and are part of the communication lines 60A, 60B, 68A and 68B. Is configured. The outer contact members 49C and 49D are electrically connected to the annular electrodes 43C and 43D, and constitute a part of the control power supply lines 62A, 62B, 69A, and 69B.

  Here, since the contact members 49A to 49D have the same configuration, the configuration of the contact member 49A will be described as a representative, and the fixing plates 50B to 50D and the contact brushes constituting the other contact members 49B to 49D. 51B to 51D, spring members 52B to 52D, and lead wires 53B to 53D are denoted by the same reference numerals as the contact member 49A, and the description thereof is omitted.

  As shown in FIG. 8, the contact member 49A includes a fixing plate 50A bolted in an insulated state with respect to the upper surface of the brush guide 46 so as to close the upper side of the brush insertion hole 46A, and a lower portion of the fixing plate 50A. Positioned within the brush insertion hole 46A, the contact brush 51A is inserted into the brush insertion hole 46A so as to be movable upward and downward, and formed into a rod shape using a conductive material such as carbon, for example, and the brush insertion hole 46A. A spring member 52A provided between the fixed plate 50A and the contact brush 51A and biasing the contact brush 51A downward, and a lead wire 53A electrically connected to the contact brush 51A. .

  When the brush member 45 is attached to the bottom plate 13, the contact member 49 </ b> A presses the tip of the contact brush 51 </ b> A against the annular electrode 43 </ b> A with the urging force of the spring member 52 </ b> A, thereby allowing the upper swing body 4 to move on the lower traveling body 2. Even when the turning operation is performed, the contact brush 51A and the annular electrode 43A can always be brought into contact with each other. Thereby, the lead wire 44 </ b> A on the lower traveling body 2 side and the lead wire 53 </ b> A on the upper swing body 4 side can always be energized.

  Next, the configuration of the hydraulic system / electric system etc. of the hybrid hydraulic excavator 1 will be described with reference to FIG.

  First, the hydraulic system will be described. The engine 22 and the assist power generation motor 24 are provided as drive sources, and the driving force of the engine 22 and the assist power generation motor 24 is transmitted to the hydraulic pump 23. The control valve 54 for controlling the hydraulic system supplies the pressure oil supplied from the hydraulic pump 23 to each of the work devices 5 in accordance with an operation command (hydraulic pilot signal) from a work operation lever provided in the cab 19. The working device 5 is controlled by supplying and discharging the cylinders 5D, 5E, and 5F.

  Next, the electrical system will be described. The number of rotations and the direction of rotation of the left and right traveling electric motors 10L, 10R of the lower traveling body 2 are controlled according to the traveling operation lever. On the other hand, when the operation lever for operation is operated so as to turn the upper swing body 4, the rotation speed and the rotation direction of each of the electric motors 38 and 40 for turning are controlled.

  Here, in the electric system of the upper swing body 4, the swing body side electric motor 38 is a three-phase power storage device 21 composed of an electric double layer capacitor as the power storage device, the assist power generation motor 24, and the DC power supplied therefrom. It is driven by a drive system including electrical components such as a plurality of power control units 55 to 57 (hereinafter referred to as PCUs 55 to 57) and a main control unit 58 (hereinafter referred to as MCU 58) that are controlled as AC power.

  The first PCU 55 is connected to the power storage device 21 and includes a chopper 55A configured by a plurality of switching elements, and a control unit 55B for controlling ON / OFF of the switching elements of the chopper 55A. ing. The chopper 55 </ b> A functions as a step-up chopper for driving the swing body side electric motor 38, boosts the DC power supplied from the power storage device 21, and supplies it to the swing body side electric motor 38.

  The second PCU 56 is provided in connection with the assist power generation motor 24. For example, the second PCU 56 is configured to turn on / off the inverter 56A composed of a plurality of switching elements such as insulated gate bipolar transistors (IGBT) and the switching elements of the inverter 56A. And a control unit 56B for controlling. During power generation by the assist power generation motor 24, the inverter 56 </ b> A converts the power generated by the assist power generation motor 24 into DC power and supplies it to the power storage device 21. On the other hand, when the assist power generation motor 24 is driven, the inverter 56 </ b> A converts the DC power from the power storage device 21 into AC drive power and supplies it to the assist power generation motor 24.

  The third PCU 57 is connected to the swing body side electric motor 38 and includes an inverter 57A configured by a plurality of switching elements, and a control unit 57B for controlling ON / OFF of the switching elements of the inverter 57A. Have. During regeneration of the swing body side electric motor 38, the inverter 57 </ b> A converts the regenerative power generated by the swing body side electric motor 38 into DC power and supplies it to the power storage device 21. On the other hand, during the turning drive of the swing body side electric motor 38, the inverter 57 </ b> A converts the DC power from the power storage device 21 into AC drive power and supplies it to the swing body side electric motor 38.

  The chopper 55A and the inverters 56A and 57A are connected to each other through a pair of DC buses 59A and 59B. A smoothing capacitor (not shown) is connected to the DC buses 59A and 59B, and predetermined DC power of about several hundred volts, for example, is applied.

  The control units 55B to 57B and the MCU 58 are connected to each other through a pair of communication lines 60A and 60B to constitute a CAN (Control Area Network). For this reason, various information and control commands are transmitted between the control units 55B to 57B and the MCU 58 using a high-speed serial signal or the like via the CAN. Further, a pair of control power supply lines 62A and 62B for supplying drive power for driving them are connected between the control units 55B to 57B and the control power supply 61. As a result, a low-voltage control power supply 61 is electrically connected to the control units 55B to 57B, and a low-voltage drive power of, for example, several tens of volts is supplied.

  Here, the communication lines 60A and 60B and the control power supply lines 62A and 62B provided on the upper swing body 4 side are connected to the communication lines 68A and 68B and the control power supply line provided on the lower traveling body 2 side via the slip ring 41. It is always electrically connected to 69A and 69B.

  The MCU 58 generates control commands for the control valves, the PCUs 55 to 57 and the PCUs 63 to 66 described later using signals such as an operation command signal, a pressure signal, and a rotation speed signal, and controls the driving mode, the turning mode, and the electric system. Controls abnormality monitoring, energy management, etc.

  On the other hand, in the electric system of the lower traveling body 2, the left and right traveling electric motors 10 </ b> L and 10 </ b> R are a plurality of powers that control the DC power supplied from the power storage device 25 and the traveling body side electric motor 40 as three-phase AC power. It is driven by a control system provided with control units 63 to 66 (hereinafter referred to as PCUs 63 to 66) and the MCU 58 described above.

  The fourth PCU 63 is connected to the power storage device 25 in substantially the same manner as the first PCU 55 described above, and includes a chopper 63A and a control unit 63B. The chopper 63A functions as a step-up chopper for driving the left and right traveling electric motors 10L and 10R, boosts the DC power supplied from the power storage device 25 or the traveling body side electric motor 40, and travels the electric motor 10L. , 10R.

  The fifth and sixth PCUs 64 and 65 are provided to be connected to the left and right traveling electric motors 10L and 10R, respectively, and have inverters 64A and 65A and control units 64B and 65B. When traveling electric motors 10L and 10R are driven to drive, inverters 64A and 65A convert DC power from power storage device 25 or traveling body side electric motor 40 into AC driving power and supply it to traveling electric motors 10L and 10R. .

  The seventh PCU 66 is provided connected to the traveling body side electric motor 40, and includes an inverter 66A and a control unit 66B. During regeneration of the traveling body side electric motor 40, the inverter 66 </ b> A converts the regenerative power generated by the traveling body side electric motor 40 into DC power and supplies it to the power storage device 25.

  The chopper 63A and the inverters 64A, 65A, 66A are connected to each other through a pair of DC buses 67A, 67B. The control units 63B to 66B are mutually connected to the MCU 58 through the communication lines 68A and 68B, the slip ring 41, and the communication lines 60A and 60B. For this reason, the control units 63B to 66B, like the control units 55B to 57B on the upper swing body 4 side, use the high-speed serial signal or the like via the CAN and various information and control commands. Is transmitted. Further, a pair of control power supply lines 69A and 69B for supplying drive power for driving them is connected to the control units 63B to 66B. The control power supply lines 69A and 69B are connected to the slip ring 41 and the control power supply line 62A. , 62B to the control power supply 61.

  The hybrid excavator 1 according to the first embodiment has the above-described configuration. Next, the operation of the excavator 1 will be described.

  The operator gets on the cab 19 and sits on the driver's seat. By operating a working operation lever (not shown) in this state, the swing body side electric motor 38 and the traveling body side electric motor 40 can be driven, and the upper swing body 4 is swung along the swing bearing device 3. Sediment excavation work or the like can be performed by operating or raising the working device 5. On the other hand, the operator seated in the driver's seat drives the driving wheels 7L, 7R by the traveling electric motors 10L, 10R of the lower traveling body 2 by operating a traveling operation lever (both not shown), The excavator 1 can be moved forward or backward.

  Here, operation states of the swing body side electric motor 38 and the travel body side electric motor 40 in the turning operation and the traveling operation of the hydraulic excavator 1 described above will be described with reference to FIG.

  First, the case where the upper turning body 4 is turned on the lower traveling body 2 will be described. When starting (starting) turning from the stopped state of the upper swing body 4 or accelerating the swing speed during the swing operation, power is supplied to the swing body side electric motor 38 and the output shaft 38C of the swing body side electric motor 38 is supplied. The attached revolving unit side sun gear 32 is rotationally driven. Further, a high driving torque is required at the time of turning activation and turning acceleration. Therefore, power is supplied to the traveling body side electric motor 40, and the traveling body side sun gear 33 attached to the output shaft 40C of the traveling body side electric motor 40 is rotationally driven. Thereby, since the revolving body side electric motor 38 can be assisted by the traveling body side electric motor 40, a high driving torque can be obtained and the upper revolving body 4 can be smoothly swung.

  Next, when the upper swing body 4 is swung at a constant speed (constant speed), the auxiliary traveling body side electric motor 40 is supplied with power while supplying power to the swing body side electric motor 38 as in the above-described start-up. Thus, the upper swing body 4 is swung by the two electric motors 38 and 40.

  On the other hand, when the turning operation of the upper turning body 4 is stopped or when the turning speed is reduced during the turning operation, the power supply to the turning body side electric motor 38 and the traveling body side electric motor 40 is reduced or stopped, Electric power is regenerated using the rotational force (load) when the motors 38 and 40 rotate by inertia, and stored in the power storage devices 21 and 25.

  Next, the case where the lower traveling body 2 is caused to travel is described. During this traveling operation, the power supply to the swing body side electric motor 38 and the traveling body side electric motor 40 is stopped at any time of starting and stopping.

  Thus, according to the first embodiment, the swing frame 12 of the upper swing body 4 is provided with the swing body side electric motor 38, and the track body 6 of the lower travel body 2 is provided with the travel body side electric motor 40. It is said. Therefore, even when only one revolving body side electric motor 38 can generate a low driving torque, a high driving torque can be obtained by the two electric motors 38 and 40 by adding the traveling body side electric motor 40. In this case, since the added traveling body side electric motor 40 is disposed in the lower traveling body 2, it is only necessary to secure a space for installing the one turning body side electric motor 38 in the upper swing body 4.

  As a result, the space for arranging the electric motor for turning can be kept small, so that the upper turning body 4 can be downsized. On the other hand, since the lower traveling body 2 has its track frame 6 formed as a box body having an internal space by a can-making structure, the traveling body side electric motor 40 is provided using the internal space of the track frame 6. Thus, the lower traveling body 2 can also be reduced in size.

  Moreover, by providing the sun gears 32 and 33 at the axis position of the turning center O of the slewing bearing device 3, and providing the planetary gears 34 between the sun gears 32 and 33 and the internal gear 26B of the inner ring 26, A planetary gear mechanism 37 capable of obtaining a large reduction ratio can be formed on the inner diameter side of the slewing bearing device 3. Therefore, it is possible to obtain a high driving torque by the reduction gear ratio of the planetary gear mechanism 37 even if the revolving body side electric motor 38 and the traveling body side electric motor 40 are not provided with a separate speed reduction mechanism or are provided with a speed reduction mechanism with a small number of speed reduction stages. it can. As a result, even when each electric motor 38, 40 is used as a turning motor, each electric motor 38, 40 can be reduced in size while ensuring a high driving torque, and therefore the upper turning body 4 can be reduced in size. it can.

  On the other hand, the swing body side electric motor 38 provided on the upper swing body 4 and the travel body side electric motor 40 provided on the lower travel body 2 are arranged with the axis of the swing center O of the swing bearing device 3 as the rotation center. As a result, the revolving body side sun gear 32 can be directly attached to the revolving body side electric motor 38, and the traveling body side sun gear 33 can be directly attached to the traveling body side electric motor 40. Therefore, a gear used for transmitting power separately. Etc. can be omitted, and the configuration can be simplified.

  Further, when the traveling electric motors 10L, 10R are provided on the lower traveling body 2, the PCUs 63, 64, 65, 66 for controlling the traveling electric motors 10L, 10R are connected to the upper swing body on the lower traveling body 2. It is necessary to electrically connect the MCU 58 and the control power supply 61 provided in the upper swing body 4 while making the 4 swingable.

  Therefore, a slip ring 41 is provided between the swing bearing device 3 and the upper swing body 4, and this slip ring 41 is provided on the upper surface portion 26 </ b> C of the inner ring 26 of the swing bearing device 3, and the PCUs 63 and 64 of the lower traveling body 2. , 65, 66 and four annular electrodes 43 </ b> A to 43 </ b> D electrically connected to the upper revolving unit 4 and electrically connected to the MCU 58 and the control power supply 61, the annular electrodes 43 </ b> A to 43 </ b> D. And a brush device 45 having a plurality of contact members 49A to 49D that are in contact with each other in an energized state. As a result, the slip ring 41 can electrically connect the PCUs 63, 64, 65, 66 of the traveling electric motors 10L, 10R, the MCU 58, and the control power supply 61.

  As a result, the slip ring 41 can be manufactured at a lower cost compared to the case of designing a dedicated slip ring by forming the inner ring 26 of the existing slewing bearing device 3. Thereby, the motor for driving | running | working the lower traveling body 2 can be electrified cheaply.

  Next, FIGS. 12 to 14 show a second embodiment of the present invention. The feature of the present embodiment is that the output shaft of the swing body side electric motor and the output shaft of the traveling body side electric motor are formed as a single output shaft that rotates integrally, and a single output shaft is provided on the outer peripheral side of the single output shaft. A sun gear is rotatably provided with respect to the single output shaft and the sun gear, and a clutch mechanism for connecting or releasing the single output shaft and the sun gear is provided between the single output shaft and the sun gear; It is to have done. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  In FIG. 12, reference numeral 71 denotes the revolving body side sun gear according to the second embodiment provided at the axial position of the revolving center O of the revolving bearing device 3. The swirler-side sun gear 71 is an external gear having the number of teeth Z2 and having a tooth width dimension that is approximately half the tooth width dimension of the planetary gear 34, similar to the swirler-side sun gear 32 according to the first embodiment. Is formed. However, the swirler-side sun gear 71 according to the second embodiment has the female spline hole 32A eliminated and the circular shaft hole 71A is formed, so that the swirler-side sun gear 32 according to the first embodiment is formed. Is different.

  Reference numeral 72 denotes a traveling body side sun gear according to the second embodiment which is located below the revolving body side sun gear 71 and is arranged coaxially with the revolving body side sun gear 71. The traveling body side sun gear 72 is formed as an external gear having the number of teeth Z2 having a tooth width dimension of about half of the tooth width dimension of the planetary gear 34, similar to the revolving body side sun gear 71. A circular shaft hole 72A is formed.

  Reference numeral 73 denotes a revolving body side electric motor according to the second embodiment provided in the bottom plate 13 and located in the motor mounting hole 13B. This revolving unit side electric motor 73 is disposed on the upper side of the revolving unit side sun gear 71 so that the axis of the revolving center O is the center of rotation, in the same manner as the revolving unit side electric motor 38 according to the first embodiment, and the casing 73A , A flange portion 73B, and an output shaft 73C.

  As shown in FIG. 13, the output shaft 73 </ b> C has a portion that protrudes from the casing 73 </ b> A as a slightly small-diameter mounting shaft portion 73 </ b> C <b> 1, and the tip side thereof is inserted into the shaft hole 71 </ b> A of the revolving body side sun gear 71. A male spline 73C2 is formed on the distal end side of the mounting shaft portion 73C1, a key groove 73C3 is formed extending in the axial direction on the proximal end side, and a positioning annular groove 73C4 is formed at an intermediate position in the axial direction. Is formed.

  Reference numeral 74 denotes a traveling body side electric motor according to the second embodiment which is located in the motor mounting hole 11C of the support cylinder 11 and is provided on the motor mounting plate 11B. The traveling body side electric motor 74 is disposed below the traveling body side sun gear 72 so that the axis of the turning center O is the rotational center, almost the same as the traveling body side electric motor 40 according to the first embodiment. . The traveling body side electric motor 74 has a casing 74A, a flange portion 74B, and an output shaft 74C in substantially the same manner as the revolving body side electric motor 73 described above. The output shaft 74C includes a mounting shaft portion 74C1, a male spline 74C2, a keyway. 74C3 and an annular groove 74C4 are formed.

  Here, on the tip end side of the output shaft 73 </ b> C of the swing body side electric motor 73, the swing body side sun gear 71 is rotatably attached via a bearing 75. On the other hand, a traveling body side sun gear 72 is rotatably attached to the distal end side of the output shaft 74 </ b> C of the traveling body side electric motor 74 via a bearing 75. Note that the revolving body side sun gear 71 and the traveling body side sun gear 72 may be formed as one sun gear having a tooth width dimension equivalent to the tooth width dimension of the planetary gear 34.

  Reference numeral 76 denotes a spline cylinder provided across the distal end of the output shaft 73C of the swing body side electric motor 73 and the distal end of the output shaft 74C of the traveling body side electric motor 74. A female spline 76A is formed on the inner peripheral side of the spline cylinder 76. ing. The spline cylinder 76 has a male spline 73C2 formed on the output shaft 73C of the swing body side electric motor 73 inserted into one of the female splines 76A, and is formed on the output shaft 74C of the traveling body side electric motor 74 on the other side. By inserting the male spline 74C2, the output shaft 73C of the swing body side electric motor 73 and the output shaft 74C of the traveling body side electric motor 74 can be formed as a single output shaft 77 that rotates integrally.

  Reference numeral 78 denotes a revolving body side clutch mechanism that is disposed between the single output shaft 77 and the revolving body side sun gear 71 and connects or opens between the single output shaft 77 and the revolving body side sun gear 71. The revolving body side clutch mechanism 78 is formed as an electromagnetic clutch that generates a magnetic force when power is supplied, for example. The swing body side clutch mechanism 78 includes, for example, an annular coil unit 78A that is externally fitted to the base end side of the output shaft 73C, an electromagnetic coil 78B that is housed in the coil unit 78A, and a swing body side sun gear 71. It is comprised by the friction pad 78C provided in the lower surface side which faces.

  A key groove 78D corresponding to the key groove 73C3 of the output shaft 73C is formed on the inner peripheral surface of the coil unit 78A, and a key 78E is mounted between the key groove 78D and the key groove 73C3, whereby the output shaft 73C. The coil unit 78A can be rotated together with the (single output shaft 77). The coil unit 78A is restricted from moving toward the revolving structure-side sun gear 71 by a positioning ring 78F that is fitted in the annular groove 73C4 of the output shaft 73C.

  The revolving unit side clutch mechanism 78 can magnetically attach the revolving unit side sun gear 71 via the friction pad 78C by generating a magnetic force by supplying power to the electromagnetic coil 78B. Thereby, the turning body side sun gear 71 can be rotationally driven together with the output shaft 73C.

  Reference numeral 79 denotes a traveling body side clutch mechanism that is disposed between the single output shaft 77 and the traveling body side sun gear 72 and connects or opens the single output shaft 77 and the traveling body side sun gear 72. The traveling body side clutch mechanism 79 is formed, for example, as an electromagnetic clutch that generates a magnetic force when power is supplied, as in the revolving body side clutch mechanism 78, and includes a coil unit 79A, an electromagnetic coil 79B, a friction pad 79C, and a key groove 79D. , Key 79E and positioning ring 79F. The traveling body side clutch mechanism 79 generates power by supplying power to the electromagnetic coil 79B, thereby magnetizing the traveling body side sun gear 72 via the friction pad 79C and moving the traveling body side sun gear 72 together with the output shaft 74C. It can be rotated.

  Here, the operating states of the swing body side electric motor 73, the travel body side electric motor 74, the swing body side clutch mechanism 78, and the travel body side clutch mechanism 79 in the swing operation and the travel operation of the excavator 1 according to the second embodiment are illustrated in FIG. Will be described with reference to FIG.

  First, the case where the upper turning body 4 is turned on the lower traveling body 2 will be described. When the upper swing body 4 is started (started) from a stopped state, or when the swing speed is accelerated during the swing operation, power is supplied to both the swing body side electric motor 73 and the traveling body side electric motor 74 to provide a single output. The shaft 77 is driven to rotate. At this time, power is supplied to the swing body side clutch mechanism 78 and the travel body side clutch mechanism 79 to connect the single output shaft 77 to the swing body side sun gear 71 and the travel body side sun gear 72. Thereby, since the revolving body side electric motor 73 can be assisted by the traveling body side electric motor 74, a high drive torque can be obtained and the upper revolving body 4 can be smoothly turned.

  Next, when the upper swing body 4 is swung at a constant speed (constant speed), the power supply to the auxiliary traveling body side electric motor 74 is stopped while the power supply to the swing body side electric motor 73 is continued. At this time, electric power is supplied to the swing body side clutch mechanism 78 and the single output shaft 77 and the swing body side sun gear 71 are connected. On the other hand, the power supply to the traveling body side clutch mechanism 79 is stopped to open the single output shaft 77 and the traveling body side sun gear 72. Accordingly, the upper swing body 4 can be turned in a steady manner by the single swing body side electric motor 73.

  On the other hand, when the turning operation of the upper turning body 4 is stopped or when the turning speed is decelerated during the turning operation, power supply to the turning body side electric motor 73 and the traveling body side electric motor 74 is stopped, and each electric motor 73 is stopped. , 74 is regenerated using the rotational force (load) when rotating due to inertia, and stored in the power storage devices 21, 25.

  Next, the case where the lower traveling body 2 is caused to travel is described. This traveling operation is when the turning operation is not performed. During this traveling operation, power supply to the swing body side clutch mechanism 78 and the traveling body side clutch mechanism 79 is stopped, and the single output shaft 77 and the sun gears 71 and 72 are opened. In this state, the single output shaft 77 is rotationally driven by supplying power to the swing body side electric motor 73. Thereby, the traveling body side electric motor 74 can be rotationally driven as a power generator, and the regenerated electric power can be supplied as a power source for the electric motors 10L and 10R for traveling. Alternatively, the regenerated electric power can be stored in the power storage device 25.

  When the traveling operation is stopped, power supply to the swing body side electric motor 73, the travel body side electric motor 74, the swing body side clutch mechanism 78, and the travel body side clutch mechanism 79 is stopped.

  Thus, also in the second embodiment configured as described above, it is possible to obtain substantially the same operational effects as those of the first embodiment described above. In particular, according to the second embodiment, the output shaft 73C of the swing body side electric motor 73 and the output shaft 74C of the traveling body side electric motor 74 are connected by the spline cylinder 76 and formed as a single output shaft 77 that rotates integrally. doing. On this, a revolving body side clutch mechanism 78 that connects or opens the revolving body side sun gear 71 and the single output shaft 77 is provided, and the traveling body side sun gear 72 and the single output shaft 77 are connected. Alternatively, a traveling body side clutch mechanism 79 that opens is provided.

  Thereby, since the single output shaft 77 can be rotationally driven by the revolving body side electric motor 73 and the traveling body side electric motor 74, when the clutch mechanisms 78 and 79 are connected, each sun gear is driven by a high driving torque. 71 and 72 can be rotationally driven. As a result, the upper swing body 4 can be swung through the planetary gear 34 and the swivel bearing device 3.

  On the other hand, in the state where the turning operation is not performed as in traveling, the clutch mechanisms 78 and 79 are opened and the turning body side electric motor 73 is driven, so that the sun gears 71 and 72 are not rotated. Only the single output shaft 77 can be rotationally driven. Thereby, the traveling body side electric motor 74 can be rotationally driven as a power generator, and the electric power generated by the regeneration is used for the traveling electric motors 10L and 10R of the lower traveling body 2 or stored in the power storage device 25. be able to. As a result, when the turning operation is not performed, electric power can be stored on the lower traveling body 2 side by the turning body side electric motor 73 and the traveling body side electric motor 74.

  Next, FIGS. 15 to 17 show a third embodiment of the present invention. A feature of the present embodiment is that a differential mechanism is provided between the output shaft of the swing body side electric motor and the output shaft of the traveling body side electric motor, and a sun gear is provided at a position surrounding the differential mechanism, The differential mechanism rotates the sun gear when the output shafts of the two electric motors are rotated in the same direction, and rotates the sun gear when only the output shaft of one of the electric motors is rotated. In other words, the output shaft of the other electric motor is driven to rotate. Note that in the third embodiment, the same components as those in the first embodiment described above are denoted by the same reference numerals, and description thereof is omitted.

  In FIG. 15, reference numeral 81 denotes a sun gear according to the third embodiment provided at the axial position of the turning center O of the slewing bearing device 3. The sun gear 81 is formed as an external gear having the number of teeth Z2 having a tooth width dimension substantially equal to the tooth width dimension of the planetary gear 34. The inner peripheral side of the revolving body side sun gear 81 is a differential accommodating portion 81A composed of a stepped cylindrical space penetrating in the axial direction, and an enlarged diameter step portion 81B is formed on one opening side of the differential accommodating portion 81A. Has been.

  Reference numeral 82 denotes a revolving body side electric motor according to the third embodiment which is provided in the bottom plate 13 and located in the motor mounting hole 13B. This revolving body side electric motor 82 is disposed on the upper side of the sun gear 81 so that the axis of the revolving center O is the rotation center, almost the same as the revolving body side electric motor 38 according to the first embodiment. A portion 82B and an output shaft 82C are provided. As shown in FIG. 16, the output shaft 82C has a male spline 82C1 on the tip side that protrudes from the casing 82A.

  Reference numeral 83 denotes a traveling body side electric motor according to the third embodiment which is located in the motor mounting hole 11C of the support cylinder 11 and is provided on the motor mounting plate 11B. The traveling body side electric motor 83 is arranged below the sun gear 81 so that the axis of the turning center O is the rotational center, almost the same as the traveling body side electric motor 40 according to the first embodiment. The traveling body side electric motor 83 has a casing 83A, a flange portion 83B, and an output shaft 83C in substantially the same manner as the revolving body side electric motor 82 described above, and a male spline 83C1 is formed on the output shaft 83C.

  Reference numeral 84 denotes a differential mechanism (differential mechanism) provided between the output shaft 82 </ b> C of the swing body side electric motor 82 and the output shaft 83 </ b> C of the traveling body side electric motor 83. The differential mechanism 84 is accommodated in the differential accommodating portion 81 </ b> A of the sun gear 81, and is thereby surrounded by the sun gear 81.

  The differential mechanism 84 is formed as a covered cylindrical body having an opening with a flange portion 85A on the lower side, and has a differential case 85 having a shaft insertion hole 85B at the upper central axis position, and is attached facing the flange portion 85A of the differential case 85 A cross comprising a cover 86 having a shaft insertion hole 86A at the central axis position, and four shaft portions 87A (only two are shown) provided in an intermediate position in the axial direction inside the differential case 85 and extending in a cross shape in the horizontal direction. A shaft 87, four pinion gears 88 comprising bevel gears rotatably attached to the shaft portions 87A of the cross shaft 87, and four pinion gears located above the differential case 85 88, the revolving body side gear 89 meshed with the revolving body 88, and the revolving body side gear 89 and the respective pinion gears 88 are arranged on the opposite side. Serial is constituted by the running side gears 90 and the pinion gear 88 simultaneously meshes.

  The differential mechanism 84 inserts the differential case 85 into the differential accommodating portion 81A of the sun gear 81, brings the flange portion 85A into contact with the enlarged diameter step portion 81B, and a plurality of bolts 91 together with the cover 86 in the sun gear 81. It is integrally attached to. In this state, the male spline 82C1 of the output shaft 82C of the swing body side electric motor 82 is inserted into the female spline 89A formed on the swing body side gear 89, and similarly, the female spline 90A formed on the travel body side gear 90. The male spline 83C1 of the output shaft 83C of the traveling body side electric motor 83 is inserted into the.

  When the output shaft 82C of the swing body side electric motor 82 and the output shaft 83C of the traveling body side electric motor 83 are rotated in the same direction, the differential mechanism 84 configured in this way is formed into a cross shaft together with the output shafts 82C and 83C. 87, the differential case 85, and the like rotate, so that the sun gear 81 can be driven to rotate. On the other hand, when only the output shaft 82 </ b> C of the swing body side electric motor 82 is rotated, the swing body side gear 89 rotates each pinion gear 88. Can be rotated in the direction.

  Here, operation states of the swing body side electric motor 82 and the travel body side electric motor 83 in the swing operation and the travel operation of the hydraulic excavator 1 according to the third embodiment will be described with reference to FIG.

  First, the case where the upper turning body 4 is turned on the lower traveling body 2 will be described. When starting (starting) turning from the stopped state of the upper swing body 4 or accelerating the turning speed in the middle of the turning operation, power is supplied to both the swing body side electric motor 82 and the traveling body side electric motor 83 to output each output shaft. 82C and 83C are rotated in the same direction. At this time, the rotational force of both the revolving body side electric motor 82 and the traveling body side electric motor 83 is transmitted to the sun gear 81 through the differential mechanism 84, and the sun gear 81 is rotationally driven. Thereby, since the revolving body side electric motor 82 can be assisted by the traveling body side electric motor 83, a high driving torque can be obtained and the turning operation of the upper revolving body 4 can be started smoothly.

  Next, when the upper swing body 4 is swung at a constant speed (constant speed), the auxiliary traveling body side electric motor 83 is also powered while power is supplied to the swing body side electric motor 82 as in the above-described startup. Thus, the upper swing body 4 is swung by the two electric motors 82 and 83.

  On the other hand, when the turning operation of the upper turning body 4 is stopped or when the turning speed is decelerated during the turning operation, the power supply to the turning body side electric motor 82 and the traveling body side electric motor 83 is stopped, and each electric motor 82 is stopped. , 83 regenerates electric power using the rotational force (load) when rotating by inertia and stores it in the power storage devices 21, 25.

  Next, the case where the lower traveling body 2 is caused to travel is described. This traveling operation is when the turning operation is not performed. During this traveling operation, the output shaft 82C can be rotationally driven in the reverse direction by the differential mechanism 84 by feeding only the revolving body side electric motor 82 and rotating the output shaft 82C. Thereby, the traveling body side electric motor 83 can be rotationally driven as a power generator, and the regenerated electric power can be supplied as a power source for the electric motors 10L and 10R for traveling. Alternatively, the regenerated electric power can be stored in the power storage device 25.

  Further, when the traveling operation is stopped, the power supply to the swing body side electric motor 82 and the traveling body side electric motor 83 is stopped.

  Thus, also in the third embodiment configured as described above, it is possible to obtain substantially the same operational effects as those of the first embodiment described above. In particular, according to the second embodiment, the differential mechanism 84 is provided between the output shaft 82C of the swing body side electric motor 82 and the output shaft 83C of the traveling body side electric motor 83. As a result, when the sun gear 81 is rotationally driven, the output shaft 82C of the swing body side electric motor 82 and the output shaft 83C of the traveling body side electric motor 83 are rotated in the same direction. The rotational force can be transmitted to the sun gear 81 via the differential mechanism 84, and the upper swing body 4 can be swung via the planetary gear 34 and the swivel bearing device 3.

  On the other hand, at the time of traveling operation in which the turning operation is not performed, by rotating only the output shaft 82C of the turning body side electric motor 82, the differential mechanism 84 does not rotate the sun gear 81 and the output of the traveling body side electric motor 83 is output. Since the shaft 83C is rotationally driven, the traveling body side electric motor 83 can be rotationally driven as a power generator, and the electric power generated by the regeneration is used for the traveling electric motors 10L and 10R of the lower traveling body 2 or stored. It can be stored in the device 25. As a result, when the turning operation is not performed, the revolving body side electric motor 82 and the traveling body side electric motor 83 can store electric power on the lower traveling body 2 side.

  In the first embodiment, the case where the planetary gear mechanism 37 is provided with three planetary gears 34 has been described as an example. However, the present invention is not limited to this, and for example, two or more planetary gears 34 may be provided. This configuration can be similarly applied to other embodiments.

  In 1st Embodiment, the electrical storage apparatus 25 for storing the electric power which the traveling body side electric motor 40 regenerated was provided in the lower traveling body 2, and the electric power from the traveling body side electric motor 40 at the time of traveling of the lower traveling body 2, Alternatively, the traveling electric motors 10 </ b> L and 10 </ b> R are rotationally driven by electric power from the power storage device 25. However, the present invention is not limited to this. For example, the power storage device 25 is excluded from the lower traveling body 2 side, and the power storage device 21 on the upper swing body 4 side is connected to the direct current on the lower traveling body 2 side via the slip ring 41. The traveling body side electric motor 40 and the traveling electric motors 10 </ b> L and 10 </ b> R may be rotationally driven by being connected to the buses 59 </ b> A and 59 </ b> B and supplied with power from the power storage device 21. This configuration can be similarly applied to other embodiments.

  In 1st Embodiment, the case where the four annular electrodes 43A-43D were provided on the electrode stand 42 which comprises the slip ring 41 was mentioned as an example, and was demonstrated. However, the present invention is not limited to this, and two, three, or five or more annular electrodes may be provided depending on conditions such as the type of power supplied to the lower traveling body 2 side. This configuration can be similarly applied to other embodiments.

  Furthermore, in each embodiment, the hybrid type hydraulic excavator 1 provided with the crawler type lower traveling body 2 has been described as an example of the swing type construction machine. However, the present invention is not limited to this, and may be applied to, for example, a hydraulic excavator provided with a wheel-type lower traveling body. In this case, it is good also as a structure which drives the left and right wheels using a differential mechanism etc. by using one electric motor for traveling. In addition to the hydraulic excavator, the present invention can be widely applied to other slewing construction machines such as a hydraulic crane provided with a slewing bearing device. Furthermore, in addition to the hybrid excavator 1, the present invention can also be applied to an electric excavator.

1 Hybrid hydraulic excavator (swivel construction machine)
DESCRIPTION OF SYMBOLS 2 Lower traveling body 3 Slewing bearing device 4 Upper revolving body 6 Track frame 10L, 10R Traveling electric motor 11 Supporting cylinder 11B Motor mounting plate 12 Turning frame 13 Bottom plate 21, 25 Power storage device 26 Inner ring 26B Internal gear 26C Upper surface 27 Outer ring 28 Steel ball (rolling element)
32, 71 Revolving body side sun gear 33, 72 Traveling body side sun gear 34 Planetary gear 37 Planetary gear mechanism 38, 73, 82 Revolving body side electric motor 38C, 40C, 73C, 74C, 82C, 83C Output shaft 40, 74, 83 Traveling body side Electric motor 41 Slip ring 43 (43A to 43D) Annular electrode 45 Brush device 49 (49A to 49D) Contact member (contact)
55, 56, 57, 63, 64, 65, 66 Power control unit (electrical parts)
58 Main control unit 61 Power supply for control 77 Single output shaft 78 Revolving body side clutch mechanism 79 Traveling body side clutch mechanism 81 Sun gear 84 Differential mechanism O Turning center

Claims (5)

A self-propelled lower traveling body projecting upward in the center and provided with a support cylinder, a swing bearing device provided on the support cylinder of the lower traveling body, and a swingable bearing device provided on the swing bearing device An upper revolving body,
The slewing bearing device includes an inner ring provided on a support cylinder of the lower traveling body and having an internal gear on an inner peripheral surface thereof, and an outer ring provided on the upper slewing body located outside the radial direction of the inner ring. And a swing type construction machine constituted by a plurality of rolling elements provided between the inner ring and the outer ring,
At the position of the turning center axis of the slewing bearing device, a sun gear is provided corresponding to the internal gear of the inner ring,
The upper revolving body is a planet which is located between the sun gear and the internal gear of the inner ring and meshes with both the sun gear and the internal gear and revolves around the sun gear while rotating. Gears,
The upper swing body is provided with a swing body side electric motor that is positioned above the sun gear and rotationally drives the sun gear,
The swivel construction machine is characterized in that the lower traveling body is provided with a traveling body side electric motor that is positioned below the sun gear and rotationally drives the sun gear. In the upper swing body, the swing body side electric motor is arranged with the swing center axis as the rotation center,
2. The swing construction machine according to claim 1, wherein the traveling body side electric motor is arranged at a position coaxial with the swing body side electric motor in the support cylindrical body of the lower traveling body.   An output shaft of the swing body side electric motor and an output shaft of the traveling body side electric motor are formed as a single output shaft that rotates integrally, and the sun is disposed on the outer peripheral side of the single output shaft with respect to the single output shaft. 2. A structure is provided in which a gear is rotatably provided, and a clutch mechanism is provided between the single output shaft and the sun gear to connect or release the single output shaft and the sun gear. Or the turning-type construction machine of 2. A differential mechanism is provided between the output shaft of the swing body side electric motor and the output shaft of the traveling body side electric motor, and the sun gear is provided at a position surrounding the differential mechanism,
The differential mechanism rotates the sun gear when the output shafts of the two electric motors are rotated in the same direction, and rotates the sun gear when only the output shaft of one of the electric motors is rotated. The turning construction machine according to claim 1 or 2, wherein the output shaft of the other electric motor is driven to rotate without rotation. Provided on the upper surface of the inner ring of the slewing bearing device are a plurality of annular annular electrodes that are electrically connected to electrical components provided on the lower traveling body,
The brush structure having a plurality of contacts that are electrically connected to electrical components provided on the upper swing body and are in contact with the annular electrodes in an energized state is provided on the upper swing body. The swivel construction machine according to 2, 3 or 4.

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