JP6383226B2 - Work machine drive system - Google Patents

Work machine drive system Download PDF

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JP6383226B2
JP6383226B2 JP2014183203A JP2014183203A JP6383226B2 JP 6383226 B2 JP6383226 B2 JP 6383226B2 JP 2014183203 A JP2014183203 A JP 2014183203A JP 2014183203 A JP2014183203 A JP 2014183203A JP 6383226 B2 JP6383226 B2 JP 6383226B2
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hydraulic
motor
regeneration
regenerative
control circuit
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JP2016056864A (en
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博英 松嶋
博英 松嶋
大輔 河合
大輔 河合
孝志 陵城
孝志 陵城
英泰 村岡
英泰 村岡
陽治 弓達
陽治 弓達
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川崎重工業株式会社
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  The present invention relates to a drive system for a work machine using a hydraulic motor and an electric motor.
  Conventionally, power machines such as a hydraulic excavator, a crane, a wheel loader, and a bulldozer (in this specification and claims, these power machines (heavy machinery) are collectively referred to as “work machine”) are known. . A hydraulic excavator as an example includes a lower traveling body and an upper swing body, and the upper swing body is provided with an engine, a driver's seat, an arm provided with a bucket at a tip thereof, a boom connected to the arm, and the like. ing. And by operation of the remote control valve provided in the driver's seat, the upper swinging body swings with respect to the lower traveling body, and the arm, boom, and bucket operate to perform various operations on the work machine.
  Some work machines as described above include a hybrid drive system having two power sources, an engine and a motor generator. Here, the “motor generator” is a machine having both the function of a generator and the function of an electric motor (electric motor). For example, Patent Document 1 discloses a hybrid drive device in which a main pump and a motor generator are connected in parallel to an engine via a clutch and a power transmission device, and a hydraulic actuator control circuit connected to the hybrid drive device. A drive system with is shown. In the hydraulic actuator control circuit, a boom motor generator, a boom regenerative motor, a turning motor generator, and a turning regenerative motor are provided. Then, the boom regenerative motor is rotationally driven by the return fluid when the boom is lowered, and the boom motor generator generates electric power by the rotation output of the boom rotary motor, and the generated electric power is stored in the battery. Further, the turning regenerative motor is rotationally driven during the turning braking of the upper revolving structure, the turning motor generator generates electric power by the rotation output of the turning regenerative motor, and the generated electric power is stored in the capacitor.
JP 2006-336848 A
  The drive system disclosed in Patent Document 1 includes three motor generators for turning, booming, and those directly connected to the engine, which increases costs for the motor generator and its peripheral devices. Furthermore, it is inevitable to increase the size of the system. In addition, since one accumulator is provided for three motor generators, a large-capacity accumulator is required, and there is a concern that the system will be increased in size and cost.
  The present invention has been made in view of the above circumstances, and it is an object of the present invention to achieve system size reduction and cost reduction in a working machine drive system using a hydraulic motor and a motor generator.
A drive system for a work machine according to an aspect of the present invention includes:
An engine and a hydraulic pump driven by the engine to pump hydraulic oil to at least two hydraulic actuator control circuits;
A regenerative motor that is rotationally driven by hydraulic fluid discharged from the at least two hydraulic actuator control circuits;
A regeneration passage for sending hydraulic oil from the at least two hydraulic actuator control circuits to the regeneration motor;
A pressure accumulator connected to the regeneration passage and temporarily storing hydraulic oil;
A motor generator having a function as a generator driven by the regenerative motor and a function as a motor driving the hydraulic pump with supplied power;
It is connected with the said motor generator, and is provided with the electrical storage device which stores electric power.
  According to the above drive system, part or all of the hydraulic oil sent from the hydraulic actuator control circuit to the regenerative motor can be temporarily stored in the pressure accumulator. Since the regenerative motor is driven by supplying the hydraulic oil stored in the pressure accumulator to the regenerative motor, the regenerative motor is directly supplied from the hydraulic actuator control circuit to the regenerative motor. The output of the motor can be reduced. This makes it possible to employ a motor generator with a low power generation capacity or a capacitor with a small capacity compared to the case where hydraulic oil is supplied directly from the hydraulic actuator control circuit to the regenerative motor. Furthermore, the motor generator and the accumulator can be provided in the system, which is smaller than the number of hydraulic actuator control circuits, and the motor generator is compared with the case where the motor generator is provided for each hydraulic actuator control circuit as in the prior art. And the number of capacitors can be reduced. As described above, it is possible to reduce the size and cost of the drive system by reducing the number of motor generators and capacitors and reducing the size.
A drive system for a work machine according to another aspect of the present invention includes an engine, a hydraulic pump that is driven by the engine and pumps hydraulic oil to at least one hydraulic actuator control circuit, and the at least one hydraulic actuator control circuit. A regenerative motor that is rotationally driven by hydraulic oil discharged from the motor, a regenerative passage that sends hydraulic oil from the at least one hydraulic actuator control circuit to the regenerative motor, and the regenerative passage that is temporarily connected to the regenerative passage A pressure accumulator that stores in the motor, a motor generator that has a function as a power generator driven by the regenerative motor and a function as a motor that drives the hydraulic pump by the supplied power, and is connected to the motor generator It is a capacitor for storing power from the motor generator output shaft in one direction to the input shaft of the hydraulic pump Rolling switches the intermittence of power transmission and a clutch (first clutch). Here, the regenerative motor may include a variable displacement tilt mechanism. According to this configuration, one motor generator can be provided with both an energy regeneration function and an assist function that assists driving of the hydraulic pump by the engine. Therefore, the drive system can be reduced in size and cost can be reduced by reducing the number of motor generators and capacitors. Furthermore, when the motor generator functions as a generator, the load applied to the motor generator can be reduced by disconnecting the first clutch, and the motor generator can efficiently generate power.
A drive system for a work machine according to another aspect of the present invention includes an engine, a hydraulic pump that is driven by the engine and pumps hydraulic oil to at least one hydraulic actuator control circuit, and the at least one hydraulic actuator control circuit. A regenerative motor that is rotationally driven by hydraulic oil discharged from the motor, a regenerative passage that sends hydraulic oil from the at least one hydraulic actuator control circuit to the regenerative motor, and the regenerative passage that is temporarily connected to the regenerative passage A pressure accumulator that stores in the motor, a motor generator that has a function as a power generator driven by the regenerative motor and a function as a motor that drives the hydraulic pump by the supplied power, and is connected to the motor generator It is a capacitor for storing power from the output shaft of the regenerative motor in one direction of the input shaft of the electric generator Rolling switches the intermittence of power transmission and a clutch (second clutch). According to this configuration, when the motor generator functions as an electric motor, the load applied to the motor generator can be reduced by disengaging the second clutch, and the electric power for driving the motor generator can be reduced. .
A drive system for a work machine according to another aspect of the present invention includes an engine, a hydraulic pump that is driven by the engine and pumps hydraulic oil to at least one hydraulic actuator control circuit, and the at least one hydraulic actuator control circuit. A regenerative motor that is rotationally driven by hydraulic oil discharged from the motor, a regenerative passage that sends hydraulic oil from the at least one hydraulic actuator control circuit to the regenerative motor, and the regenerative passage that is temporarily connected to the regenerative passage A pressure accumulator that stores in the motor, a motor generator that has a function as a power generator driven by the regenerative motor and a function as a motor that drives the hydraulic pump by the supplied power, and is connected to the motor generator is provided with a capacitor for storing power, the on-off valve provided between said regeneration passage and the accumulator According to this configuration, the hydraulic oil can be directly sent from the hydraulic actuator control circuit to the regenerative motor by closing the on-off valve so that the hydraulic oil does not flow into the pressure accumulator.
  The drive system for the work machine preferably further includes a flow rate control valve provided in the regeneration passage. According to this configuration, it is possible to adjust the output of the regenerative motor by increasing or decreasing the amount of hydraulic oil sent to the regenerative motor with the flow control valve.
  In the work machine drive system, the first clutch is a mechanical clutch configured to be connected when the rotational speed of the output shaft of the motor generator is equal to or higher than the output rotational speed of the engine. Is desirable. Further, in the drive system for the work machine, the second clutch is configured to be connected when the rotational speed of the output shaft of the regenerative motor is equal to or higher than the rotational speed of the input shaft of the motor generator. A mechanical clutch is desirable. According to this configuration, it is not necessary to control the first clutch and the second clutch, and the system configuration and control become simpler.
In the drive system for the work machine, the work machine may be a hydraulic excavator. In this case, the at least two hydraulic actuator control circuit, the turning drive and the hydraulic cylinder control circuit for controlling the operation of the hydraulic cylinder for vertically driving the boom of the hydraulic excavator, an upper swing body of the hydraulic excavator A hydraulic motor control circuit for controlling the operation of the turning hydraulic motor for the purpose may be included. In this case, in this case, the regeneration passage includes a first regeneration passage connected to the hydraulic cylinder control circuit and a second regeneration passage connected to the hydraulic motor control circuit, and the first regeneration passage. A first check valve may be provided in the use passage, and a second check valve may be provided in the second regeneration passage. In the above case, the hydraulic motor control circuit is operated in the hydraulic motor control circuit when hydraulic oil is discharged from the hydraulic motor control circuit to the regeneration passage when the upper swing body is turned. It is desirable to include a valve that switches between a state in which oil circulates.
  According to the present invention, part or all of the hydraulic oil sent from the hydraulic actuator control circuit to the regenerative motor is temporarily stored in the pressure accumulator, and the regenerative motor is driven by the stored hydraulic oil. Compared with the case where hydraulic oil is supplied to the regenerative motor, the output of the regenerative motor can be reduced. As a result, compared to the case where hydraulic oil is supplied directly from the hydraulic actuator control circuit to the regenerative motor, it becomes possible to employ a motor generator with a low power generation capacity or a capacitor with a small capacity in the system. This can contribute to downsizing and cost reduction.
1 is a hydraulic circuit diagram of a drive system for a work machine according to an embodiment of the present invention. It is a hydraulic circuit diagram of the drive system of the working machine in non-regenerative mode. It is a hydraulic circuit diagram of the drive system of the working machine in the rotation regeneration mode. It is a hydraulic-circuit figure of the drive system of the working machine of boom regeneration mode. It is a hydraulic circuit diagram of the drive system of the working machine of charge mode.
  Embodiments of the present invention will be described below with reference to the drawings. Here, a hydraulic excavator will be described as an example of a work machine to which the present invention is applied. The hydraulic excavator includes a lower traveling body, an upper swinging body that swings with respect to the lower traveling body, a boom that moves up and down (up and down) with respect to the upper swinging body, an arm that is swingably connected to the tip of the boom, A bucket connected so as to be able to swing is provided (none of which are shown).
  FIG. 1 is a hydraulic circuit diagram of a drive system 1 for a work machine according to an embodiment of the present invention. As shown in FIG. 1, the drive system 1 includes a hybrid drive device 10, at least one hydraulic actuator control circuit 25 to which hydraulic oil is supplied from the hybrid drive device 10, and a control device that controls the operation of the drive system 1. 7. The hydraulic actuator control circuit 25 is a hydraulic circuit for controlling the operation of the hydraulic actuator. The drive system 1 according to the present embodiment includes two hydraulic actuator circuits 25A and 25B. Hereinafter, each component of the drive system 1 will be described in detail.
  First, the hybrid drive device 10 will be described. The hybrid drive device 10 includes an engine 11, a main pump 17 connected in series to the output shaft 12 of the engine 11, a motor generator 22, a regenerative motor 18, and an output shaft of the motor generator 22. The first power transmission mechanism 13 that transmits power to the input shaft, the second power transmission mechanism 14 that transmits power from the output shaft of the regenerative motor 18 to the input shaft of the motor generator 22, and the motor generator 22 are connected. An inverter 27 and a capacitor (an example of a capacitor) 26 are provided. The hybrid drive device 10 further includes a regenerative passage 19 that sends hydraulic oil from the hydraulic actuator control circuit 25 to the regenerative motor 18, an accumulator (an example of a pressure accumulator) 51 that is connected to the regenerative passage 19, and a regenerative passage 19. And a regenerative amount control valve 29 provided in the vehicle.
  The main pump 17 is, for example, a variable displacement hydraulic pump such as a swash plate type hydraulic pump or an oblique axis type hydraulic pump. The main pump 17 receives power from the output shaft 12 of the engine 11 and is driven by the engine 11. The driven main pump 17 pumps hydraulic oil stored in the tank 21 to the hydraulic actuator control circuit 25.
  The motor generator 22 has a function as a generator that receives electric power from the rotation output of the regenerative motor 18 and a function as an electric motor that receives electric power from the capacitor 26 and outputs a rotational motion. The inverter 27 electrically connected to the motor generator 22 is an inverter having a built-in regenerative converter, and takes out electric energy (regenerative energy) from the motor generator 22 functioning as a generator and stores it in the capacitor 26. The inverter 27 supplies the electric energy stored in the capacitor 26 to the motor generator 22 that functions as an electric motor.
  The regenerative motor 18 is a hydraulic motor that is rotationally driven by hydraulic oil sent from the hydraulic actuator control circuit 25 in order to regenerate energy by the motor generator 22. The regenerative motor 18 can extract the rotational motion (that is, mechanical energy) of the shaft from the fluid energy of the hydraulic oil by discharging the hydraulic oil supplied from the hydraulic actuator control circuit 25. The rotation of the output shaft of the regenerative motor 18 is transmitted to the input shaft of the motor generator 22 via the second power transmission mechanism 14 to rotate the motor generator 22.
  The regenerative motor 18 is a variable displacement hydraulic motor such as a swash plate hydraulic motor or a swash shaft hydraulic motor, for example, and has a rotational speed corresponding to the tilt angle of the swash plate and the amount of hydraulic oil supplied. Output power according to the. The regenerative motor 18 according to this embodiment is a swash plate type hydraulic motor, and the tilt angle of the swash plate is operated by a tilt angle operating device 181 (tilt mechanism). The tilt angle operation device 181 is, for example, a regulator controlled by a control signal output from the control device 7.
  The amount of hydraulic oil supplied to the regeneration motor 18 is controlled by a regeneration amount control valve 29 provided in the regeneration passage 19. The regenerative amount control valve 29 is an electromagnetic proportional flow rate control valve controlled by a control signal output from the control device 7, and continuously adjusts the flow rate of hydraulic oil supplied from the regenerative passage 19 to the regenerative motor 18. can do. The output of the regenerative motor 18 can be adjusted by adjusting the flow rate of the hydraulic oil supplied to the regenerative motor 18. However, the regeneration amount control valve 29 may be an on-off valve.
  An accumulator 51 is connected upstream of the regeneration amount control valve 29 in the regeneration passage 19. The accumulator 51 is a container that stores hydraulic oil in a pressurized state, and can store liquid energy (fluid pressure) of the hydraulic oil and release the stored fluid energy. The oil passage between the regeneration passage 19 and the accumulator 51 is provided with an on-off valve 52 that is controlled by an output signal of the control device 7. The on-off valve 52 is an electromagnetic switching valve that is normally closed, and restricts the flow of hydraulic oil between the regeneration passage 19 and the accumulator 51 in a normal time. By closing the on-off valve 52 so that the hydraulic oil does not flow into the accumulator 51, the hydraulic oil can also be sent directly from the hydraulic actuator control circuit 25 to the regenerative motor 18. Further, by opening the on-off valve 52, the flow of hydraulic oil between the regeneration passage 19 and the accumulator 51 is allowed, and fluid energy can be stored in the accumulator 51 or fluid energy can be released from the accumulator 51. It becomes a state. A check valve for preventing the backflow of hydraulic oil is provided further upstream of the connection portion with the accumulator 51 in the regeneration passage 19.
  The first power transmission mechanism 13 is provided with a first clutch 131 for intermittently transmitting power. Further, the second power transmission mechanism 14 is provided with a second clutch 141 for intermittently transmitting power. The first clutch 131 and the second clutch 141 are a mechanical one-way clutch or a control type clutch.
  The first clutch 131 and the second clutch 141 according to this embodiment are both mechanical one-way clutches. The first clutch 131 is connected when the rotational speed of the output shaft of the motor generator 22 is equal to or higher than the rotational speed of the output shaft 12 of the engine 11 and is otherwise disconnected. The first clutch 131 transmits only rotational power in one direction (positive direction) that assists the rotation of the main pump 17 from the motor generator 22. The second clutch 141 is configured to be connected when the rotational speed of the output shaft of the regenerative motor 18 is equal to or higher than the rotational speed of the input shaft of the motor generator 22 and to be disconnected otherwise. In addition, when the output rotation speed of the motor generator 22 is smaller than the output rotation speed of the engine 11, the connection of the 1st clutch 131 is cancelled | released and the motor generator 22 functions as a generator. The second clutch 141 transmits only rotational power in one direction (positive direction) that assists the power generation of the motor generator 22 from the regenerative motor 18.
  As described above, if the first clutch 131 and the second clutch 141 are mechanical one-way clutches, the control of the clutch becomes unnecessary, and the system configuration and control of the drive system 1 become simpler. However, at least one of the first clutch 131 and the second clutch 141 may be a control type clutch.
  Next, the hydraulic actuator control circuit 25 will be described. The hydraulic actuator control circuit 25 according to the present embodiment includes a hydraulic motor control circuit 25A for the hydraulic motor 31 that drives the upper swing body to swing, and a hydraulic cylinder control circuit for the hydraulic cylinder 41 that drives the boom up and down (up and down). 25B. The hydraulic oil discharged from the main pump 17 is pressure-fed through the supply passage 16 to both of these control circuits.
  The hydraulic motor control circuit 25 </ b> A includes an upper structure turning hydraulic motor 31 driven by the hydraulic oil discharged from the main pump 17, and oil passages 33 and 34 connected to the suction port and the discharge port of the hydraulic motor 31. And a turning control valve 32. The turning control valve 32 is provided between the oil passages 33 and 34 and the supply passage 16 (16A), and controls the flow of hydraulic oil between them. The suction port and the discharge port of the hydraulic motor 31 are reversed depending on the rotation direction.
  The turning control valve 32 is a spool type three-position switching valve. By switching the position of the spool of the turning control valve 32, the output shaft of the hydraulic motor 31 can be rotated forward, stopped, or reversely rotated. The swing control valve 32 restricts the flow of hydraulic oil between the supply passage 16 (16A) and the oil passage (33 or 34) when the spool is in the neutral position. Further, the swing control valve 32 allows the hydraulic oil to flow between the supply passage 16 (16A) and the oil passage (33 or 34) when the spool is moving from the neutral position to the right or left of the page. . The supply passage 16 (16A) and the oil passage 34 are connected when the spool is on the right side of the paper surface, and the supply passage 16 (16A) and the oil passage 33 are connected when the spool is on the left side of the paper surface.
  Between the oil passages 33 and 34 of the hydraulic motor control circuit 25A, there are relief valves 36 and 36 that operate to release hydraulic oil to the tank 21 when the pressure during normal use is exceeded, and in the oil passages 33 and 34 There are provided check valves 37 and 37 for sucking oil from the tank 21 when the amount of oil decreases during oil circulation. The relief valve 36 and the check valve 37 are provided in appropriate directions in each of the oil passages 33 and 34 because the directions in which the hydraulic oil flows when the hydraulic motor 31 rotates forward and backward are different.
  Between the oil passages 33, 34 of the hydraulic motor control circuit 25 A, a revolving regenerative control valve 38 that controls the amount of hydraulic oil sent from the hydraulic motor control circuit 25 A to the regenerative motor 18, and the normal rotation of the hydraulic motor 31. A switching valve 39 is provided for selectively connecting the return side oil passage (33 or 34) to the turning regeneration control valve 38 according to the reverse rotation. The swivel regeneration control valve 38 is a normally closed solenoid valve type proportional flow control valve, and can adjust the flow rate of hydraulic fluid flowing from the hydraulic motor control circuit 25A to the regeneration passage 19 (19A) steplessly. . The regenerative control valve 38 and the switching valve 39 may be configured as one spool type three-position switching valve. The switching valve 39 and the turning regeneration control valve 38 are controlled by the output signal of the control device 7.
  The hydraulic cylinder control circuit 25B includes a boom raising / lowering hydraulic cylinder 41 driven by hydraulic fluid discharged from the main pump 17, an oil passage 43 connected to the head side port of the hydraulic cylinder 41, and a bottom of the hydraulic cylinder 41. An oil passage 44 connected to the side port, a boom regeneration control valve 45 provided in the oil passage 44, and a boom control valve 42 are provided. The oil passages 43, 44 and the supply passage 16 (16 </ b> B) of the main pump 17 are connected via a boom control valve 42.
  The boom control valve 42 is a spool type three-position switching valve. By switching the position of the spool of the boom control valve 42, the piston inserted in the hydraulic cylinder 41 can be moved forward, stopped, or retracted when viewed from the traveling direction of the piston. The boom control valve 42 restricts the flow of hydraulic oil between the supply passage 16 (16B) and the oil passages 43 and 44 when the spool is in the neutral position. Further, the boom control valve 42 is connected to the supply passage 16 (16B) and the oil so that the hydraulic oil is supplied to the hydraulic cylinder 41 when the spool is in a position moved from the neutral position to the right side of the paper (when the boom is lowered). The passage 43 is connected, and the tank 21 and the oil passage 44 are connected so that the hydraulic oil is discharged from the hydraulic cylinder 41. The boom control valve 42 is connected to the supply passage 16 (16B) and the oil so that the hydraulic oil is supplied to the hydraulic cylinder 41 when the spool is in a position moved from the neutral position to the left side of the drawing (when the boom is raised). The tank 44 and the oil passage 43 are connected so that the hydraulic oil is discharged from the hydraulic cylinder 41.
  The boom regenerative control valve 45 is a switching valve that switches between a non-regenerative side where hydraulic oil discharged from the hydraulic cylinder 41 flows to the tank 21 and a regenerative side that flows to the regenerative motor 18. The boom regeneration control valve 45 connects the normal oil passage 44 to the boom control valve 42. When the boom regeneration control valve 45 is switched to the regeneration side, the oil passage 44 and the regeneration passage 19 (19B) are connected, and the hydraulic oil discharged from the hydraulic cylinder 41 flows into the regeneration passage 19 (19B). To do. The boom regeneration control valve 45 is controlled by an output signal from the control device 7.
  Next, the operation of the drive system 1 having the above configuration will be described. The drive system 1 has a plurality of preset drive modes, and the drive system 1 is controlled to realize one or more modes selected from the plurality of drive modes. Below, each drive mode and operation | movement of the drive system 1 in the drive mode are demonstrated. Although not clearly indicated, the operation of the drive system 1 described below is controlled by the control device 7.
(1. Non-regenerative mode)
The non-regenerative mode is a drive mode that does not regenerate energy. The non-regenerative mode is selected, for example, when the used capacities of the accumulator 51 and the capacitor 26 are both full. As shown in FIG. 2, in the drive system 1 in the non-regenerative mode, the turning regeneration control valve 38 is closed, and the boom regeneration control valve 45 is switched to the non-regenerative side. 2 to 5, the flow of oil is indicated by hatched arrows. In this non-regenerative mode, the hydraulic oil that has flowed from the hydraulic motor 31 to the oil passage 34 during the turning braking of the upper swing body passes through the relief valve 36 on the oil passage 34 side and the check valve 37 on the oil passage 33 side. The oil flows into the oil passage 33 and returns to the hydraulic motor 31. Alternatively, the hydraulic oil that has flowed out of the hydraulic motor 31 into the oil passage 33 during the turning braking of the upper turning body passes through the relief valve 36 on the oil passage 33 side and the check valve 37 on the oil passage 34 side to the oil passage 34. It flows in and returns to the hydraulic motor 31. In the non-regenerative mode, the hydraulic oil that has flowed out of the hydraulic cylinder 41 to the oil passage 44 when the boom is lowered passes through the boom regenerative control valve 45 and the boom control valve 42 and is returned to the tank 21.
(2. Turn regeneration mode)
The swing regeneration mode is a drive mode in which the kinetic energy (inertia energy) of the upper swing body is stored in the accumulator 51 as fluid energy (fluid pressure) during the swing braking of the upper swing body. As shown in FIG. 3, in the drive system 1 in the turning regeneration mode, the turning regeneration control valve 38 is opened, the on-off valve 52 is opened, and the regeneration amount control valve 29 is closed. In this turning regeneration mode, the hydraulic oil that has flowed from the hydraulic motor 31 to the oil passage 34 (or the hydraulic oil that has flowed out from the hydraulic motor 31 to the oil passage 33) during the turning braking of the upper turning body is the switching valve 39 and the turning regeneration control. It passes through the valve 38 and flows into the regeneration passage 19 and flows from the regeneration passage 19 into the accumulator 51 through the on-off valve 52. As described above, in the hydraulic motor control circuit 25A, the hydraulic oil is discharged from the hydraulic motor control circuit 25A to the regeneration passage 19 during the turning braking of the upper swing body (swing regeneration mode), and the hydraulic motor control circuit 25A The state where the hydraulic oil circulates (non-regenerative mode) is switched by the regenerative control valve 38.
(3. Boom regeneration mode)
The boom regeneration mode is a driving mode in which boom kinetic energy (potential energy) is stored in the accumulator 51 as fluid energy (fluid pressure) when the boom is lowered. As shown in FIG. 4, in the boom regeneration mode drive system 1, the boom regeneration control valve 45 is switched to the regeneration side, the open / close valve 52 is opened, and the regeneration amount control valve 29 is closed. In this boom regeneration mode, hydraulic oil that has flowed out of the hydraulic cylinder 41 into the oil passage 44 when the boom is lowered flows into the regeneration passage 19 through the boom regeneration control valve 45, and is further accumulator from the regeneration passage 19 through the on-off valve 52. 51 flows into.
(4. Charging mode)
The charging mode is a driving mode in which fluid energy stored in the accumulator 51 is converted into electric energy and stored in the capacitor 26. As shown in FIG. 5, in the drive system 1 in the charging mode, the opening / closing valve 52 is opened, the regeneration amount control valve 29 is opened, and the inverter 27 is switched to the regeneration mode in which electric energy is collected from the motor generator 22. When the second clutch 141 is a control type clutch, the second clutch 141 is connected and the first clutch 131 is disconnected. In this charging mode, the hydraulic oil stored in the accumulator 51 flows out to the regeneration passage 19 and further flows from the regeneration passage 19 into the regeneration motor 18 through the regeneration amount control valve 29. The regenerative motor 18 is rotationally driven by the flowing hydraulic oil, and the rotational output of the regenerative motor 18 is transmitted to the motor generator 22 via the second power transmission mechanism 14. The mechanical energy transmitted to the motor generator 22 is recovered as electric energy (electric power) by the inverter 27 and stored in the capacitor 26.
(5. Engine electric assist mode)
The engine electric assist mode is a drive mode in which electric energy stored in the capacitor 26 is converted into mechanical energy, and the rotational drive of the main pump 17 by the engine 11 is assisted by this mechanical energy. In the drive system 1 in the engine electric assist mode, the inverter 27 is switched to a supply mode in which electric energy is supplied to the motor generator 22. When the first clutch 131 and the second clutch 141 are controlled clutches, the first clutch 131 is connected and the second clutch 141 is disconnected. In this engine electric assist mode, the motor generator 22 that functions as an electric motor is driven to have the same output rotational speed as the output rotational speed of the engine 11 using the electrical energy stored in the capacitor 26. The rotational output of the motor generator 22 is input to the main pump 17 via the first power transmission mechanism 13.
(6. Turn regeneration / engine electric assist mode)
The turning regeneration / engine electric assist mode is a drive mode in which the turning regeneration mode and the engine electric assist mode are simultaneously combined. The operation of the drive system 1 in the turning regeneration / engine electric assist mode is a combination of the already described turning regeneration mode and the engine electric assist mode, and thus detailed description thereof is omitted.
(7. Boom regeneration / engine electric assist mode)
The boom regeneration / engine electric assist mode is a drive mode in which the boom regeneration mode and the engine electric assist mode are combined at the same time. Since the operation of the drive system 1 in the boom regeneration / engine electric assist mode is an operation combining the boom regeneration mode and the engine electric assist mode which have already been described, detailed description thereof will be omitted.
(8. Turn regeneration, boom regeneration, engine power assist mode)
The turning regeneration / boom regeneration / engine electric assist mode is a drive mode in which the turning regeneration mode, the boom regeneration mode, and the engine electric assist mode are combined at the same time. In the drive system 1, since the accumulator 51 is provided in the regeneration passage 19, the kinetic energy of the hydraulic actuator is stored as fluid energy and the engine 11 is assisted using the regenerated electrical energy at the same time. Can do. The operation of the drive system 1 in the turning regeneration / boom regeneration / engine electric assist mode is an operation combining the turning regeneration mode, the boom regeneration mode, and the engine electric assist mode that have already been described.
(9. Engine oil pressure assist mode)
The engine oil pressure assist mode is a drive mode in which the fluid energy stored in the accumulator 51 is converted into mechanical energy, and the rotational drive of the main pump 17 by the engine 11 is assisted by this mechanical energy. Thus, in the drive system 1, the engine 11 can be assisted by the fluid energy stored in the accumulator 51.
  In the drive system 1 in the engine hydraulic assist mode, the on-off valve 52 is opened, the regeneration amount control valve 29 is opened, and the regenerative motor 18 is set so that the output rotational speed of the regenerative motor 18 is equal to the output rotational speed of the engine 11. The tilt angle is manipulated. When the first clutch 131 and the second clutch 141 are control type clutches, the first clutch 131 and the second clutch 141 are connected. In this engine oil pressure assist mode, the hydraulic oil stored in the accumulator 51 flows out to the regeneration passage 19 and further flows from the regeneration passage 19 into the regeneration motor 18 through the regeneration amount control valve 29. The regenerative motor 18 is rotationally driven by the flowing hydraulic oil. The rotational output of the regenerative motor 18 is transmitted to the main pump 17 via the second power transmission mechanism 14, the motor generator 22, and the first power transmission mechanism 13. In the engine oil pressure assist mode, the motor generator 22 functions as power transmission means.
(10. Charging / Engine oil pressure assist mode)
The charge / engine oil pressure assist mode is a drive mode in which the charge mode and the engine oil pressure assist mode are simultaneously performed. That is, the fluid energy stored in the accumulator 51 is converted into mechanical energy, and the mechanical energy assists the rotational drive of the main pump 17 by the engine 11 and the fluid energy stored in the accumulator 51 is converted into electrical energy. And stored in the capacitor 26. In the charge / engine hydraulic assist mode drive system 1, the open / close valve 52 is opened, the regeneration amount control valve 29 is opened, the inverter 27 is switched to the regeneration mode, the output rotation speed of the regeneration motor 18 and the output of the engine 11. The tilt angle of the regenerative motor 18 is operated so that the rotational speed becomes equal. When the clutches 131 and 141 are controlled clutches, the first clutch 131 and the second clutch 141 are connected.
  In this charge / engine hydraulic pressure assist mode, the hydraulic oil stored in the accumulator 51 flows out into the regeneration passage 19 and further flows into the regeneration motor 18 from the regeneration passage 19 through the regeneration amount control valve 29. Rotate. The rotational output of the regenerative motor 18 is transmitted to the main pump 17 via the second power transmission mechanism 14, the motor generator 22, and the first power transmission mechanism 13, and the electric energy generated in the motor generator 22 is converted into an inverter. 27 is collected and stored in the capacitor 26.
(11. Turn regeneration / direct engine assist mode)
The swing regeneration / direct engine assist mode is a drive mode in which the kinetic energy of the upper swing body is converted into mechanical energy during the swing braking of the upper swing body, and the rotational drive of the main pump 17 by the engine 11 is assisted by this mechanical energy. . In the drive system 1 in the turning regeneration / direct engine assist mode, the turning regeneration control valve 38 is opened, the on-off valve 52 is closed, the regeneration amount control valve 29 is opened, the output rotational speed of the regeneration motor 18 and the output of the engine 11. The tilt angle of the regenerative motor 18 is operated so that the rotational speed becomes equal. When the clutches 131 and 141 are controlled clutches, the first clutch 131 and the second clutch 141 are connected.
  In the turning regeneration / direct engine assist mode, the hydraulic oil discharged from the hydraulic motor 31 to the oil passage 34 (or the hydraulic oil discharged from the hydraulic motor 31 to the oil passage 33) during the turning braking of the upper turning body is switched. It passes through the valve 39 and the turning regeneration control valve 38 and flows into the regeneration passage 19 and is supplied from the regeneration passage 19 to the regeneration motor 18 through the regeneration amount control valve 29. The regenerative motor 18 is rotationally driven by the flowing hydraulic oil, and fluid energy is converted into mechanical energy. Further, the rotational output from the regenerative motor 18 is transmitted to the main pump 17 via the second power transmission mechanism 14, the motor generator 22, and the first power transmission mechanism 13. In this way, the rotational drive of the main pump 17 by the engine 11 is assisted directly by the kinetic energy of the hydraulic motor 31 (that is, energy is not temporarily stored in the accumulator 51 or the capacitor 26).
(12. Boom regeneration / direct engine assist mode)
The boom regeneration / direct engine assist mode is a drive mode in which the kinetic energy of the boom is converted into mechanical energy when the boom is lowered, and the rotational drive of the main pump 17 by the engine 11 is assisted by this mechanical energy. In the boom regeneration / direct engine assist mode drive system 1, the boom regeneration control valve 45 is switched to the regeneration side, the on-off valve 52 is switched to close, the on-off valve 52 is closed, and the regeneration amount control valve 29 is opened, The tilt angle of the regenerative motor 18 is operated so that the output rotation speed of the regenerative motor 18 and the output rotation speed of the engine 11 are equal. When the clutches 131 and 141 are controlled clutches, the first clutch 131 and the second clutch 141 are connected.
  In the boom regeneration / direct engine assist mode, the hydraulic oil discharged from the hydraulic cylinder 41 to the oil passage 44 when the boom is lowered passes through the boom regeneration control valve 45 and flows into the regeneration passage 19. To the regenerative motor 18 through the regenerative amount control valve 29. The regenerative motor 18 is rotationally driven by the flowing hydraulic oil, and fluid energy is converted into mechanical energy. Further, the rotational output from the regenerative motor 18 is transmitted to the motor generator 22 by the second power transmission mechanism 14, and is transmitted from the motor generator 22 to the main pump 17 by the first power transmission mechanism 13. In this manner, the rotational drive of the main pump 17 by the engine 11 is assisted directly by the kinetic energy of the hydraulic cylinder 41 (that is, energy is not temporarily stored in the accumulator 51 or the capacitor 26).
(13. Turn regeneration / Boom regeneration / Charge mode)
The swing regeneration / boom regeneration / charge mode is a drive mode in which the swing regeneration mode, the boom regeneration mode, and the charge mode are performed simultaneously. Specifically, the kinetic energy of the upper swing body during the swing braking of the upper swing body and the kinetic energy of the boom when the boom descends are converted into fluid energy and stored in the accumulator 51, and also converted into electrical energy. The drive mode is stored in the capacitor 26. In the drive system 1 in the swing regeneration / boom regeneration / charge mode, the swing regeneration control valve 38 is opened, the open / close valve 52 is opened, the boom regeneration control valve 45 is switched to the regeneration side, and the regeneration amount control valve 29 is opened. Has been. When the second clutch 141 is a control type clutch, the second clutch 141 is connected.
  In the turning regeneration / boom regeneration / charge mode, the hydraulic oil discharged from the hydraulic motor 31 to the oil passage 34 (or the hydraulic oil discharged from the hydraulic motor 31 to the oil passage 33) during the turning braking of the upper turning body is switched. The hydraulic oil that has passed through the valve 39 and the turning regeneration control valve 38 and flows into the regeneration passage 19 and is discharged from the hydraulic cylinder 41 to the oil passage 44 when the boom is lowered, is supplied to the regeneration passage 19 through the boom regeneration control valve 45. Inflow. A part of the hydraulic oil flowing into the regeneration passage 19 flows into the accumulator 51 through the on-off valve 52 and is stored. The remaining hydraulic oil that has flowed into the regeneration passage 19 flows into the regeneration motor 18 through the regeneration amount control valve 29. The regenerative motor 18 is rotationally driven by the flowing hydraulic oil, the rotational output from the regenerative motor 18 is transmitted to the motor generator 22 by the second power transmission mechanism 14, and the mechanical energy transmitted to the motor generator 22 is converted into electric energy. The electric energy is converted into alternating current by the inverter 27 and then stored in the capacitor 26.
(14. Turn regeneration, boom regeneration, charging, direct engine assist mode)
In the swing regeneration / boom regeneration / charge / direct engine assist mode, the kinetic energy of the upper swing body during the swing braking of the upper swing body and the kinetic energy of the boom when the boom descends are converted into fluid energy to the accumulator 51. This is a drive mode in which storage, conversion to electrical energy and storage in the capacitor 26, and conversion to mechanical energy to assist the drive of the main pump 17 by the engine 11 are performed.
  In the drive system 1 in the swing regeneration / boom regeneration / charge / direct engine assist mode, the swing regeneration control valve 38 is opened, the boom regeneration control valve 45 is switched to the regeneration side, the on-off valve 52 is opened, and the regeneration amount control valve is opened. 29 is opened, the inverter 27 is switched to the regeneration side, and the tilt angle of the regeneration motor 18 is operated so that the output rotation speed of the regeneration motor 18 and the output rotation speed of the engine 11 become equal. When the clutches 131 and 141 are controlled clutches, the first clutch 131 and the second clutch 141 are connected. In such a drive system 1, the hydraulic oil discharged from the hydraulic motor 31 to the oil passage 34 (or the hydraulic oil discharged from the hydraulic motor 31 to the oil passage 33) during the turning braking of the upper-part turning body is switched to the switching valve 39. The hydraulic oil that flows through the regenerative control valve 38 and flows into the regeneration passage 19 and is discharged from the hydraulic cylinder 41 to the oil passage 44 when the boom is lowered flows into the regeneration passage 19 through the boom regeneration control valve 45. A part of the hydraulic oil flowing into the regeneration passage 19 flows into the accumulator 51 through the on-off valve 52 and is stored. The remaining hydraulic oil flowing into the regeneration passage 19 flows into the regeneration motor 18 through the regeneration amount control valve 29 and rotates the regeneration motor 18. The rotational output from the regenerative motor 18 is transmitted to the main pump 17 through the second power transmission mechanism 14, the motor generator 22, and the first power transmission mechanism 13. Furthermore, the electric energy generated by the rotating motor generator 22 is recovered by the inverter 27 and stored in the capacitor 26.
  As described above, the drive system 1 according to the present embodiment can store the kinetic energy of the upper swing body during braking of the upper swing body and the kinetic energy of the boom when lowering the boom as fluid energy in the accumulator 51. . Then, the fluid energy stored in the accumulator 51 is converted into mechanical energy, and the engine 11 is assisted with this mechanical energy, or the mechanical energy is further converted into electric energy and stored in the capacitor 26, or stored in the capacitor 26. The electric energy can be converted into mechanical energy again, and the engine 11 can be assisted with this mechanical energy.
  When the drive system 1 includes the accumulator 51, part or all of the hydraulic fluid sent from the hydraulic actuator control circuit 25 to the regenerative motor 18 can be temporarily stored in the accumulator 51. Since the regenerative motor 18 is driven by supplying the hydraulic oil stored in the accumulator 51 to the regenerative motor 18, it is compared with the case where the hydraulic oil is directly supplied to the regenerative motor 18 from the hydraulic actuator control circuit 25. Thus, the output of the regenerative motor 18 can be reduced. Thereby, compared with the case where hydraulic fluid is supplied directly to the regenerative motor 18 from the hydraulic actuator control circuit 25, it is possible to employ a motor generator 22 having a low power generation capacity and a capacitor 26 having a small capacity in the system. It becomes.
  Further, the motor generators 22 and capacitors 26 smaller in number than the number of hydraulic actuator control circuits 25 can be provided in the system, and compared with the case where the motor generators 22 are provided for each hydraulic actuator control circuit 25 as in the prior art. Thus, the number of motor generators 22 and capacitors 26 can be reduced. As described above, the drive system 1 can be reduced in size and cost by reducing the number and size of the motor generators 22 and the capacitors 26.
  In addition, the drive system 1 includes the accumulator 51 and the capacitor 26 so that the kinetic energy of the hydraulic actuator is stored in the accumulator 51 as fluid energy, and electric energy that is regenerative energy stored in the capacitor 26 is used. Assisting the engine 11 can be performed simultaneously.
  In the drive system 1, since the first power transmission mechanism 13 includes the first clutch 131, it is possible to switch between connection and disconnection of rotational power transmission from the motor generator 22 to the main pump 17. Further, in the drive system 1, since the second power transmission mechanism 14 includes the second clutch 141, it is possible to switch between connection and disconnection of rotational power transmission from the regenerative motor 18 to the motor generator 22. With such a power transmission configuration, one electric drive has an engine assist function, a function for regenerating the kinetic energy of the upper-part turning body during turning braking of the upper structure, and a function for regenerating the kinetic energy of the boom when the boom is lowered. The generator 22 can be provided together. Therefore, a drive system for driving one motor generator 22 without using a plurality of generator motors for each of the uses of the engine assist, the kinetic energy regeneration of the upper-part turning body, and the boom kinetic energy regeneration. It is enough to prepare for 1. By reducing the number of motor generators 22 as described above, the drive system 1 can be reduced in size and the initial cost can be reduced.
  Further, in the drive system 1, by providing the first clutch 131 and the second clutch 141, the rotational power from the regenerative motor 18 to the motor generator 22 and the rotational power from the motor generator 22 to the main pump 17 are increased. Intermittent can be switched individually. Thereby, the single motor generator 22 can be provided with both an energy regeneration function and an assist function for assisting the drive of the hydraulic pump by the engine 11. Therefore, the drive system 1 can be reduced in size and cost by reducing the number of motor generators 22 and accumulators 51.
  Further, in the drive system 1, the kinetic energy of the upper swing body during swing braking of the upper structure and the kinetic energy of the boom when the boom is lowered are both converted into fluid energy. Thereby, energy can be regenerated by one set of devices (the regenerative motor 18 and the motor generator 22). Therefore, the number of devices for energy regeneration provided in the drive system 1 can be reduced, and the drive system 1 can be reduced in size and the initial cost can be reduced.
  In the drive system 1, in addition to storing energy in the capacitor 26 and the accumulator 51, the rotation output of the regenerative motor 18 can be directly used for assisting the engine 11. By directly using regenerative energy for engine assist in this way, energy efficiency is improved as compared to the case of storing regenerative energy, which can contribute to fuel consumption reduction.
  Further, in the drive system 1, since the engine 11 is assisted by mechanical energy based on regenerative energy, the hydraulic pressure has less influence on the operability than when the engine 11 is assisted by hydraulic pressure.
  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.
  For example, in the drive system 1 according to the above embodiment, the tilt angle of the swash plate of the regenerative motor 18 is adjusted so that the output rotational speed of the regenerative motor 18 becomes equal to the output rotational speed of the engine 11 in the direct engine assist mode. . However, each of the first power transmission mechanism 13 and the second power transmission mechanism 14 is provided with a transmission for changing the shaft rotation speed, and the output rotation speed of the regenerative motor 18 and the output rotation of the motor generator 22 are determined by these transmissions. The number may be equal to the output rotation speed of the engine 11.
  Further, for example, at least one hydraulic actuator control circuit 25 included in the drive system 1 according to the present embodiment includes two hydraulic actuators, a hydraulic motor control circuit 25A and a hydraulic cylinder control circuit 25B, for the sake of simplicity. A control circuit is included. However, the at least one hydraulic actuator control circuit 25 included in the drive system 1 is not limited to the above, and the type of hydraulic actuator and the number and configuration of the control circuits can be changed.
DESCRIPTION OF SYMBOLS 1 Drive system 7 Control apparatus 10 Hybrid drive apparatus 11 Engine 13 1st power transmission mechanism 14 2nd power transmission mechanism 16 Supply path 17 Main pump 18 Regenerative motor 19 Regenerative path 22 Motor generator 25 Hydraulic actuator control circuit 25A Hydraulic motor control Circuit 31 Hydraulic motor 25B Hydraulic cylinder control circuit 41 Hydraulic cylinder 26 Capacitor 27 Inverter 29 Regenerative amount control valve (flow rate control valve)
38 Regenerative control valve 39 Switching valve 45 Boom regenerative control valve 51 Accumulator 52 On-off valve 131 First clutch 141 Second clutch 181 Tilt angle operating device (tilting mechanism)

Claims (11)

  1. Engine,
    A hydraulic pump driven by the engine and pumping hydraulic oil to at least two hydraulic actuator control circuits;
    A regenerative motor that is rotationally driven by hydraulic fluid discharged from the at least two hydraulic actuator control circuits;
    A regeneration passage for sending hydraulic oil from the at least two hydraulic actuator control circuits to the regeneration motor;
    A pressure accumulator connected to the regeneration passage and temporarily storing hydraulic oil;
    A motor generator having a function as a generator driven by the regenerative motor and a function as a motor driving the hydraulic pump with supplied power;
    A working machine drive system comprising: a capacitor connected to the motor generator and storing electric power.
  2. An engine,
    A hydraulic pump driven by the engine and pumping hydraulic oil to at least one hydraulic actuator control circuit;
    A regenerative motor that is rotationally driven by hydraulic fluid discharged from the at least one hydraulic actuator control circuit;
    A regeneration passage for sending hydraulic fluid from the at least one hydraulic actuator control circuit to the regeneration motor;
    A pressure accumulator connected to the regeneration passage and temporarily storing hydraulic oil;
    A motor generator having a function as a generator driven by the regenerative motor and a function as a motor driving the hydraulic pump with supplied power;
    A capacitor connected to the motor generator for storing electric power;
    Wherein and a clutch for switching the intermittent unidirectional transmission of rotational power from the output shaft of the electric generator to the input shaft of the hydraulic pump, working machine of the drive system.
  3.   The work machine drive system according to claim 2, wherein the regenerative motor includes a variable displacement tilting mechanism.
  4. An engine,
    A hydraulic pump driven by the engine and pumping hydraulic oil to at least one hydraulic actuator control circuit;
    A regenerative motor that is rotationally driven by hydraulic fluid discharged from the at least one hydraulic actuator control circuit;
    A regeneration passage for sending hydraulic fluid from the at least one hydraulic actuator control circuit to the regeneration motor;
    A pressure accumulator connected to the regeneration passage and temporarily storing hydraulic oil;
    A motor generator having a function as a generator driven by the regenerative motor and a function as a motor driving the hydraulic pump with supplied power;
    A capacitor connected to the motor generator for storing electric power;
    And a clutch for switching the intermittent transmission of the rotational power in one direction from the output shaft of the regenerative motor to an input shaft of said motor generator,
    Drive system for work machines.
  5. An engine,
    A hydraulic pump driven by the engine and pumping hydraulic oil to at least one hydraulic actuator control circuit;
    A regenerative motor that is rotationally driven by hydraulic fluid discharged from the at least one hydraulic actuator control circuit;
    A regeneration passage for sending hydraulic fluid from the at least one hydraulic actuator control circuit to the regeneration motor;
    A pressure accumulator connected to the regeneration passage and temporarily storing hydraulic oil;
    A motor generator having a function as a generator driven by the regenerative motor and a function as a motor driving the hydraulic pump with supplied power;
    A capacitor connected to the motor generator for storing electric power;
    And a switch valve provided between the accumulator and the regeneration passage,
    Drive system for work machines.
  6.   The work machine drive system according to any one of claims 1 to 5, further comprising a flow rate control valve provided in the regeneration passage.
  7.   The drive of the work machine according to claim 2, wherein the clutch is a mechanical clutch configured to be connected when the rotation speed of the output shaft of the motor generator is equal to or higher than the output rotation speed of the engine. system.
  8.   The said clutch is a mechanical clutch comprised so that it might be connected when the rotation speed of the said output shaft of the said regeneration motor is more than the rotation speed of the said input shaft of the said motor generator. Drive system for work machines.
  9. The working machine is Ri hydraulic excavator der,
    The at least two hydraulic actuator control circuits include a hydraulic cylinder control circuit for controlling the operation of a hydraulic cylinder for driving the boom of the hydraulic excavator to move up and down, and a swiveling drive for the upper swing body of the hydraulic excavator. a hydraulic motor control circuit for controlling the operation of the hydraulic swing motor is Ru contain, working machine drive system according to any one of claims 1-8.
  10. The regeneration passage includes a first regeneration passage connected to the hydraulic cylinder control circuit, and a second regeneration passage connected to the hydraulic motor control circuit,
    A first check valve for blocking the flow of hydraulic oil from the pressure accumulator to the hydraulic cylinder is provided in the first regeneration passage;
    10. The work machine drive system according to claim 9, wherein the second regenerative passage is provided with a second check valve that prevents a flow of hydraulic oil from the accumulator to the hydraulic motor .
  11. The hydraulic motor control circuit includes a state in which hydraulic oil is discharged from the hydraulic motor control circuit to the regeneration passage and a state in which the hydraulic oil circulates in the hydraulic motor control circuit when the upper swing body is pivotally braked. The working machine drive system according to claim 9 or 10 , further comprising a valve for switching between the two.
JP2014183203A 2014-09-09 2014-09-09 Work machine drive system Active JP6383226B2 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5116435A (en) 1986-09-29 1992-05-26 Nkk Corporation Method for producing non-oriented steel sheets

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017015132A (en) * 2015-06-29 2017-01-19 Kyb株式会社 Energy regeneration system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008089023A (en) * 2006-09-29 2008-04-17 Kobelco Contstruction Machinery Ltd Control device of hydraulic actuator and working machine having this control device
JP2008095788A (en) * 2006-10-11 2008-04-24 Shin Caterpillar Mitsubishi Ltd Energy regenerating system
JP6147153B2 (en) * 2013-09-24 2017-06-14 株式会社神戸製鋼所 Power control apparatus and construction machine equipped with the same
JP6286282B2 (en) * 2014-05-22 2018-02-28 株式会社神戸製鋼所 Hydraulic regeneration device and construction machine equipped with the same

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5116435A (en) 1986-09-29 1992-05-26 Nkk Corporation Method for producing non-oriented steel sheets

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