Working machine
Provided is a working machine capable of regenerating and utilizing surplus energy. The working machine related to the present invention is provided with a branching flow path ( 150 ) through which hydraulic oil flows between a hydraulic actuator ( 24 ) and a hydraulic pump-motor ( 14 ), an accumulator ( 30 ) arranged in the branching flow path, a first opening/closing valve ( 31 ) arranged between the accumulator and the hydraulic pump-motor, and a second opening/closing valve ( 32 ) arranged between the accumulator and the hydraulic actuator. A control device ( 41 ) selectively introduces the hydraulic oil from the hydraulic actuator and the hydraulic oil from the hydraulic pump-motor to the accumulator and accumulates the same by controlling opening/closing of the first opening/closing valve and the second opening/closing valve.
1. A working machine comprising:
a prime mover;
a travel device;
a working device including a hydraulic actuator;
a first hydraulic pump that operates by power from the prime mover and feeds a hydraulic oil to the hydraulic actuator;
a hydraulic pump-motor that drives the travel device; and
a control device,
the working machine further comprising:
a branching flow path through which the hydraulic oil flows between the hydraulic actuator and the hydraulic pump-motor;
an accumulator arranged in the branching flow path;
a first opening/closing valve arranged between the accumulator and the hydraulic pump-motor; and
a second opening/closing valve arranged between the accumulator and the hydraulic actuator,
wherein the control device selectively introduces the hydraulic oil from the hydraulic actuator and the hydraulic oil from the hydraulic pump-motor to the accumulator and accumulates pressure by controlling opening/closing of the first opening/closing valve and the second opening/closing valve.
2. The working machine according to claim 1 ,
wherein the control device feeds the hydraulic oil accumulated in the accumulator selectively to the hydraulic actuator and the hydraulic pump-motor by controlling opening/closing of the first opening/closing valve and the second opening/closing valve.
3. The working machine according to claim 2 , further comprising:
a target speed command device that outputs a target speed command with respect to the travel device;
an operation device that outputs a working command with respect to the working device;
a first pressure detector that detects pressure between the first opening/closing valve and the hydraulic pump-motor;
a second pressure detector that detects pressure between the first opening/closing valve and the second opening/closing valve; and
a third pressure detector that detects pressure between the second opening/closing valve and the hydraulic actuator.
4. The working machine according to claim 3 ,
Wherein, when the target speed command from the target speed command device is a deceleration command and a first pressure detected by the first pressure detector is higher than a second pressure detected by the second pressure detector, the control device introduces the hydraulic oil from the hydraulic pump-motor to the accumulator and accumulates pressure by actuating the hydraulic pump-motor as a pump, opening the first opening/closing valve, and closing the second opening/closing valve.
5. The working machine according to claim 4 , further comprising:
a second hydraulic pump that operates by power from the prime mover and feeds the hydraulic oil to the hydraulic pump-motor; and
a fourth pressure detector that detects discharge pressure of the second hydraulic pump,
wherein, when the target speed command from the target speed command device is an acceleration command and the second pressure detected by the second pressure detector is higher than a fourth pressure detected by the fourth pressure detector, the control device feeds the hydraulic oil accumulated in the accumulator to the hydraulic pump-motor by actuating the hydraulic pump-motor as a motor, opening the first opening/closing valve, and closing the second opening/closing valve.
6. The working machine according to claim 3 ,
wherein, when the working command from the operation device is a load reduction command and a third pressure detected by the third pressure detector is higher than a second pressure detected by the second pressure detector, the control device introduces the hydraulic oil from the actuator to the accumulator and accumulates pressure by opening the second opening/closing valve and closing the first opening/closing valve.
7. The working machine according to claim 6 , further comprising:
a fifth pressure detector that detects a discharge pressure of the first hydraulic pump,
wherein, when the working command from the operation device is a load increase command and the second pressure detected by the second pressure detector is higher than a fifth pressure detected by the fifth pressure detector, the control device feeds the hydraulic oil accumulated in the accumulator to the hydraulic actuator by opening the second opening/closing valve and closing the first opening/closing valve.
8. The working machine according to claim 3 , further comprising:
a gear that transmits power from the prime mover to the travel device;
a first clutch arranged between the travel device and the gear;
a second clutch arranged between the travel device and the hydraulic pump-motor; and
a speed detector that detects an actual speed of the travel device,
wherein, when the actual speed detected by the speed detector is within a predetermined low speed range, the control device drives the travel device by the hydraulic pump-motor by disconnecting the first clutch and connecting the second clutch, whereas when the actual speed detected by the speed detector exceeds the low speed range, the control device drives the travel device by the prime mover by connecting the first clutch and disconnecting the second clutch.