Regenerative machine coupling system

A system includes a first machine having a first bail member and a first push bar, at first end. The first bail member includes a first hydraulic cylinder. A first hook and second push bar, at second end. The second push bar includes a second hydraulic cylinder in fluid communication with first hydraulic accumulator. The second machine having second bail member and first push bar, at first end. The second bail member includes third hydraulic cylinder in fluid communication with second hydraulic accumulator. A second hook and second push bar, at second end. The second push bar includes fourth hydraulic cylinder. The first hook coupled to second bail member and second push bar of first machine is in mechanical contact with first push bar of second machine. The impact energy generated at beginning of push operation and pull operation is stored in first hydraulic accumulator and second hydraulic accumulator respectively.

TECHNICAL FIELD

The present disclosure relates to a system for operation of two or more machines, and more specifically, to a system for recovering energy generated during a collaboration of the two or more machines.

BACKGROUND

Earth moving machines such as track type tractor, wheeled scraper etc. are employed in various industries, such as agriculture, construction, and mining. These machines are utilized for a variety of tasks such as for excavating, hauling, pushing material, and dumping excavated material, and are affected by working conditions of a work site. For example, when the machines are utilized for pushing materials such as heavy rocks then it may take long time for a machine to push materials, thus, leading to a decrease in productivity and/or efficiency of tasks.

In order to increase the productivity and/or the efficiency of the tasks, typically, another machine is used in collaboration with a first machine. For example, in a case, when the first machine is facing difficulty in pushing the materials such as heavy rocks, another machine is utilized which may either push the first machine by engaging at the rear of the first machine, or may pull the first machine by engaging at the front of the first machine. In order to fulfill the collaboration between two machines or among multiple machines, the coupling assembly (e.g. hitch, hook, bail or pushing pad) are installed on the earth moving machines. However, the contact between two machines, during collaboration, is difficult to control. The uncontrolled contact increases fatigue in machine components and decreases useful life of machines. Moreover, the unpredictable load condition during a loading process can also result in sudden uncontrolled contact between the machines working in collaboration. Currently, such uncontrolled contacts between the machines are controlled by various techniques such as by careful maneuvering of the two machines, or by the coupling assembly. But, such techniques do not eliminate the uncontrolled contacts between the machines which results in large impact force and affect the machine productivity. Therefore, the current techniques fail to control the impact force. Also, the impact energy, arising out of uncontrolled contacts, is wasted and results in fatigue of the machine components, and decreases the useful life of machines.

U.S. Pat. No. 8,170,756, hereinafter referred to as '756 reference, discloses an excavating system utilizing a machine-to-machine communication system for a fleet of machines, including at least two machines to effect controlled contact between at least a first machine and a second machine. The controlled contact is achieved by decreasing either the speed of the first machine or the speed of the second machine, and thus affects machine productivity. Moreover, the '756 reference discloses that high relative speed between two machines during push-pull operations leads to uncontrolled contact which results in large impact force. However, the '756 reference fails to disclose recovery of the impact energy during the push-pull operations. Therefore, there is a need for a system to control the impact force, and to recover the impact energy.

SUMMARY OF THE DISCLOSURE

In one aspect of the present disclosure, a system for recovering impact energy generated during at least one of a push operation and a pull operation between two or more machines operated in a worksite is provided. The system includes a first machine and a second machine. The first machine having a first bail member and a first push bar at a first end of the first machine. The first bail member includes a first hydraulic cylinder. The first machine having a first hook and a second push bar at a second end of the first machine. The second push bar includes a second hydraulic cylinder. The second hydraulic cylinder being in fluid communication with a first hydraulic accumulator. The second machine having a second bail member and a first push bar at a first end of the second machine. The second bail member includes a third hydraulic cylinder. The third hydraulic cylinder being in fluid communication with a second hydraulic accumulator. The second machine having a second hook and a second push bar at a second end of the second machine. The second push bar includes a fourth hydraulic cylinder. The first machine and the second machine are adapted to work in collaboration, such that the first hook of the first machine coupled to the second bail member of the second machine, and the second push bar of the first machine being in mechanical contact with the first push bar of the second machine. The impact energy generated at a beginning of the push operation by the second machine may be captured by a regenerative coupling system, and stored in the first hydraulic accumulator. The impact energy generated at a beginning of the pull operation by the first machine may be captured by a regenerative coupling system, and stored in the second hydraulic accumulator.

DETAILED DESCRIPTION

FIG. 1is a system diagram illustrating two machines10collaborating with each other, in accordance with the concepts of the present disclosure. The machines10include a first machine12, and a second machine14. The first machine12includes a first bail member16, a first push bar18(i.e. a front push bar), a first hook20, a second push bar22(i.e., a rear push bar), a first hydraulic accumulator24, and a first machine-to-machine communication system26. Similarly, the second machine14includes a second bail member28, a first push bar30(i.e., a front push bar), a second hook32, a second push bar34(i.e., a rear push bar), a second hydraulic accumulator36, and a second machine-to-machine communication system38. The first machine12having the first bail member16and the first push bar18at a first end40of the first machine12, and the first hook20and the second push bar22(i.e., the rear push bar) at a second end42of the first machine12. Similarly, the second machine14having the second bail member28and the first push bar30at a first end44of the first machine12, and the second hook32and the second push bar34at a second end46of the second machine14. The machines10(i.e., the first machine12, and the second machine14) may include various other components such as an actuator, a valve, a hydraulic fluid tank, a controller, a display device, and so on. For the purpose of simplicity, the various other components of the machines10are not labeled inFIG. 1. Examples of the machines10include, but not limited to, a track-type tractor, and a wheeled scraper.

The machines10are utilized for a variety of tasks such as for excavating, hauling, scraping, pushing materials, etc. In order to perform such tasks, the machines10may need to work in collaboration, i.e. along with each other, in order to help each other. In order to work in collaboration, the machines10establish a communication with each other, for example, the first machine12and the second machine14communicate with each other through the first machine-to-machine communication system26of the first machine12, and the second machine-to-machine communication system38of the second machine14, for working in collaboration with each other. As illustrated in theFIG. 1, the first machine-to-machine communication system26and the second machine-to-machine communication system38may be a system of components that enable the first machine12and the second machine14to communicate with each other, and with other machines of a fleet of machines (not shown). The first machine-to-machine communication system26and second machine-to-machine communication system38, as illustrated diagrammatically inFIG. 1, may include those components of the communication system that enable the machines10to receive and send signals.

In an exemplary scenario, the first machine12is being assisted by the second machine14using a push operation. In order to assist the first machine12, the second machine14is maneuvered to a position of engagement with the second push bar22(i.e., the rear push bar) of the first machine12. Also, the first hook20of the first machine12is coupled to the second bail member28of the second machine14. At the beginning of the push operation, uncontrolled impacts between the first machine12and the second machine14occur when the second push bar22of the first machine12is pushed by the first push bar30of the second machine14. The uncontrolled impacts result in generation of impact energy, which may be captured by a regenerative coupling system, and stored in the first hydraulic accumulator24of the first machine12. Further, during the collaboration between the first machine12and the second machine14, when an external load on the first machine12is reduced at the end of a loading segment, a speed of the first machine12suddenly increases leading to yet another uncontrolled impact between the first machine12and the second machine14. In such a scenario, a pull operation is performed by the first machine12such that the first machine12, which completes the loading segment, pulls the second machine14while the second machine14is performing a loading segment. At the beginning of the pull operation, uncontrolled impacts are again generated between the first hook20of the first machine12and the second bail member28of the second machine14. The uncontrolled impacts result in generation of impact energy, which may be captured by a regenerative coupling system, and stored in the second hydraulic accumulator36of the second machine14. It should be noted that the first machine12, and the second machine14are provided only for illustration purposes. The machines10may include more than two machines10collaborating with each other, without departing from the scope of the disclosure.

FIG. 2is a schematic diagram illustrating the two machines10configured to operate in at least one of the push operation and the pull operation, in accordance with the concepts of the present disclosure. As shown inFIG. 2, the second push bar22of the first machine12includes a second hydraulic cylinder48. The second hydraulic cylinder48is fluidly communicated to a first valve50. The detailed fluid communication will be elaborated later in conjunction withFIG. 5.

On the other hand, a bail actuator54is operably connected to the second bail member28of the second machine14, and configured to deploy the second bail member28of the second machine14to a position of engagement with the first hook20of the first machine12, enabling the first machine12to pull the second machine14. The second bail member28of the second machine14is connected to a third hydraulic cylinder56. The third hydraulic cylinder56is fluidly communicated to a second valve58. The detailed fluid communication will be elaborated later in conjunction withFIG. 5. It should be noted that the second hydraulic cylinder48and the third hydraulic cylinder56mentioned above, may be a single-acting hydraulic cylinder, or a double-acting hydraulic cylinder.

Referring toFIG. 1andFIG. 2, the uncontrolled impacts are generated at the beginning of the push operation or the pull operation. The uncontrolled impacts result in generation of the impact energy between the first machine12and the second machine14. In order to prevent the wastage of the impact energy generated at the beginning of the push operation, a controller (not shown) of the first machine12provides an instruction for actuating the first valve50. Upon actuation, the first valve50establishes a fluid communication between the second hydraulic cylinder48and the first hydraulic accumulator24of the first machine12. Thus, the impact energy is stored in the first hydraulic accumulator24of the first machine12. Similarly, in order to prevent the wastage of the impact energy generated at the beginning of the pull operation, a controller (not shown) of the second machine14provides an instruction for actuating the second valve58. Upon actuation, the second valve58establishes a fluid communication between the third hydraulic cylinder56and the second hydraulic accumulator36of the second machine14. Thus, the impact energy is stored in the second hydraulic accumulator36of the second machine14. The fluid communication is described later in conjunction withFIGS. 4 and 5.

It should be noted that the controller, may be a processor for effecting control of a regenerative machine coupling system. The controller may be embodied in a single housing or a plurality of housings distributed throughout a machine. Further, the controller may include power electronics, preprogrammed logic circuits, data processing circuits, volatile memory, non-volatile memory, software, firmware, combinations thereof, or any other controller structures known in the art.

The controller may also include a communication module configured to control communications between the first machine-to-machine communication system26of the first machine12and the second machine-to-machine communication system38of the second machine14. The communication module may utilize either proactive routing protocols or location-oriented reactive routing protocols to forward data. The speeds and positions of the machines10during the collaboration are communicated and shared among the machines10, and hence the relative speed and position, the beginning of the push operation and the beginning of the pull operation may be identified according to the data shared by the machines10. In exemplary embodiments, the controller may be considered as a component of a machine-to-machine communication system.

FIG. 3is a block diagram illustrating components of the two machines10collaborating with each other, in accordance with the concepts of the present disclosure. As shown inFIG. 3, the first hook20of the first machine12is fixed on a machine frame62of the first machine12, and the first push bar18of the first machine12(i.e., the front push bar) is fixed on the machine frame62of the first machine12. Similarly, the second hook32of the second machine14is fixed on a machine frame64of the second machine14, and the first push bar30of the second machine14(i.e., the front push bar) is fixed on the machine frame64of the second machine14.

FIG. 4is a block diagram illustrating the components of the two machines10collaborating with each other in order to store the impact energy generated during the push operation and the pull operation, in accordance with the concepts of the present disclosure. As shown inFIG. 4, the second push bar22(i.e., the rear push bar) of the first machine12and the second push bar34(i.e., the rear push bar) of the second machine14are connected to the second hydraulic cylinder48and a fourth hydraulic cylinder66, respectively. As discussed above inFIG. 2, the second hydraulic cylinder48is fluidly communicated to the first valve50. According to an aspect of the disclosure, the first valve50has a first configuration that effects fluid communication between the second hydraulic cylinder48and a third valve68of the first machine12, and blocks fluid communication between the second hydraulic cylinder48and a first hydraulic fluid tank52of the first machine12. According to another aspect of the disclosure, the first valve50has a second configuration that blocks the fluid communication between the second hydraulic cylinder48and the third valve68of the first machine12, and effects fluid communication between the second hydraulic cylinder48and the first hydraulic fluid tank52of the first machine12. According to another aspect of the disclosure, the first valve50has a third configuration that blocks the fluid communication between the second hydraulic cylinder48and the third valve68of the first machine12, and blocks fluid communication between the second hydraulic cylinder48and the first hydraulic fluid tank52.

According to an aspect of the disclosure, the third valve68of the first machine12, has a first configuration that effects fluid communication between an inlet port70and the first hydraulic accumulator24of the first machine12, and blocks fluid communication between the first hydraulic accumulator24and an implement hydraulic circuit72. According to another aspect of the disclosure, the third valve68has a second configuration that blocks fluid communication between the inlet port70and the first hydraulic accumulator24of the first machine12, and effects fluid communication between the first hydraulic accumulator24and the implement hydraulic circuit72, and hence the captured energy can be utilized by the implement hydraulic circuit72of the first machine12.

Similarly, the fourth hydraulic cylinder66of the second machine14is fluidly communicated to a first valve74of the second machine14. According to an aspect of the disclosure, the first valve74of the second machine14has a first configuration that effects fluid communication between the fourth hydraulic cylinder66and a third valve76of the second machine14, and blocks fluid communication between the fourth hydraulic cylinder66and a second hydraulic fluid tank60of the second machine14. According to another aspect of the disclosure, the first valve74of the second machine14has a second configuration that blocks the fluid communication between the fourth hydraulic cylinder66and the third valve76of the second machine14, and effects fluid communication between the fourth hydraulic cylinder66and the second hydraulic fluid tank60. According to another aspect of the disclosure, the first valve74has a third configuration that blocks the fluid communication between the fourth hydraulic cylinder66and the third valve76of the second machine14, and blocks fluid communication between the fourth hydraulic cylinder66and the second hydraulic fluid tank60.

According to an aspect of the disclosure, the third valve76of the second machine14, has a first configuration that effects fluid communication between an inlet port78and the second hydraulic accumulator36of the second machine14, and blocks fluid communication between the second hydraulic accumulator36and an implement hydraulic circuit80. According to another aspect of the disclosure, the third valve76has a second configuration that blocks fluid communication between the inlet port78and the second hydraulic accumulator36of the second machine14, and effects fluid communication between the second hydraulic accumulator36and the implement hydraulic circuit80, and hence the captured energy can be utilized by the implement hydraulic circuit80of the second machine14.

Referring toFIG. 3andFIG. 4, the bail actuator54of the second machine14is operably connected to the second bail member28of the second machine14, and configured to deploy the second bail member28of the second machine14to a position of engagement with the first hook20of the first machine12, enabling the first machine12to pull the second machine14. The second bail member28of the second machine14is connected to the third hydraulic cylinder56of the second machine14, which is fluidly communicated to the second valve58of the second machine14. According to an aspect of the disclosure, the second valve58has a first configuration that effects fluid communication between the third hydraulic cylinder56and the third valve76of the second machine14, and blocks fluid communication between the third hydraulic cylinder56and the second hydraulic fluid tank60of the second machine14. According to another aspect of the disclosure, the second valve58has a second configuration that blocks the fluid communication between the third hydraulic cylinder56and the third valve76of the second machine14, and effects fluid communication between the third hydraulic cylinder56and the second hydraulic fluid tank60. According to another aspect of the disclosure, the second valve58has a third configuration that blocks the fluid communication between the third hydraulic cylinder56and the third valve76of the second machine14, and blocks the fluid communication between the third hydraulic cylinder56and the second hydraulic fluid tank60.

Similarly, a bail actuator82of the first machine12is operably connected to the first bail member16of the first machine12. The first bail member16of the first machine12is connected to a first hydraulic cylinder84of the first machine12. The first hydraulic cylinder84of the first machine12is fluidly communicated to a second valve86of the first machine12. According to an aspect of the disclosure, the second valve86has a first configuration that effects fluid communication between the first hydraulic cylinder84and the third valve68of the first machine12, and blocks the fluid communication between the first hydraulic cylinder84and the first hydraulic fluid tank52of the first machine12. According to another aspect of the disclosure, the second valve86has a second configuration that blocks the fluid communication between the first hydraulic cylinder84and the third valve68of the first machine12, and effects fluid communication between the first hydraulic cylinder84and the first hydraulic fluid tank52of the first machine12. According to another aspect of the disclosure, the second valve86has a third configuration that blocks the fluid communication between the first hydraulic cylinder84and the third valve68of the first machine12, and blocks the fluid communication between the first hydraulic cylinder84and the first hydraulic fluid tank52.

Referring toFIG. 4, machine sensors88of the first machine12and machine sensors90of the second machine14are configured to provide speed and position information of the first machine12and the second machine14, to a controller92of the first machine12and a controller94of the second machine14respectively. Thereafter, the controller92of the first machine12and the controller94of the second machine14are configured to define a start of the push operation and the pull operation. It should be noted that the fluid communication between the components is established using hydraulic lines and the electronic communication is established using communication lines. The hydraulic lines are shown as solid lines, and the communication lines are shown as dotted lines between the components of the machines10.

An embodiment of a hydraulic cylinder is illustrated inFIG. 5. Referring toFIG. 5, the second push bar22(i.e., the rear push bar) of the first machine12has the second hydraulic cylinder48. The second hydraulic cylinder48having a cap port96(shown inFIG. 5) connected to a port of the first valve50. Further, the third valve68of the first machine12is placed between the first valve50and the first hydraulic accumulator24of the first machine12. A port of the third valve68is further connected to the implement hydraulic circuit72of the first machine12. The first valve50is configured to effect different states of fluid communication between the first hydraulic accumulator24, the first hydraulic fluid tank52, and the cap port96. As an example, the first valve50is a 3-way-3-position valve, and the third valve68is a 3-way-2-position valve. It should be noted that the above-mentioned embodiment of the hydraulic cylinder is applicable to other components of the machines10as well, such as the first bail member16of the first machine12, the second push bar34of the second machine14, and the second bail member28of the second machine14, without departing from the scope of the disclosure.

At the beginning of the push operation, when the speed of the second machine14is greater than the speed of the first machine12, the first push bar30of the second machine14impacts the second push bar22of the first machine12which results in generation of the impact energy. In order to prevent the wastage of the impact energy generated at the beginning of the push operation, the controller92of the first machine12provides an instruction for actuating the first valve50of the first machine12. Upon actuation, the first valve50establishes the first configuration (described in conjunction withFIG. 4).

In the first configuration, the first valve50establish a fluid communication between the second hydraulic cylinder48and the third valve68of the first machine12, via the cap port96, and blocks the fluid communication between the second hydraulic cylinder48and the first hydraulic fluid tank52of the first machine12. Further, the third valve68of the first machine12selects the first configuration to establish the fluid communication between the inlet port70and the first hydraulic accumulator24of the first machine12, and blocks the fluid communication between the first hydraulic accumulator24and the implement hydraulic circuit72. Thus, the impact energy generated at the beginning of the push operation is stored in the first hydraulic accumulator24of the first machine12. Thereafter, the stored impact energy is reused by the implement hydraulic circuit72when the third valve68of the first machine12, which is placed between the first valve50and the first hydraulic accumulator24of the first machine12, selects the second configuration (described in conjunction withFIG. 4) to block the fluid communication between the inlet port70and the first hydraulic accumulator24of the first machine12, and effects the fluid communication between the first hydraulic accumulator24and the implement hydraulic circuit72, and hence the captured energy can be utilized by the implement hydraulic circuit72of the first machine12.

Eventually, when a relative speed of the first machine12and the second machine14is zero, then the controller92of the first machine12provides an instruction for actuating the first valve50. Upon actuation, the first valve50establishes the third configuration (described in conjunction withFIG. 4). In the third configuration, the first valve50blocks the fluid communication between the second hydraulic cylinder48and the first hydraulic fluid tank52, in order to transfer the energy between the first machine12and the second machine14effectively for the push operation.

In addition to the first configuration and the third configuration, the first valve50is configured to establish the second configuration (described in conjunction withFIG. 4) in which the fluid communication between the second hydraulic cylinder48and the first hydraulic fluid tank52of the first machine12is established, via the cap port96. In the second configuration, oil is replenished to the second hydraulic cylinder48after the collaboration between the first machine12and the second machine14is completed and a coupling is disengaged. The oil is replenished due to a bias forces exerted by a bias member such as a spring (not shown). The mechanism of the bias member is well known in the art.

At the beginning of the pull operation, when a speed of the first machine12is greater than a speed of the second machine14, the first hook20of the first machine12impacts the second bail member28of the second machine14, which results in generation of the impact energy. In order to prevent the wastage of the impact energy generated at the beginning of the pull operation, the controller94of the second machine14provides an instruction for actuating the second valve58. The second valve58establishes a fluid communication between the third hydraulic cylinder56and the second hydraulic accumulator36in a similar manner as discussed above when the second valve58and the third valve76of the second machine14are in the first configuration (described in conjunction withFIG. 4). Then, the impact energy generated at the beginning of the pull operation is stored by the second hydraulic accumulator36in the second machine14. Thereafter, the impact energy stored in the second hydraulic accumulator36of the second machine14is reused by the implement hydraulic circuit80of the second machine14.

It will be apparent to one skilled in the art that the above-mentioned system for recovering the impact energy generated during the at least one of the push operation and the pull operation may be applicable in a single machine as well, without departing from the scope of the disclosure.

INDUSTRIAL APPLICABILITY

Earth moving machines are utilized for a variety of tasks such as for excavating, scraping, hauling, pushing material, and dumping excavated material and are affected by working conditions of a work site. In order to increase the productivity and/or the efficiency of the tasks, typically, another machine is used in collaboration with a first machine. In order to fulfill the collaboration between two machines or among multiple machines, the coupling assembly (e.g. hitch, hook, bail or pushing pad) are installed on the earth moving machines. However, the contact between two machines, during collaboration, is difficult to control. The uncontrolled contact increases fatigue in machine components and decreases useful life of machines. Moreover, the unpredictable load condition during a loading process can also result in sudden uncontrolled contact between the machines working in collaboration. Also, the impact energy, arising out of uncontrolled contacts, is wasted and results in fatigue of the machine components, and decreases the useful life of machines.

FIG. 6is a flowchart illustrating a method98for recovering the impact energy generated during the at least one of the push operation and the pull operation between the two machines10, in accordance with the concepts of the present disclosure. The method98is described in conjunction withFIGS. 1, 2, 3, 4, and 5.

At step100, parameters of the first machine12and the second machine14are determined by the controller92(shown inFIG. 4) of the first machine12and the controller94(shown inFIG. 4) of the second machine14respectively. The controller92of the first machine12and the controller94of the second machine14, receive the speed and the position information from the machine sensors88and the machine sensors90respectively. The parameters of the first machine12and the second machine14are utilized to recover the impact energy generated at the beginning of the push operation and the pull operation. In an embodiment, the parameters such as, but not limited to, a speed, a weight, a location, or a position of the first machine12and the second machine14. It should be noted that the above-mentioned parameters have been provided only for illustration purposes, other parameters of the first machine12and the second machine14may be determined, without departing from the scope of the disclosure.

At step102, it is checked whether the first machine12is pulling the second machine14. If the first machine12is pulling the second machine14(answer is “Yes”), the method98goes to the step104. Otherwise, the method98goes to the step108.

At step104, the controllers compare the difference between the speed of the first machine12and the speed of the second machine14to a first threshold value, which is predetermined during calibration tests. If the difference between the speed of the first machine12and the speed of the second machine14is greater than the first threshold value (answer is “Yes”), the method98goes to the step106. Otherwise, the method98goes to the step114.

At step106, the controller94of the second machine14provides an instruction for actuating the second valve58and the third valve76of the second machine14to establish the fluid communication between the third hydraulic cylinder56and the second hydraulic accumulator36of the second machine14. Thereafter, the impact energy is stored in the second hydraulic accumulator36of the second machine14.

At step114, a proper fluid configuration (the third configuration of the first valve50of the first machine12and the second valve58of the second machine14) is selected by the controller92of the first machine12, and/or the controller94of the second machine14, for deactivating an energy recovery function.

Referring again to step108, whether the second machine14is pushing the first machine12is checked. If the second machine14is pushing the first machine12(the answer is “yes”), the method98goes to the step110. Otherwise, the method98goes to the step114.

At step110, the controllers compare the difference between the speed of the second machine14and the speed of the first machine12to a second threshold, which is predetermined during calibration tests. If the difference between the speed of the second machine14and the speed of the first machine12is greater than the second threshold value (the answer is “Yes”), the method98goes to the step112. Otherwise, the method98goes to the step114.

At step112, the controller92of the first machine12provides an instruction for actuating the first valve50and the third valve68of the first machine12to establish the fluid communication between the second hydraulic cylinder48and the first hydraulic accumulator24of the first machine12, as discussed above. Thereafter, the impact energy is stored in the first hydraulic accumulator24of the first machine12.

The present disclosure provides the system for recovering the impact energy during the push operation and the pull operation between the two machines10operated in the worksite. The system discloses the first machine12and the second machine14having the controller92and the controller94respectively, that provide an instruction to selectively actuate the first valve50and the second valve58in order to store the impact energy generated due to the uncontrolled impacts generated at the beginning of the push operation and the pull operation. Upon actuation, the first valve50establishes the fluid communication between the second hydraulic cylinder48and the first hydraulic accumulator24during the push operation. Similarly, the second valve58establishes the fluid communication between the third hydraulic cylinder56and the second hydraulic accumulator36during the pull operation. Consequently, the impact energy generated due to uncontrolled impacts at the beginning of the push operation and the pull operation is stored in the first hydraulic accumulator24of the first machine12and the second hydraulic accumulator36of the second machine14, respectively. Thereafter, the stored impact energy is reused by the implement hydraulic circuit72of the first machine12and the implement hydraulic circuit80of the second machine14. Therefore, the system of the present disclosure allows the recovery of the impact energy generated during the collaboration of the two or more machines, and also increases the useful life of the machines10and components.