Patent Publication Number: US-9890518-B2

Title: Hydraulic drive system for construction machine

Description:
TECHNICAL FIELD 
     The present invention relates to a hydraulic drive system provided for a construction machine such as an excavator or the like, and in particular to a hydraulic drive system for a construction machine that recovers positional energy of a front work implement when the front work implement is lowered. 
     BACKGROUND ART 
     Patent Document 1 describes a hydraulic drive system as below. A first holding valve is provided in an actuator line between the bottom-side chamber of a boom cylinder and a directional control valve (a changeover valve). A recovery pump motor is disposed via a second holding valve in a line branching from the actuator line. The recovery pump motor is connected on the discharge side thereof to a tank via a proportional restrictor. This hydraulic drive system is such that during the boom-lowering operation in midair in which the boom cylinder can be contracted under the self-weight of a front work implement, the recovery pump motor is rotated by opening the second holding valve to discharge the hydraulic fluid from the bottom-side chamber of the boom cylinder. The rotation of the recovery pump rotates a generator to recover the positional energy of the front work implement. If the front work implement is brought into contact with the ground for excavating, a directional control valve is switched so as to supply hydraulic fluid from a hydraulic pump to the rod-side chamber of the boom cylinder. In addition, the first and second holding valves are opened to discharge the hydraulic fluid in the bottom-side chamber of the boom cylinder for ensuring a necessary excavating force. 
     Patent Document 2 describes a hydraulic drive system that includes a jack-up changeover valve and a flow control valve. The jack-up changeover valve is switched when the pressure in the bottom-side chamber of a boom cylinder becomes equal to or higher than a predetermined pressure. With the switching operation of this changeover valve the flow control valve opens or closes a line adapted to supply hydraulic fluid from a main pump to the rod-side chamber of the boom cylinder. The hydraulic drive system is such that during the boom-lowering operation in midair in which the boom cylinder can be contracted under the self-weight of a front work implement, the jack-up changeover valve is switched to close the flow control valve. The supply of the hydraulic fluid from the main pump to the rod-side chamber of the boom cylinder is blocked. In addition, the hydraulic fluid discharged from the bottom-side chamber of the boom cylinder is supplied to the rod-side chamber for recovery. Thus, pump-consumption horsepower is controlled during the boom-midair lowering operation. During the jack-up in which the boom cannot be lowered under self-weight, the jack-up changeover valve is not switched because of the low pressure in the bottom-side chamber of the boom cylinder. The flow control valve is held at an open position and hydraulic fluid is supplied from the main pump to the rod-side chamber of the boom cylinder. Thus, the jack-up operation is enabled. 
     PRIOR ART DOCUMENTS 
     Patent Documents 
     Patent Document 1: JP-2009-299719-A 
     Patent Document 2: WO2004-070211 
     SUMMARY OF THE INVENTION 
     Problem to be Solved by the Invention 
     The hydraulic drive system described in Patent Document 1 is such that during the boom-midair lowering operation in which the boom cylinder is contracted under the self-weight of the front work implement, the positional energy of the front work implement is recovered as electric energy for improving energy efficiency. It is conceivable that the jack-up operation can also be performed, similarly to the case of performing the excavating, by switching the directional control valve to supply hydraulic fluid from the main pump to the rod-side chamber of the boom cylinder and by opening the first and second holding valves to discharge the hydraulic fluid in the bottom-side chamber of the boom cylinder. To that end, however, it is necessary to install the first and second holding valves and to control the opening and closing thereof. The circuit configuration of the hydraulic drive system becomes complicated. As a result, difficulties may probably occur in terms of installation space and costs. During the jack-up operation, it is necessary to supply hydraulic fluid from the main pump to the rod-side chamber of the boom cylinder; therefore, there is room for improvement in view of energy efficiency. 
     The hydraulic drive system described in Patent Document 2 is such that during the boom-midair lowering operation in which the boom cylinder is contracted under the self-weight of the front work implement, the recovery of the hydraulic fluid is achieved by supplying the hydraulic fluid in the bottom-side chamber of the boom cylinder to the rod-side chamber. However, the positional energy of the front work implement cannot be recovered as electric energy. The jack-up operation can be performed by using the pressure in the bottom-side chamber of the boom cylinder to switch the jack-up changeover valve and the flow control valve and supplying the hydraulic fluid from the main pump to the bottom-side chamber of the boom cylinder. It is necessary, however, to install the jack-up changeover valve and the flow control valve in order to allow for both the boom-midair lowering operation and the jack-up operation. The circuit configuration of the hydraulic drive system becomes complicated. Thus, difficulties probably occurs in terms of installation space and costs. Also in this conventional technology, the jack-up operation needs to supply the hydraulic fluid from the hydraulic pump to the rod-side chamber of the boom cylinder. Thus, there is room for improvement in view of energy efficiency. 
     It is an object of the present invention to provide a hydraulic drive system for a construction machine that can allow for both boom-midair lowering operation and jack-up operation and that can improve energy efficiency more than ever. 
     Means for Solving the Problem 
     To achieve the above object, a first invention is a hydraulic drive system for driving a working element in a construction machine, including: a main pump; a double-acting hydraulic cylinder driven by hydraulic fluid discharged from the main pump for driving the working element, the hydraulic cylinder having a rod-side chamber and a bottom-side chamber, the working element having a self-weight acting in a direction in which the hydraulic cylinder contracts; an operating device; a directional control valve adapted, when the operating device is operated for the working element to work in a rising direction, to supply hydraulic fluid discharged from the main pump to the bottom-side chamber of the hydraulic cylinder and to return the hydraulic fluid discharged from the rod-side chamber of the hydraulic cylinder to a tank; a discharge line connecting the bottom-side chamber of the hydraulic cylinder to the tank; a hydraulic pump/motor disposed in the discharge line; a first variable restrictor disposed in a portion of the discharge line between the hydraulic pump/motor and the tank; a recovery circuit for connecting a portion of the discharge line between the hydraulic pump/motor and the variable restrictor to the rod-side chamber of the boom cylinder; a generator/electric motor connected to the hydraulic pump/motor for integral rotation therewith; and a control unit configured to control the generator/electric motor as a generator and to control an opening area of the first variable restrictor such that a certain recovery flow rate is supplied from the recovery circuit to the rod-side chamber of the hydraulic cylinder when the operating device is operated for the working element to work in the descending direction and the hydraulic cylinder is descendable under the self-weight of the working element, the control unit further configured to control the generator/electric motor as an electric motor and to control the opening area of the first variable restrictor such that the certain recovery flow rate is supplied from the recovery circuit to the rod-side chamber of the hydraulic cylinder when the operating device is operated for the working element to work in the descending direction and the hydraulic cylinder is not descendable under the self-weight of the working element. 
     With this characteristic, if the operating device is operated for the working element to work in a descending direction and the working element can be turned under the self-weight thereof, the generator/electric motor is operated as a generator to recover the positional energy. The hydraulic fluid after the recovery is partially supplied to the rod-side chamber of the hydraulic cylinder via the recovery circuit. Thus, energy efficiency can be improved without supplying the hydraulic fluid to the rod-side chamber of the hydraulic cylinder from the main pump. If the working element cannot be turned under the self-weigh thereof, the generator/electric motor is operated as an electric motor to operate the hydraulic pump/motor as a pump. The hydraulic fluid is supplied from the bottom-side chamber to rod-side chamber of the hydraulic cylinder. Therefore, the jack-up is enabled without supplying the hydraulic fluid to the rod-side chamber of the hydraulic cylinder from the main pump. Thus, the hydraulic drive system for the construction machine has a simplified circuit configuration, probably causes no difficulty in terms of installation space and costs, has no need to supply the hydraulic fluid from the main pump during the jack-up operation, and achieves an improvement in energy efficiency. 
     In the first invention, a second invention further includes a pressure detecting device for detecting pressure in the bottom-side chamber of the hydraulic cylinder. When the operating device is operated for the working element to work in the descending direction, with the pressure detected by the pressure detecting device being equal to or higher than a predetermined pressure, the control unit determines that the hydraulic cylinder is descendable under the self-weight of the working element, whereas if not, the control unit determines that the hydraulic cylinder is not descendable under the self-weight of the working element. 
     This can achieve, with the simple configuration, a determination as to whether or not the working element can be turned under the self-weight thereof. 
     In the first invention, a third invention further includes: a first line for connecting the directional control valve to the bottom-side chamber of the hydraulic cylinder; a second line for connecting the directional control valve to the rod-side chamber of the hydraulic cylinder; and a second variable restrictor disposed in the first line. The directional control valve is configured such that, when the operating device is operated for the working element to work in the rising direction, the main pump becomes connected to the first line and the second line becomes connected to the tank, and when the operating device is operated for the working element to work in the descending direction, the first line becomes connected to the tank and the second line becomes blocked. The control unit controls the second variable restrictor such that, when the operating device is operated for the working element to work in the rising direction, the second variable restrictor becomes an open state, and when the operating device is operated for the working element to work in the descending direction, the second variable restrictor switches into a closed state, the switching speed into a closed state decreasing as the operation speed of the operation device increases. 
     This can increase the response speed of the hydraulic cylinder in response to the operation of the operation device encountered when the hydraulic cylinder is operated, particularly, when operated in the lowering direction. Thus, an improvement in operability can be achieved. 
     In the first invention, a fourth invention is such that when the operating device is operated in the direction in which the working element lowers, with the hydraulic cylinder not being descendable under the self-weight of the working element, the control unit controls the rotation speed of the generator/electric motor for controlling a delivery rate of the hydraulic pump/motor. 
     This can achieve the lowering-directional operation speed of the working element in accordance with the operation amount and operation speed of the operation device with the configuration to recover the positional energy of the working element. 
     In the first invention, a fifth invention is such that when the operating device is operated in the direction in which the working element lowers, with the hydraulic cylinder not being descendable under the self-weight of the working element, the control unit controls the capacity of the hydraulic pump/motor for controlling the delivery rate of the hydraulic pump/motor. 
     This can achieve the lowering-directional operation speed of the working element in accordance with the operation amount and operation speed of the operation device with a simple configuration. 
     Effects of the Invention 
     The present invention can, with a simple configuration, perform both the boom-midair lowering operation and the jack-up operation and improve energy efficiency more than ever. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a configuration diagram showing an outline of a first embodiment of a hydraulic drive system for a construction machine of the present invention. 
         FIG. 2  is a lateral view of a hydraulic excavator having a first embodiment of the hydraulic drive system for the construction machine of the present invention. 
         FIG. 3  shows functional blocks of opening area control for a second variable restrictor by a controller according to the first embodiment of the hydraulic drive system for the construction machine of the present invention. 
         FIG. 4A  shows a functional block of control for a hydraulic pump/motor by the controller according to the first embodiment of the hydraulic drive system for the construction machine of the present invention. 
         FIG. 4B  shows a functional block of control for the hydraulic pump/motor by the controller according to the first embodiment of the hydraulic drive system for the construction machine of the present invention. 
         FIG. 5  shows functional blocks of opening area control for a first variable restrictor by a controller according to the first embodiment of the hydraulic drive system for the construction machine of the present invention. 
         FIG. 6  is a configuration diagram showing an outline of a second embodiment of a hydraulic drive system for a construction machine of the present invention. 
         FIG. 7  is a configuration diagram showing an outline of a third embodiment of a hydraulic drive system for a construction machine of the present invention. 
         FIG. 8A  shows a functional block of control of a hydraulic pump/motor by a controller according to the third embodiment of the hydraulic drive system for the construction machine of the present invention. 
         FIG. 8B  shows a functional block of control for the hydraulic pump/motor by the controller according to the third embodiment of the hydraulic drive system for the construction machine of the present invention. 
     
    
    
     MODE FOR CARRYING OUT THE INVENTION 
     Embodiments of a hydraulic drive system for a construction machine of the present invention will hereinafter be described with reference to the drawings. 
     &lt;Construction Machine&gt; 
     A construction machine provided with a hydraulic drive system according to the present invention will first be described with reference to  FIG. 2 . 
       FIG. 2  illustrates a hydraulic excavator, which is one example of construction machines, provided with a hydraulic drive system according to the present invention. 
     Referring to  FIG. 2 , a hydraulic excavator  100  includes a track structure  110 , a swing structure  120  provided for swing on the track structure  110 , and a front work implement  130  supported for vertical turning on the swing structure  120 . 
     The track structure  110  is composed of a pair of crawlers  111   a ,  111   b  (only one side is shown in  FIG. 2 ), a pair of crawler frames  112   a ,  112   b  (only one side is shown in  FIG. 2 ), a pair of right and left traveling hydraulic motors  113 ,  114  (only one side is shown in  FIG. 2 ) which controllably drive the associated crawlers  111   a ,  111   b , reduction gears therefor and the like. 
     The front work implement  130  includes a boom  131  supported for turning on the swing structure  120 , a boom cylinder  5  for driving the boom  131 , an arm  133  supported for turning in the vicinity of a leading end portion of the boom  131 , an arm cylinder  134  for driving the arm  133 , a bucket  135  supported for turning at an end of the arm  133 , and a bucket cylinder  136  for driving the bucket  135 . 
     First Embodiment 
     A first embodiment of a hydraulic drive system for the construction machine of the present invention is described with reference to  FIGS. 1 to 5 . 
       FIG. 1  shows the first embodiment of the hydraulic drive system for the construction machine of the present invention and an outline of the hydraulic drive system for the boom cylinder  5  which drives the boom  131  in the front work implement  130  mounted in the hydraulic excavator  100 . 
     Referring to  FIG. 1 , the hydraulic drive system for the construction machine includes a main pump  2 , a pilot pump  3 , and the boom cylinder  5  driven by hydraulic fluid discharged by the main pump  2 . The main pump  2  and the pilot pump  3  are rotatably driven by an engine  1  to discharge hydraulic operating fluid. 
     The boom cylinder  5  is a double acting type single rod cylinder. The boom cylinder  5  has a rod-side chamber  5   a  and a bottom-side chamber  5   b . The boom cylinder  5  is mounted to the boom  131  so that the boom  131  may be turned in a rising direction when the boom cylinder  5  is extended and the boom  131  may be turned in a lowering direction when the boom cylinder  5  is contracted. The self-weight of the boom  131  of the front work implement  130  acts in the contracting direction of the boom cylinder  5 . 
     The hydraulic drive system includes a directional control valve  4 , a first line  20 , a second line  21  and a discharge line  22 . The directional control valve  4  controls the flow (a direction and a flow rate) of the hydraulic fluid supplied from the main pump  2  to the boom cylinder  5 . The first line  20  connects the directional control valve  4  to the bottom-side chamber  5   b  of the boom cylinder  5 . The second line  21  connects the directional control valve  4  to the rod-side chamber  5   a  of the boom cylinder  5 . The discharge line  22  connects the bottom-side chamber  5   b  of the boom cylinder  5  to a tank T. 
     When assuming a neutral position, the directional control valve  4  blocks the first line and the second line to return the hydraulic fluid discharged from the main pump  2  to the tank T. When a control lever device  6  is operated to move the boom  131  in the rising direction, the main pump  2  is connected to the first line  20  to supply the hydraulic fluid discharged from the main pump  2  to the bottom-side chamber  5   b  of the boom cylinder  5 . In addition, the second line  21  is connected to the tank T to return the hydraulic fluid discharged from the rod-side chamber  5   a  of the boom cylinder  5  to the tank T. When the control lever device  6  is operated in the lowering direction of the boom cylinder  5 , the directional control valve  4  returns the hydraulic fluid discharged from the main pump  2  to the tank T directly. In addition, the directional control valve  4  connects the first hydraulic line  20  to the tank T and blocks the second line  21 . 
     A variable restrictor  12 , the degree of restriction (the opening area) of which is variable, is located in the first line  20 . The opening area of the variable restrictor  12  is controlled by an electromagnetic valve  13 . The electromagnetic valve  13  is controlled in the opening area thereof in response to a control signal (a target current value I) from a controller  19 . 
     A holding valve  9  and a pressure sensor (a pressure detecting device)  15  are located in the first line  20  at a portion close to the bottom-side chamber  5   b  of the boom cylinder  5 . The holding valve  9  is a pilot check valve, which is opened when the control lever device  6  is operated so that the front work implement  130  may be operated in the lowering direction. The pressure sensor  15  detects the pressure in the bottom-side chamber  5   b  of the boom cylinder  5  and outputs the pressure thus detected to the controller  19 . 
     A hydraulic pump/motor  7  is located in the discharge line  22  at a portion between the holding valve  9  and the tank T. A generator/electric motor  10  is connected to the hydraulic pump/motor  7  so as to be rotated integrally with the hydraulic pump/motor  7 . The hydraulic pump/motor  7  functions as a hydraulic motor that is rotated by the hydraulic fluid which flows out from the bottom-side chamber  5   b  of the boom cylinder  5  when the boom  131  lowers under the self-weight thereof. In this way, the rotating shaft of the generator/electric motor  10  is rotated to allow the generator/electric motor  10  to function as a generator. The hydraulic pump/motor  7  functions as a hydraulic pump that is rotated by the rotation of the generator/electric motor  10  which functions as an electric motor during jack-up or the like. In this way, the hydraulic fluid in the bottom-side chamber  5   b  of the boom cylinder  5  is partially supplied to the rod-side chamber  5   a  of the boom cylinder  5  via a recovery circuit  23  (described later) and the second line  21 . 
     The generator/electric motor  10  generates electric energy, which is stored in a battery  18   c  via an inverter  18   a  and a chopper  18   b . In addition, the generator/electric motor  10  is rotated using the electric energy thus stored in the battery  18   c . The generator/electric motor  10  is controlled in power generation torque and rotation speed, for its functioning as a generator or an electric motor, in response to control current outputted by the controller  19  so that the lowering speed of the boom  131  may become a lowering speed corresponding to the operation amount of a control lever  6   a  of the control lever device  6 . 
     A variable restrictor  11 , the opening area of which is variable, is located in the discharge line  22  at a portion between the hydraulic pump/motor  7  and the tank T. The variable restrictor  11  is controlled in the opening area thereof by an electromagnetic valve  14 . The electromagnetic valve  14  controls the opening area in response to a control signal (a target current value I) from the controller  19 . 
     The recovery circuit  23  is disposed between the second line  21  and a portion of the discharge line  22  between the hydraulic pump/motor  7  and the variable restrictor  11  so as to connect such a portion of the discharge line  22  to the rod-side chamber  5   a  of the boom cylinder  5 . The recovery circuit  23  has a check valve  8  adapted to permit the flow of hydraulic fluid only in a direction from the discharge line  22  toward the second line  21 . 
     The control lever device (the operating device)  6  for controlling the moving direction of the boom cylinder  5  is installed in a cabin of the hydraulic excavator  100 . The control lever device  6  has the control lever  6   a  and pilot valves (pressure-reducing valves)  6   b   1 ,  6   b   2 . If the control lever  6   a  of the control lever device  6  is operated in a boom-raising direction A, the pilot valve  6   b   1  produces a pilot pressure according to the operation amount of the control lever  6   a  using the discharge pressure of the pilot pump  3  as an original pressure. In addition, the pilot valve  6   b   1  outputs the pilot pressure to a pilot line  6   c  to switch the directional control valve  4  to an “a” position. If the control valve  6   a  is operated in a boom-lowering direction B, the pilot valve  6   b   2  produces a pilot pressure according to the operation amount of the control lever  6   a  using the discharge pressure of the pilot pressure as an original pressure. In addition, the pilot valve  6   b   2  outputs the pilot pressure to a pilot line  6   d  to switch the directional control valve  4  to a “b” position and to open the holding valve  9  via a pilot line  6   e  branching from the pilot line  6   d . A pressure sensor  16  for detecting the pressure (the pilot pressure) of the hydraulic fluid of the pilot line  6   e  is provided in the pilot line  6   e . The pressure sensor  16  outputs the pressure signal detected thereby to the controller  19 . 
     The controller  19  is a control unit. The controller  19  calculates the target currents I used to control the opening areas of the electromagnetic valves  13 ,  14  on the basis of the pressure detected by the pressure sensor  16  provided in the pilot line  6   d  and the pressure detected by the pressure sensor  15  provided in the discharge line  22 . In addition, on the basis of the computing results, the controller  19  controls the electromagnetic valves  13 ,  14  to control the opening areas of the variable restrictors  11 ,  12 . Further, on the basis of the pressures detected by the pressure sensors  15  and  16 , the controller  19  calculates a torque instruction value used to control the rotation speed of the generator/electric motor  10  and outputs it to the inverter  18   a  to control the delivery rate of the hydraulic pump/motor  7 . 
     —Operation— 
     A description is next given of the operation of the hydraulic driving system for the construction machine according to the first embodiment described with reference to  FIGS. 3 to 5 . 
     —Boom-Raising— 
     In the hydraulic excavator  100  as illustrated in  FIG. 2 , if an operator operates the control lever  6   a  of the control lever device  6  in the boom-raising direction A, the pilot valve  6   b   1  of the control lever device  6  outputs the pilot pressure according to the operation amount of the control lever  6   a  to the pilot line  6   c  to switch the directional control valve  4  to the “a” position. In this case, the variable restrictor  12  is controlled to be fully opened and the hydraulic fluid discharged from the main pump  2  passes through the first line  20  via the directional control valve  4  and flows into the bottom-side chamber  5   b  of the boom cylinder  5 . As a result, the boom cylinder  5  is extended to turn the boom  131  in the rising-direction. The hydraulic fluid discharged from the rod-side chamber  5   a  of the boom cylinder  5  is returned to the hydraulic operating fluid tank T via the second line  21  and the directional control valve  4 . 
     —Boom-Midair Lowering— 
     A description is next given of operation encountered when an operator operates the control lever  6   a  of the control lever device  6  in the boom-lowering direction B in a state where the front work implement  130  is in midair, that is, in a state where the front work implement  130  assumes such a posture as to be able to turn in the lowering direction under the self-weight of the boom  131 . 
     If the operator operates the control lever  6   a  of the control lever device  6  in the boom-lowering direction B, the pilot valve  6   b   2  of the control lever device outputs the pilot pressure according to the operation amount of the control lever  6   a  to the pilot line  6   d , thereby switches the directional control valve  4  to the “b” position. At the same time, the pilot pressure acts on the holding valve  9  via the pilot line  6   e  to open it, allowing hydraulic fluid to flow out from the bottom-side chamber  5   b  of the boom cylinder  5 . In this case, because of gravitational force acting on the front work implement  130 , the bottom-side chamber  5   b  of the boom cylinder  5  becomes high-pressure, which is detected by the pressure sensor  15 . In addition, the pressure sensor  16  detects the pilot pressure acting on the holding valve  9 . 
     The pilot pressure detected by the pressure sensor  16  may be higher than the minimum pressure of the pilot pressure and the pilot pressure detected by the pressure sensor  15  may be equal to or higher than a predetermined pressure. In such a case, the controller  19  determines that the front work implement  130  can be turned under the self-weight of the boom  131 . In addition, the controller  19  exercises the control as below. 
     The controller  19  first exercises such control as to reduce the opening area of the variable restrictor  12  so that the hydraulic fluid discharged from the bottom-side chamber  5   b  of the boom cylinder  5  may not flow in the first line  20  but flow in the discharge line  22 .  FIG. 3  shows control-content (calculation) processing performed by the controller  19  at this time. 
     As shown in  FIG. 3 , the controller  19  differentiates the pressure of the hydraulic fluid of the pilot line  6   d  detected by the pressure sensor  16  to calculate a pilot pressure variation (time variation) ΔP (Block  9   a ). The pilot pressure variation ΔP corresponds to the operation speed of the control lever  6   a  of the control lever device  6 . The controller  19  next calculates the opening area variation ΔA of the variable restrictor  12  (Block  9   b ). The opening area variation ΔA corresponds to the operation speed of the variable restrictor  12  in the closing direction thereof. The variation A of the opening area is calculated by, as shown in  FIG. 3 , presetting the relationship between ΔP and ΔA in which as the pilot pressure variation ΔP is increased (the operation speed of the control lever  6   a  of the control lever device  6  is increased), the opening area variation ΔA is reduced (the operation speed of the variable restrictor  12  in the closing direction thereof is reduced). Then, the opening area variation ΔA is obtained by relating the pilot pressure variation ΔP calculated in Block  9   a  to such a relationship. The controller  19  next calculates the target opening area A of the variable restrictor  12  from the opening area variation ΔA (Block  9   c ). This calculation is carried out by e.g. PID (proportion-integration-differentiate) operation. Thereafter, the controller  19  converts the target opening area A to the target current value I of the electromagnetic valve  13  and outputs an associated control current to the electromagnetic valve  13  (Block  9   d ). The electromagnetic valve  13  is operated in response to the target current value I outputted from the controller  19  to produce pilot pressure corresponding to the target current value I using the discharge pressure of the pilot pump  3  led via a line  25  as an original pressure and outputs it to a pilot line  26 . The pilot pressure outputted to the pilot line  26  is led to the operation port of the variable restrictor  12  to regulate the opening area of the variable restrictor  12  in response to such pilot pressure. 
     The controller  19  controls the generator/electric motor  10  as a generator.  FIG. 4A  shows control-content (calculation) processing performed by the controller  19  at this time. The controller  19  has the preset relationship between P and τ g  in which as the pilot pressure P is increased, power generation torque τ g  of the generator/electric motor  10  is reduced so that the lowering speed of the boom cylinder  5  may become cylinder speed according to the lowering operation amount of the control lever  6   a  of the control lever device  6 . The controller  19  calculates associated τ g  by relating the pilot pressure P detected by the pressure sensor  16  to such a relationship (Block  9   j ). The controller  19  controls the power generation torque of the generator/electric motor  10  via the inverter  18   a  on the basis of a command value τ g  of the power generation torque. In this way, the hydraulic pump/motor  7  is given resistance torque corresponding to the power generation torque of the generator/electric motor  10 . The hydraulic pump/motor  7  is rotated at rotation speed corresponding to the power generation torque of the generator/electric motor  10  to control the delivery rate thereof. 
     The controller  19  controls the opening area of the variable restrictor  11  to control the flow rate (the recovery flow rate) of the hydraulic fluid supplied from the bottom-side chamber  5   b  to rod-side chamber  5   a  of the boom cylinder  5  via the hydraulic pump/motor  7  and via the recovery circuit  23  becomes a flow rate according to the lowering speed of the boom cylinder  5  corresponding to the operation amount of the control lever  6   a  of the control lever device  6  and the rod-side chamber  5   a  is prevented from having negative pressure.  FIG. 5  shows control-content (calculation) processing performed by the controller  19  in this case. 
     As shown in  FIG. 5 , the controller  19  has a preset target opening area A 1  appropriate for boom-midair lowering operation and a preset target opening area A 2  appropriate for jack-up operation. The controller  19  selects the target opening area A 1  of the midair lowering operation as a target opening area A (Block  9   f ). The controller  19  next converts the target opening area A (A 1 ) thus selected to the target current value I of the electromagnetic valve  14  and outputs an associate control current to the electromagnetic valve  14  (Block  9   g ). The electromagnetic valve  14  is operated in response to the target current value I outputted from the controller  19  to produce pilot pressure corresponding to the target current value I using the discharge pressure of the pilot pump  3  led via the line  25  and a line  27  as an original pressure and outputs it to a pilot line  28 . The pilot pressure outputted to the pilot line  28  is led to the operation port of the variable restrictor  11 . The variable restrictor  11  is adjusted in response to the pilot pressure so that the opening area thereof becomes A 1 . 
     The control is exercised as described above. The hydraulic fluid is discharged from the bottom-side chamber  5   b  of the boom cylinder  5 . The hydraulic fluid thus discharged flows in the discharge line  22  via the holding valve  9  to rotate the hydraulic pump/motor  7  for power generation operation of the generator/electric motor  10 . The electric power thus generated is stored in the battery  18   c . Thus, the positional energy of the boom  131  is recovered as electric energy. The hydraulic fluid that has rotated the hydraulic pump/motor  7  partially flows into the rod-side chamber  5   a  of the boom cylinder  5  via the check valve  8  of the recovery circuit  23 . The remaining of the hydraulic fluid returns to the hydraulic operating fluid tank T via the variable restrictor  11 . 
     As described above, the hydraulic fluid discharged from the bottom-side chamber  5   b  of the boom cylinder  5  is partially supplied to the rod-side chamber  5   a  side of the boom cylinder  5  as a recovery flow rate. Therefore, the hydraulic fluid is not supplied from the main pump  2  to the rod-side chamber  5   a  of the boom cylinder  5 . Thus, the drive energy of the main pump  2  can be saved. 
     —Jack-Up— 
     A description is next given of operation in the case where the track structure  110  is partially lifted from the ground by operatively lowering the boom  131  to allow the front work implement  130  contacting with the ground to push the ground (jack-up). 
     An operator continuously operates the control lever  6   a  of the control lever device  6  in the boom-lowering direction B. When the bucket  135  of the front work implement  130  comes into contact with the ground, a pressing force acts on the front work implement  130 . In this case, a pull force acts on the boom cylinder  5 ; therefore, the pressure of the hydraulic fluid in the bottom-side chamber  5   b  of the boom cylinder  5  is lowered. 
     The pilot pressure detected by the pressure sensor  16  may be higher than the minimum pressure of the pilot pressure. In addition, the pressure of the hydraulic fluid on the bottom-side chamber  5   b  side of the boom cylinder  5  detected by the pressure sensor  15  may be equal to or lower than a predetermined pressure. In such a case, the controller  19  determines that the front work implement  130  cannot be turned in the lowering direction under the self-weight of the boom  131 , that is, that jack-up operation is instructed. In addition, the controller  19  exercises the control as below. 
     The controller  19  performs the same processing as during the boom-midair lowering operation, and thereby outputs a target current value I to the electromagnetic valve  13  so as to reduce the opening area of the variable restrictor  12 . 
     As shown in  FIG. 4B , the controller  19  controls the generator/electric motor  10  as an electric motor.  FIG. 4B  shows control-content (calculation) processing performed by the controller  19  at this time. The controller  19  presets the relationship between P and τ d  in which as the pilot pressure P is increased, the electric operation torque τ d  of the generator/electric motor  10  is increased so that the lowering speed of the boom cylinder  5  may become cylinder speed according to the lowering operation amount of the control lever  6   a  of the control lever device  6 . The controller  19  calculates associated τ d  by relating the pilot pressure P detected by the pressure sensor  16  to such a relationship (Block  9   k ). In addition, the controller  19  controls the electric operation torque of the generator/electric motor  10  via the inverter  18   a  on the basis of the command value τ d  of the electric operation torque. In this way, the hydraulic pump/motor  7  is given resistance torque corresponding to the electric operation torque of the generator/electric motor  10 . The hydraulic pump/motor  7  is rotated at rotation speed corresponding to the electric operation torque of the generator/electric motor  10  to control the delivery rate thereof. 
     The controller  19  controls the opening area of the variable restrictor  11  as below. Hydraulic fluid is supplied from the bottom-side chamber  5   b  to rod-side chamber  5   a  of the boom cylinder  5  via the hydraulic pump/motor  7  and the recovery circuit  23 . The flow rate (the recovery flow rate) of such hydraulic fluid is made equal to a flow rate necessary to allow the pressing force needed to lift a portion of the track structure  110  from the ground to act on the front work implement  130  via the boom cylinder  5 .  FIG. 5  shows control-content (calculation) processing performed by the controller  19  in this case. 
     As described above, the controller  19  has the preset target opening area A 1  appropriate for boom-midair lowering operation and the preset target opening area A 2  appropriate for jack-up operation. The controller  19  selects the target opening area A 2  for the jack-up operation as a target opening area A (Block  9   f ). The controller  19  next converts the target opening area A (A 2 ) thus selected to the target current value I of the electromagnetic valve  14  and outputs an associate control current to the electromagnetic valve  14  (Block  9   g ). The electromagnetic valve  14  is operated in response to the target current value I outputted from the controller  19  to produce pilot pressure corresponding to the target current value I using the discharge pressure of the pilot pump  3  led via the lines  25 ,  27  as an original pressure and outputs it to a pilot line  28 . The pilot pressure outputted to the pilot line  28  is led to the operation port of the variable restrictor  11 . The variable restrictor  11  is adjusted in response to the pilot pressure so that its opening area becomes A 2 . 
     The control is exercised as described above. Because of the electric operation of the generator/electric motor  10 , the hydraulic pump/motor  7  is operated as a pump. The hydraulic fluid is sucked from the bottom-side chamber  5   b  of the boom cylinder  5  and is partially supplied to the rod-side chamber  5   a  of the boom cylinder  5  via the check valve  8  of the recovery circuit  23 . In this way, the boom cylinder  5  is contracted, so that the pressing force necessary to lift a portion of the track structure  110  from the ground acts on the front work implement  130  via the boom cylinder  5  for the jack-up operation. 
     As described above, the hydraulic fluid discharged from the bottom-side chamber  5   b  of the boom cylinder  5  is partially supplied as a recovery flow rate toward the rod-side chamber  5   a  of the boom cylinder  5 . Therefore, the hydraulic fluid is not supplied to the rod-side chamber  5   a  of the boom cylinder  5  from the main pump  2 . Thus, the drive energy of the main pump  2  can be saved. 
     —Effects— 
     The hydraulic drive system for the construction machine of the first embodiment as described above is configured as follows: the generator/electric motor  10  which recovers the positional energy of the front work implement  130  is operated as an electric motor during the jack-up; and the hydraulic pump/motor as a recovery motor is rotated as a pump. The lines and the circuits are arranged so that when the control lever  6   a  is operated in the lowering direction B of the boom  131 , the hydraulic fluid is supplied from the bottom-side chamber  5   b  to rod-side chamber  5   a  of the boom cylinder  5 . During the boom-midair lowering operation in which the front work implement  130  can be turned under the self-weight of the boom  131 , the hydraulic pump/motor  7  is operated as a motor and the generator/electric motor  10  is operated as a generator. The power generation operation is performed by the hydraulic fluid discharged from the bottom-side chamber  5   b  of the boom cylinder  5  to recover positional energy. Thus, an improvement in energy efficiency is achieved. The hydraulic fluid after the recovery is partially supplied to the rod-side chamber  5   a  of the boom cylinder  5  via the recovery circuit  23 . Therefore, it is not necessary to supply the hydraulic fluid from the main pump  2  to the rod-side chamber  5   a  of the boom cylinder  5 . During the jack-up operation in which the turning of the front work implement  130  under the self-weight of the boom  131  is impossible, the generator/electric motor  10  is operated as an electric motor to operate the hydraulic pump/motor  7  as a pump. Because of the pumping operation of the hydraulic pump/motor  7 , the hydraulic fluid is supplied from the bottom-side chamber  5   b  to rod-side chamber  5   a  of the boom cylinder  5 . In this way, the jack-up operation is performed without supplying the hydraulic fluid from the main pump  2  to the rod-side chamber  5   a  of the boom cylinder  5 . 
     Consequently, unlike the hydraulic drive system described in Patent Document 1, it is not necessary during the jack-up operation to install the first and second holding valves and control the opening and closing thereof. In addition, the circuit configuration of the hydraulic drive system is not complicated; therefore, no difficulty would arise in terms of installation space and costs. During the jack-up operation, it is not necessary to supply hydraulic fluid from the main pump  2  to the rod-side chamber  5   a  of the boom cylinder  5 ; therefore, energy efficiency can be improved. 
     Unlike the hydraulic drive system described in Patent Document 2, it is not necessary to install the jack-up switching valve and the flow control valve in order to perform both the midair lowering operation of the boom  131  and the jack-up operation. The hydraulic drive system of the present embodiment has advantages as below. The circuit configuration of the hydraulic drive system is not complicated; therefore, no difficulty would arise in terms of installation space and costs. During the jack-up operation, it is not necessary to supply hydraulic fluid from the main pump  2  to the rod-side chamber  5   a  of the boom cylinder  5 ; therefore, energy efficiency can be improved. 
     The pressure sensor  15  to detect the pressure in the bottom-side chamber  5   b  is provided in the first line  20 . The control lever  6   a  of the control lever device  6  may be operated in the lowering direction of the front work implement  130 . In addition, the pressure detected by the pressure sensor  15  may be equal to or higher than the predetermined pressure. In such a case, the controller  19  determines that the boom cylinder  5  is in the state of being lowered under the self-weight of the boom  131  of the front work implement  130 . Otherwise, the controller  19  determines that the boom cylinder  5  is not in the state of being lowered under the self-weight of the boom  131  of the front work implement  130 . In this way, the determination as to whether or not the turning of the front work implement  130  under the self-weight of the boom  131  is possible can be achieved with a simple configuration. 
     Further, when the control lever  6   a  of the control lever device  6  is operated in the rising direction A of the front work implement  130 , the controller brings the variable restrictor  12  into the opening state. When the control lever  6   a  of the control lever device  6  is operated in the lowering direction B of the front work implement  130 , the controller  19  controls the variable restrictor  12  in the closing direction. In addition, the controller  19  controls the operation speed in the closing direction at that time so as to be reduced as the operation speed of the control lever  6   a  of the control lever device  6  is increased. The response speed of the boom cylinder  5  can be increased in response to the operation of the control lever  6   a  encountered when the front work implement  130  is operated in the rising direction and in the lowering direction. Thus, an improvement in operability can be achieved. In particular, the hydraulic pump/motor  7  starts to move slowly because of inertia; therefore, hydraulic fluid cannot quickly flow in the discharge line  22  at the time of the lowering operation of the front work implement  130 . However, the variable restrictor  12  is controlled in the closing direction and the operation speed in the closing direction at that time is controlled so as to be reduced as the operation speed of the control lever  6   a  of the control lever device  6  is increased. Therefore, the hydraulic fluid is discharged from the bottom-side chamber  5   b  of the boom cylinder  5  via the first line. Thus, responsiveness can be improved. 
     The delivery rate of the hydraulic pump/motor  7  is controlled by controlling the rotation speed of the generator/electric motor  10 . With this configuration for recovering the positional energy of the front work implement  130 , the operation speed of the boom cylinder  5  in the lowering direction according to the operation amount and operation speed of the control lever  6   a  can be achieved. 
     Second Embodiment 
     A second embodiment of the hydraulic drive system for the construction machine of the present invention is next be described with reference to  FIG. 6 . 
       FIG. 6  shows the second embodiment of the hydraulic drive system for the construction machine of the present invention. The hydraulic drive system for the construction machine of the second embodiment has a first line  20 A not provided with the variable restrictor in place of the first line  20  provided with the variable restrictor  12  incorporated in the hydraulic drive system for the construction machine of the first embodiment. 
     Additionally, the hydraulic drive system for the construction machine of the second embodiment has a directional control valve  4 A. When the directional control valve  4 A assumes a neutral position and the boom  131  is operated in the rising direction, the configuration of the directional control valve  4 A is almost the same as that of the directional control valve  4  of the hydraulic drive system for the construction machine of the first embodiment. When the control lever device  6  is operated in the lowering direction of the boom  131 , the directional control valve  4 A assumes the neutral position to block the first and second lines and returns the hydraulic fluid discharged from the main pump  2  to the tank T. Further, the hydraulic drive system for the construction machine of the second embodiment has, in place of the pilot line  6   e , a pilot line  6   e   1  to transfer pilot pressure to the holding valve  9 . 
     Additionally, the hydraulic drive system for the construction machine of the second embodiment has, in place of the lines  25 ,  27 , a line  25   a  to lead the discharge pressure of the pilot pump  3  to the variable valve  11  via the electromagnetic valve  14 . 
     The other configurations are almost the same as those of the hydraulic drive system for the construction machine of the first embodiment described above. 
     —Operation— 
     A description is given of the operation of the hydraulic drive system for the construction machine of the second embodiment described above. 
     In the hydraulic excavator  100  as illustrated in  FIG. 2 , if an operator operates the control lever  6   a  of the control lever device  6  in the boom-raising direction A, the pilot valve  6   b   1  of the control lever device  6  outputs the pilot pressure corresponding to the operation amount of the control lever  6   a  to the pilot line  6   c  to switch the directional control valve  4  to the “a” position. In this case, the hydraulic fluid discharged from the main pump  2  passes through the first line  20 A via the directional control valve  4 A and flows into the bottom-side chamber  5   b  of the boom cylinder  5 . As a result, the boom cylinder  5  is extended to turn the boom  131  in the rising direction. The hydraulic fluid discharged from the rod-side chamber  5   a  of the boom cylinder  5  returns to the hydraulic operating fluid tank T via the second line  21  and the directional control valve  4 . 
     In a state where the front work implement  130  assumes such a posture as to be able to turn in the lowering direction under the self-weight of the boom  131 , the operator may operate the control lever  6   a  of the control lever device  6  in the boom-lowering direction B. In such a case, the directional control valve  4 A is first switched to the neutral position to block the first line  20 A and the second line  21 . Therefore, the hydraulic fluid discharged from the bottom-side chamber  5   b  of the boom cylinder  5  flows in the discharge line  22  in accordance with the starting of the hydraulic pump/motor  7 . The other operations are almost the same as those of the boom-midair lowering operation in the hydraulic drive system for the construction machine of the first embodiment. 
     The jack-up operation is performed as below. In the state where the front work implement  130  is in contact with the ground, further the boom  131  is operatively lowered to allow the front work implement  130  to push the ground, whereby the track structure  110  is partially lifted from the ground. In such a case, the directional control valve  4 A is switched to the neutral position to block the first line  20 A and the second line  21 . The hydraulic fluid discharged from the bottom-side chamber  5   b  of the boom cylinder  5  flows to the discharge line  22  in accordance with the starting of the hydraulic pump/motor  7 . The other operations are almost the same as those of the jack-up operation in the hydraulic drive system for the construction machine of the first embodiment. 
     —Effects— 
     The hydraulic drive system for the construction machine of the second embodiment is inferior in operability to the hydraulic drive system for the construction machine of the first embodiment. However, the hydraulic drive system for the construction machine of the second embodiment produces almost the same effects as those of the hydraulic drive system for the construction machine of the first embodiment and has a merit in which the system configurations are more simplified. 
     Third Embodiment 
     —Configuration— 
     A third embodiment of the hydraulic drive system for the construction machine of the present invention is described with reference to  FIGS. 7 and 8 . 
       FIG. 7  shows the third embodiment of the hydraulic drive system for the construction machine of the present invention. The hydraulic drive system for the construction machine of the third embodiment has a variable displacement hydraulic pump/motor  7 A in place of the fixed displacement hydraulic pump/motor  7  incorporated in the hydraulic drive system for the construction machine of the first embodiment. The hydraulic pump/motor  7 A has a regulator  7   b . The regulator  7   b  is operated in response to a control signal from the controller  19  to change the tilting angle of the hydraulic pump/motor  7 A to bring the capacity thereof to a desired capacity. Thus, the delivery rate and torque of the hydraulic pump/motor  7 A is made variable. 
     The other configurations are almost the same as those of the first embodiment of the hydraulic drive system for the construction machine described above. 
     —Operation— 
     The operation of the hydraulic drive system for the third embodiment described above is described with reference to  FIG. 8 . 
     In the hydraulic excavator as illustrated in  FIG. 2 , the operation encountered when an operator operates the control lever  6   a  of the control lever device  6  in the boom-raising direction A is almost the same as that of the hydraulic drive system for the construction machine of the first embodiment. 
     In the state where the front work implement  130  assumes such a posture as to be able to turn in the lowering direction under the self-weight of the boom  131 , the operator may operate the control lever  6   a  of the control lever device  6  in the boom-lowering direction B. In such a case, the controller  19  performs the same processing as during the boom-midair lowering operation of the first embodiment, and thereby outputs a target current value I to the electromagnetic valve  13  so as to reduce the opening area of the variable restrictor  12 . 
     The controller  19  controls the generator/electric motor  10  as a generator.  FIG. 8A  shows control-content (calculation) processing performed by the controller  19  at this time. The controller  19  has the preset relationship between P and θ g  in which as the pilot pressure P is increased, the tilting angle θ g  of the hydraulic pump/motor  7 A is reduced so that the lowering speed of the boom cylinder  5  may become cylinder speed according to the lowering operation amount of the control lever  6   a  of the control lever device  6 . The controller  19  calculates the associated θ g  by relating the pilot pressure P detected by the pressure sensor  16  to such a relationship (Block  9   l ). The controller  19  controls the tilting angle of the swash plate of the hydraulic pump/motor  7  via the regulator  7   a  on the basis of the command value θ g  of the tilting angle. In this way, the hydraulic pump/motor  7  supplies the hydraulic fluid at a flow rate according to the tilting angle of the swash plate to control the delivery rate of the hydraulic pump/motor  7 . 
     The controller  19  performs the same processing as during the boom-midair lowering operation of the first embodiment, and thereby outputs a target current value I to the electromagnetic valve  13  for controlling the opening area of the variable restrictor  12 . 
     The jack-up operation is carried out as below. In the state where the front work implement  130  is in contact with the ground, further the boom  131  is operatively lowered to allow the front work implement  130  to push the ground, whereby the track structure  110  is partially lifted from the ground. In such a case, the controller  19  performs the same processing as during the jack-up operation of the first embodiment, and thereby outputs a target current value I to the electromagnetic valve  13  so as to reduce the opening area of the variable restrictor  12 . 
     The controller  19  controls the generator/electric motor  10  as an electric motor.  FIG. 8B  shows control-content (calculation) processing performed by the controller  19  at this time. The controller  19  has the preset relationship between P and θ d  in which as the pilot pressure P is increased, the tilting angle θ d  of the hydraulic pump/motor  7 A is increased so that the lowering speed of the boom cylinder  5  may become cylinder speed according to the lowering operation amount of the control lever  6   a  of the control lever device  6 . The controller  19  calculates associated θ d  by relating the pilot pressure P detected by the pressure sensor  16  to such a relationship (Block  9   m ). The controller  19  controls the tilting angle of the swash plate of the hydraulic pump/motor  7  via the regulator  7   a  on the basis of the command value θ d  of the tilting angle. In this way, the hydraulic pump/motor  7  supplies the hydraulic fluid at a flow rate corresponding to the tilting angle of the swash plate to control the delivery rate of the hydraulic pump/motor  7 . 
     Further, the controller  19  performs the same processing as during the boom-midair lowering operation of the first embodiment, and thereby outputs a target current value I to the electromagnetic valve  14  so as to control the opening area of the variable restrictor  11 . 
     —Effects— 
     Also the hydraulic drive system for the construction machine of the third embodiment can produce also the same effects as those of the first embodiment of the hydraulic drive system for the construction machine described above. 
     The lowering speed of the boom cylinder  5  according to the operation amount of the control lever  6   a  can be achieved with a simple configuration by controlling the capacity of the hydraulic pump/motor  7  to control the delivery rate of the hydraulic pump/motor  7 . 
     &lt;Others&gt; 
     Incidentally, the present invention is not limited to the embodiments described above but can be modified or applied in various ways. 
     EXPLANATION OF REFERENCE NUMERALS 
     
         
           1  . . . engine 
           2  . . . main pump 
           3  . . . pilot pump 
           4 ,  4 A . . . directional control valve 
           5  . . . boom cylinder 
           5   a  . . . rod-side chamber 
           5   b  . . . bottom-side chamber 
           6  . . . control lever device (operating device) 
           6   a  . . . control lever 
           6   b   1 ,  6   b   2  . . . pilot valve 
           6   c ,  6   d ,  6   d   1 ,  6   e  . . . pilot line 
           7 ,  7 A . . . hydraulic pump/motor 
           7   b  . . . regulator 
           8  . . . check valve 
           9  . . . holding valve 
           10  . . . generator/electric motor 
           11  . . . variable restrictor 
           12  . . . variable restrictor 
           13 ,  14  . . . electromagnetic valve 
           15  . . . pressure sensor (pressure detecting device) 
           16  . . . pressure sensor 
           18   a  . . . inverter 
           18   b  . . . chopper 
           18   c  . . . battery 
           19  . . . controller (control unit) 
           20 ,  20 A . . . first line 
           21  . . . second line 
           22  . . . discharge line 
           23  . . . recovery circuit 
           25 ,  25   a ,  27  . . . line 
           26 ,  28  . . . pilot line 
           100  . . . hydraulic excavator 
           110  . . . track structure 
           111   a ,  111   b  . . . crawler 
           112   a ,  112   b  . . . crawler frame 
           113 ,  114  . . . right and left traveling hydraulic motors 
           120  . . . swing structure 
           130  . . . front work implement 
           131  . . . boom 
           133  . . . arm 
           134  . . . arm cylinder 
           135  . . . bucket 
           136  . . . bucket cylinder 
         T . . . tank