JP2001329573A - Construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the wasteful operation of pumps for energy saving in a hybrid system driving the hydraulic pumps with motors. SOLUTION: Both first and second hydraulic pumps 15 and 16 driving a plurality of actuators respectively are driven by separate motors 13 and 14. The revolving numbers of both motors 13 and 14 are concurrently controlled individually by the signals from a controller 32 based on the actions of levers 26-31 controlling control valves to control the discharge quantities of both hydraulic pumps 15 and 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction machine (a hydraulic shovel, a crane, or the like) that operates a hydraulic actuator by driving a hydraulic pump with an electric motor.

[0002]

2. Description of the Related Art A conventional technique will be described using a hydraulic excavator as an example.

Conventionally, a hydraulic excavator has an upper revolving structure mounted on a lower traveling structure so as to be revolvable, and a drilling attachment having a boom, an arm, and a bucket is mounted on the upper revolving structure, so that pump discharge oil is provided. It supplies to each hydraulic actuator and performs each operation of a boom, an arm, a bucket, a run, and a turn.

[0004] However, this conventional hydraulic excavator has a configuration in which a pump is driven by an engine and pressure oil from the pump is supplied to a hydraulic actuator via a control valve. In other words, since the flow rate of the actuator is controlled by squeezing the excess flow rate of the pump into the tank with a control valve or a relief valve or the like, energy loss is large and pollution problems such as noise and exhaust gas occur. I was

Therefore, recently, a so-called hybrid shovel has been proposed in which a generator is driven by an engine to rotate a motor, and a hydraulic pump is rotated by the motor.

According to this hybrid system, since the pump discharge amount (actuator supply flow rate) can be controlled by controlling the number of revolutions of the motor, there is an advantage that energy loss is basically smaller than that of a conventional pure hydraulic system.

[0007]

However, in the proposed technique, since a plurality of hydraulic pumps are driven by one electric motor, the rotation speeds of the respective pumps are always the same, and the respective discharge oil amounts However, each pump is the same despite the differences. Therefore, the pump having a small discharge amount is also dragged by another pump and rotates at high speed.
The pump efficiency is low, and the excess flow rate is discarded into the tank by the valve, so that the energy loss is still large.

Accordingly, the present invention is to provide a construction machine capable of eliminating unnecessary operation of a pump and realizing energy saving in a hybrid system in which a hydraulic pump is driven by an electric motor.

[0009]

According to a first aspect of the present invention, a plurality of hydraulic pumps for driving a plurality of hydraulic actuators are provided.
The motors are driven by separate electric motors, and the control means controls the rotation speed of each electric motor individually so that the discharge amount of each hydraulic pump is controlled.

According to a second aspect of the present invention, there are provided a plurality of hydraulic actuators, a hydraulic pump for driving the hydraulic actuator, an electric motor for driving the hydraulic pump, and a plurality of hydraulic actuators provided between the hydraulic pump and the hydraulic actuators. A control valve for controlling the supply and discharge of pressurized oil to and from the hydraulic actuator, an operating device which is operated from outside to issue an operation command to the control valve, and an operation stroke of the control valve and rotation of the electric motor in accordance with operation of the operating device Control means for controlling the number.

According to a third aspect of the present invention, there are provided a plurality of hydraulic actuators, a plurality of hydraulic pumps for sharing and driving the hydraulic actuators, a plurality of electric motors for separately driving the respective hydraulic pumps, A control valve that is provided between the hydraulic actuators and controls the supply and discharge of pressure oil to and from each hydraulic actuator; an operating device that is operated from outside to issue an operation command to the control valve; Control means for controlling the operation stroke of the control valve and the number of revolutions of the electric motor.

According to a fourth aspect of the present invention, in the configuration of the second or third aspect, when the operation amount of the operation device is 0, the motor stops at the neutral position of the control valve, and the control valve is stopped in accordance with the increase in the operation amount. It is configured such that the working stroke and the motor speed increase.

According to a fifth aspect of the present invention, in the configuration of any one of the first to fourth aspects, the flow rate is controlled only by controlling the discharge amount of the hydraulic pump by controlling the rotation speed of the electric motor so that the bleed-off flow rate becomes zero. It is composed.

According to a sixth aspect of the present invention, in the configuration of any one of the first to fourth aspects, when the operating device is operated from 0 to a certain amount, the motor rotation speed increases from 0 to the standby rotation speed to reduce the standby flow rate. It is configured to be secured.

According to a seventh aspect of the present invention, in any one of the first to sixth aspects, the bleed-off means for bleeding off the pump discharge oil is provided in a state shared by each control valve separately from each control valve. It was done.

According to an eighth aspect of the present invention, in any one of the first to seventh aspects, the maximum discharge pressure of the hydraulic pump is limited by controlling the maximum value of the torque of the electric motor. .

According to a ninth aspect of the present invention, in the configuration according to any one of the first to eighth aspects, the power supply device for driving the electric motor includes a generator driven by the engine and a battery for storing surplus power and supplementing the shortage power. It consists of

According to a tenth aspect of the present invention, in the configuration of any one of the first to ninth aspects, the construction machine main body is constituted by the lower traveling body and the upper revolving body pivotally mounted on the lower traveling body. In addition, a turning electric motor for turning the upper turning body is used as an actuator other than the hydraulic actuator.

According to an eleventh aspect of the present invention, in the construction of any one of the first to tenth aspects, a construction machine main body is constituted by the lower traveling body and the upper revolving body pivotally mounted on the lower traveling body. In addition, an excavation attachment is provided on the upper swing body.

According to the first aspect and the constitution of each claim citing the same, each hydraulic pump is individually controlled to the optimum flow rate, so that the pump efficiency is good and the waste of squeezing and discarding the oil by the valve is suppressed. it can.

On the other hand, according to claim 2 and the constitutions cited therein, the number of revolutions (pump discharge amount) of the electric motor is simultaneously controlled by the operation of the operating device for operating the control valve. By controlling the discharge amount, the supply flow rate to each actuator, that is, the operation / stop and operation speed of each actuator is controlled. Therefore, there is no waste of the flow rate, energy is saved, and a plurality of actuators can be handled by one motor, so that there is no waste of providing a motor for each actuator.

Further, since the pump flow rate control and the flow rate distribution to each actuator can be performed only by operating the operating device, the operation is simplified.

According to the configuration of the third aspect in which the configurations of the first and second aspects are combined, the advantages of both the first and second aspects can be simultaneously obtained.

According to the configuration of claim 4, on the premise that the control valve and the motor are controlled by the operating device, when the operating device is not operated, the control valve becomes neutral and the motor is stopped, so that there is no waste. There is no flow rate and the energy saving effect is higher.

According to the fifth aspect of the present invention, the bleed-off flow rate at which the oil is squeezed and discarded becomes zero, which further saves energy.

According to the configuration of claim 6, the motor rotation speed becomes the standby rotation speed with a constant operation amount, and the standby flow rate is secured, so that the operability of the combined operation and the like is improved.

According to the configuration of claim 7, since each control valve does not have a bleed-off portion, and instead has a bleed-off means common to each control valve outside the valve, each control valve is compact and hybridized. Thus, it is possible to compensate for a decrease in the space for mounting the devices due to an increase in the types of devices accompanying the above.

According to the configuration of claim 8, the maximum pressure of the pump is limited by the torque control of the electric motor instead of the conventional relief operation of the relief valve, so that energy is saved.

According to the ninth aspect of the present invention, since both the generator driven by the engine and the battery that stores excess power and compensates for the insufficient power are used as the power source for the motor, the power generated by the generator at light load Is stored in the battery, and when the load is heavy, the power stored in the battery is used to compensate for the power shortage of the generator, or the load is substituted for the generator, thereby reducing the engine load of the construction machine having a heavy load variation (especially the shovel of claim 11). It is possible to reduce the amount of exhaust gas and reduce fuel consumption by smoothing.

According to the tenth aspect of the present invention, in a construction machine having the upper revolving unit (including the shovel of the eleventh aspect), an electric motor is used as a drive source for the upper revolving unit having a large inertia. Good and energy saving. In addition, the resistance at the time of regeneration can be used as the turning brake force of the turning body. In addition, since a control system for turning and other operations is separated, these combined operations are facilitated.

[0031]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings.

In the following embodiment, a shovel is taken as an example to which the present invention is applied.

First Embodiment (See FIGS. 1 to 6) FIG. 1 shows the entire shovel according to this embodiment.

Referring to FIG. 1, reference numeral 1 denotes a crawler type lower traveling body, on which an upper revolving body 2 is rotatably mounted. On the front of the upper revolving body 2, a boom 3 and an arm 4 are provided. , A bucket 5, a boom raising / lowering cylinder 6 for raising / lowering a boom, an arm cylinder 7 for operating an arm, and a digging attachment 9 including a bucket cylinder 8 for operating a bucket.

The upper swing body 2 includes an engine 10 as a power source, a generator 11 driven by the engine 10, a battery 12, and two first and second electric motors (here, only one of them). In Fig. 2, M1 and M2 are indicated as M1 and M2, and first and second hydraulic pumps (same as above, P) which are separately driven by the electric motors 13 and 14, respectively.
1 and P2) 15 and 16 are provided.

Reference numeral 17 denotes a turning hydraulic motor, 18 denotes a turning speed reducer which reduces the rotational force of the turning hydraulic motor and transmits the turning force to the upper turning body 2 as a turning force, and 19 denotes a control valve unit having a plurality of control valves. It is.

The lower traveling body 1 has left and right traveling hydraulic motors (only one is shown here) as traveling driving sources.
20 and 21 are provided.

FIG. 2 shows a configuration of a drive system and a control system of the shovel.

The output of the engine 10 is transmitted to the generator 11 through the speed increasing mechanism 22, and the electric power generated by the generator 11 is transmitted through the generator controller 23 and the first and second motor controllers 24 and 25. In addition to the second electric motors 13 and 14, both electric motors 13 and 14 rotate, and the first electric motor 13 drives the first hydraulic pump 15 and the second electric motor 14 drives the second hydraulic pump 16 respectively.

The generator 11 is connected to the engine 10 by the speed increasing mechanism 22 (for example, a planetary gear mechanism is used).
By operating at a higher speed, the generator 11 can be downsized.

The electric power generated by the generator 11 is shown in FIG.
As shown in the figure, the surplus in relation to the power required during work is converted into DC by the generator controller 23 and
2 and the stored power of the battery 12 is used as a motor power supply as needed.

By adopting a configuration in which power is replenished with the stored power of the battery 12 as described above, compared with the conventional case of using a pure hydraulic system in which a hydraulic pump is driven by an engine,
The engine can be miniaturized, the engine load can be smoothed, and noise and exhaust gas can be reduced.

On the other hand, as operating devices, turning, arm, left running, right running, boom, bucket levers 26, 27,
28, 29, 30, 31 are provided.
By the operations of to 31, a command signal corresponding to the lever operation amount (including the operation direction; the same applies hereinafter) is output from the operation amount / electric signal conversion means (not shown) (not shown) to the controller 32.

The controller 32 outputs an operation signal to a control valve (shown as a valve unit 19 in FIG. 2) provided for each actuator based on the command signal, and simultaneously outputs the first and second electric motors 1.
The rotation speed command signals a and b are sent to the motor controllers 3 and 14 (motor controllers 24 and 25).

As a result, the control valve performs a stroke operation in accordance with the lever operation amount, and at the same time, the motor 1
The pumps 15 and 16 discharge a flow rate proportional to the motor rotation speed while the pumps 3 and 14 rotate at the rotation speed according to the lever operation amount.

That is, the control valve and the motors 13 and 14 (pumps 15 and 16) are simultaneously controlled by lever operation, and the speed of each actuator is controlled by this simultaneous control.

The first hydraulic pump 15 is used as a hydraulic oil supply source for the turning hydraulic motor 17, the arm cylinder 7, and the left traveling hydraulic motor 20. The second hydraulic pump 16 is used for the remaining actuator (right traveling hydraulic motor). 21, the boom cylinder 6 and the bucket cylinder 8) are used as a pressure oil supply source.

The motors 13, 14 and the pumps 15, 16 have the same capacity.
Further, the first hydraulic pump 15 is also used as a supply source of combined oil for increasing the speed of the boom cylinder 6, and the second hydraulic pump is also used as a supply source of combined oil for increasing the speed of the arm cylinder 7. Is as usual.

FIG. 4 shows the first hydraulic pump 15
The hydraulic circuit of the (first motor 13) system is illustrated.

33 is a control valve for the left running motor, 34 is for the arm cylinder, 35 is a control valve for the turning motor, and 36 is a control valve for increasing the speed at which the boom cylinder joins. These control valves 33, 34, 35 and 36 are levers, respectively. The operation of each of the above-described actuators (the turning hydraulic motor 17, the arm cylinder 7, and the left traveling hydraulic motor 20) is controlled by operating with a stroke corresponding to the operation amount. 36 is a relief valve, and T is a tank.

Each of the control valves 33 to 35 is shown in FIG.
The meter-in, meter-out, and bleed-off passages having the opening area characteristics shown in FIG. 1 are provided. The strokes of the control valves 33 to 35 are controlled by lever operation and the motors 13 and 14 (pumps 15 and 16) are controlled. The flow characteristics as shown in FIG. 6 are obtained.

That is, when the lever is neutral (the operation amount is 0), the motor rotation speed is 0, and at the point A, the motor rotation speed rises steeply (or stepwise), rises to the standby rotation speed, and the pump discharge amount increases. It becomes the standby flow rate Qs.
At this time, the control valves 33 to 35 are not yet stroked, and the pump discharge oil is bleed off.

As described above, the control valves 33 to 3
By ensuring the standby flow rate Qs prior to the stroke operation of 5, the operability at the time of the combined operation and the like is improved.

After the lever operation amount exceeds the point A,
The motor rotation speed (pump flow rate) and the stroke of the control valves 33 to 35 increase according to the lever operation amount, and the actuator flow rate is determined by the valve stroke (opening degree), the pump flow rate, and the actuator load pressure.

Point B is a point where the pump pressure becomes the load pressure by reducing the pump flow rate through the bleed-off passage.
Oil starts to flow to the actuator from the point.

On the other hand, by controlling the maximum value of the motor torque, the maximum discharge pressure of the hydraulic pump 15 can be limited. In this case, instead of the conventional relief action of the relief valve, the pump maximum pressure is limited by controlling the electric motor torque, thereby saving energy.

As shown in FIG. 2, separately from the first and second electric motors 13 and 14, a turning and traveling parking brake (not shown) is driven and a pilot oil pressure is supplied to the control valve. , A third electric motor 38 (indicated as M3) and a third hydraulic pump 39 (indicated as P3) are provided.

The hydraulic pressure from the third hydraulic pump 39 is stored and used in the accumulator 41. When the storage of the accumulator 41 is completed, this is detected by the pressure sensor 42, and the third electric motor 38 is stopped via the controller 32. Reference numeral 40 denotes a motor controller for the third motor 38.

With such a configuration, both hydraulic pumps 15 and 16 are individually controlled to the optimum flow rate, so that the pump efficiency is good and the waste of squeezing and discarding the oil by the valve can be suppressed.

The control valves 33 to 36 and the motor rotation speed (pump discharge amount) are simultaneously controlled by lever operation, and the supply flow rate to each actuator, that is, the operation / stop and operation speed of each actuator is simultaneously controlled. There is no waste of the flow rate, and energy is saved.

Since one motor 13 handles a plurality of actuators, there is no waste in providing a motor for each actuator.

Since the pump flow control and the flow distribution to each actuator can be performed only by operating the lever, the operation is simplified.

Assuming a configuration in which the control valves 33 to 36 and the electric motor 13 are controlled by operating the lever, when the lever is not operated, the control valves 33 to 36 become neutral and the electric motor 13 stops. There is no energy saving effect.

The second hydraulic pump 16 (second electric motor 14) for driving and controlling the right traveling motor 21, the boom cylinder 6, and the bucket cylinder 8 is also configured in the same manner as the first hydraulic pump system. The operation and effect can be obtained.

Second Embodiment (See FIG. 7) In the following embodiment, only differences from the first embodiment will be described.

In the first embodiment, each control valve 3
In the second embodiment, the control valves 33 to 36 are provided with a bleed-off passage in each of the control valves 33 to 36.
36, a bleed-off passage is not provided, and a bleed-off valve 43 as independent bleed-off means shared by the control valves 33 to 36 is provided in the pump discharge circuit.
Command signal d from controller 32 based on lever operation
As a result, the bleed-off valve 43 is operated to exhibit the same valve characteristics as in the first embodiment.

According to this configuration, each of the control valves 33 to 36 becomes compact, and it is possible to compensate for a decrease in the space for mounting the devices due to an increase in the types of devices due to the hybridization.

Third Embodiment (See FIGS. 8 and 9) In the third embodiment, the bleed-off means is not provided at all on each of the control valves 33 to 36 and outside, and the motor rotation speed ( The pump discharge amount is controlled.

That is, as shown in FIG. 9, when the lever is neutral, the motor rotation speed is 0, the motor rotation speed starts rising at point A, and the rotation speed continuously increases as the lever operation amount increases.

Further, the control valve stroke is controlled according to the lever operation amount. At point A, the meter-in opening starts to open (or slightly opens), and oil starts flowing to the actuator.

With this arrangement, there is no bleed-off portion, and there is no bleed-off flow to be discarded.

The characteristic of the motor rotation speed (pump discharge amount) with respect to the lever operation amount may be switched between a normal mode and a fine operation mode by a characteristic switching means (not shown) as shown in FIG. .

In a range where the lever operation amount is small, it is desirable that the motor torque be smaller than the maximum value.

If the stop of the motor 13 is delayed due to a slight difference in the dynamic characteristics of the motor 13 and the control valves 33 to 36 when the actuator is stopped, there is no place for the oil discharged from the pump, and the relief valve 37 operates. A high voltage is generated in the circuit, causing problems in operability and device strength. On the other hand, by suppressing the motor torque to be smaller than the maximum value in the range where the lever operation amount is small as described above, it is possible to suppress the occurrence of abnormally high pressure in the hydraulic circuit.

Fourth Embodiment (see FIGS. 10 and 11) In the fourth embodiment, an electric motor (fourth electric motor = indicated as M4 in FIG. 10) 44 is used as a turning actuator instead of a hydraulic motor. The fourth electric motor 44 is controlled by a rotation speed command signal e from the controller 32 based on the lever operation through the electric motor controller 45, and (b) the electric motor 44 functions as a generator at the time of turning braking.

Regarding the above control (a), rotation speed control, torque control via current control, or combined control of speed and torque is also possible. It is suitable for controlling the turning operation of a large shovel.

Further, the regenerative brake operates by the control of (b), and the electric power obtained by the regenerative operation is stored in the battery 12 or used as a motor driving force of another actuator under a large load.

In this way, the turning kinetic energy is regenerated as electric energy, instead of being relieved from the brake valve and discarded as in the prior art, so that energy is saved and the temperature of the hydraulic system is prevented from rising. Can be. Further, since the turning operation can be controlled independently of the operation of the other actuators, the operability at the time of the combined operation is improved.

In the above embodiment, the control valve 33 is controlled by an electric signal from the controller 32.
Although the configuration for controlling .about.36 is employed, a configuration may be adopted in which a signal from the controller 32 controls an electromagnetic proportional pressure reducing valve (remote control valve) and the control valve is controlled by the secondary pressure of the remote control valve.

Further, in the above embodiment, the shovel, which is a preferred example of the present invention, has been described as an application example, but the present invention can be widely applied to construction machines including a plurality of hydraulic actuators, including cranes. Can be.

[0081]

As described above, according to the first aspect and the inventions cited in the claims, a plurality of hydraulic pumps are driven by separate electric motors, and the control means individually controls the number of revolutions of each electric motor. Thus, the discharge amount of each hydraulic pump is controlled, so that the pump efficiency is high and the waste of squeezing out the oil with a valve can be suppressed.

On the other hand, according to claim 2 and the constitutions cited in the claims, the rotation speed (discharge rate of the pump) of the electric motor is simultaneously controlled by the operation of the operating device for operating the control valve. Since the supply flow rate to each actuator, that is, the operation / stop and operation speed of each actuator is controlled by two controls of the discharge amount, there is no waste of the flow rate, energy is saved, and a plurality of actuators are controlled by one motor. And there is no waste in providing an electric motor for each actuator.

Further, since the pump flow rate control and the flow rate distribution to each actuator can be performed only by operating the operating device, the operation is simplified.

According to the third aspect of the invention in which the configurations of the first and second aspects are combined, the merits of both the first and second aspects of the invention can be simultaneously obtained.

According to the fourth aspect of the present invention, on the premise that the control valve and the motor are controlled by the operating device, the control valve becomes neutral and the motor stops when the operating device is not operated. There is no flow rate and the energy saving effect is higher.

According to the fifth aspect of the present invention, the bleed-off flow rate at which the oil is squeezed and discarded becomes zero, thereby further saving energy.

According to the sixth aspect of the present invention, the motor rotation speed becomes the standby rotation speed with a constant operation amount, and the standby flow rate is secured, so that the operability of the combined operation and the like is improved.

According to the seventh aspect of the present invention, each control valve has no bleed-off portion, and instead, a bleed-off means common to each control valve is provided outside the valve.
It is possible to compensate for a decrease in device mounting space due to an increase in device types due to the hybridization.

According to the eighth aspect of the invention, the maximum pressure of the pump is limited by torque control of the electric motor instead of the conventional relief operation of the relief valve, thereby saving energy.

According to the ninth aspect of the present invention, since both the generator driven by the engine and the battery that stores the surplus electric power and compensates for the shortage of the electric power are used as the power supply of the electric motor, the electric power generated by the generator at a light load is provided. Is stored in the battery, and when the load is heavy, the power stored in the battery is used to compensate for the power shortage of the generator, or the load is substituted for the generator, so that the engine load of the construction machine (in particular, the shovel according to claim 11) having a heavy load fluctuation is reduced. It is possible to reduce the amount of exhaust gas and reduce fuel consumption by smoothing.

According to the tenth aspect of the present invention, in a construction machine having the upper revolving unit (including the shovel of the eleventh aspect), an electric motor is used as a drive source for the upper revolving unit having a large inertia. Good and energy saving. In addition, the resistance at the time of regeneration can be used as the turning brake force of the turning body. In addition, since a control system for turning and other operations is separated, these combined operations are facilitated.

[Brief description of the drawings]

FIG. 1 is an overall side view of a shovel according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a configuration of a drive system and a control system of the shovel.

FIG. 3 is a diagram showing characteristics of power in the embodiment.

FIG. 4 is a diagram showing a part of a hydraulic circuit of a first hydraulic pump system in the drive system.

FIG. 5 is a view showing an opening area characteristic of a control valve used in the hydraulic circuit.

FIG. 6 is a view showing characteristics of lever operation amount / flow rate in the first embodiment.

FIG. 7 is a diagram corresponding to FIG. 3 of a second embodiment of the present invention.

FIG. 8 is a diagram corresponding to FIG. 3 of a third embodiment of the present invention.

FIG. 9 is a diagram showing characteristics of lever operation amount / motor rotation speed and torque in the third embodiment.

FIG. 10 is a diagram corresponding to FIG. 2 of a fourth embodiment of the present invention.

FIG. 11 is a diagram showing characteristics of the number of revolutions / torque of a turning electric motor according to a fourth embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Lower traveling body of shovel 2 Upper revolving superstructure 9 Excavation attachment 3 Boom 4 Arm 5 Bucket 6 Boom cylinder 7 Arm cylinder 8 Bucket cylinder 20 Left traveling hydraulic motor 21 Right traveling hydraulic motor 10 Engine 11 Generator 12 Battery 13, 14 Electric motor 15, 16 Hydraulic pump 32 Controller constituting control means 24, 25 Motor controller 26, 27, 28, 29, 30, 31 Lever as operating device 33, 34, 35, 36 Control valve 43 Control valve Bleed-off valve as bleed-off means provided separately 44 Slewing motor

Claims (11)

[Claims] A plurality of hydraulic pumps for driving a plurality of hydraulic actuators are driven by separate electric motors, and the number of rotations of each electric motor is individually controlled by a control means, so that the discharge amount of each of the hydraulic pumps is reduced. A construction machine characterized by being controlled. 2. A plurality of hydraulic actuators, a hydraulic pump for driving the hydraulic actuator, an electric motor for driving the hydraulic pump, and a hydraulic oil provided between the hydraulic pump and each hydraulic actuator for each hydraulic actuator. A control valve for controlling the supply and discharge of air, an operating device that is operated from outside to issue an operation command to the control valve, and a control for controlling the operating stroke of the control valve and the rotation speed of the electric motor in accordance with the operation of the operating device And a construction machine. 3. A plurality of hydraulic actuators, a plurality of hydraulic pumps sharing and driving the hydraulic actuators, a plurality of electric motors separately driving the respective hydraulic pumps, and a plurality of electric motors between the hydraulic pumps and the respective hydraulic actuators. A control valve for controlling the supply and discharge of hydraulic oil to and from each hydraulic actuator, an operating device that is operated from outside to issue an operation command to the control valve, and an operation of the control valve according to the operation of the operating device A construction machine comprising: a control unit that controls a stroke and a rotation speed of an electric motor. 4. The construction machine according to claim 2, wherein when the operation amount of the operation device is 0, the motor stops at the neutral position of the control valve, and the operation stroke of the control valve and the operation stroke of the control valve increase according to the increase of the operation amount. A construction machine characterized in that the motor rotation speed is increased. 5. The bleed-off flow rate is controlled to be zero by controlling the flow rate only by controlling the discharge amount of a hydraulic pump by controlling the number of revolutions of an electric motor. Construction machinery as described. 6. The motor according to claim 4, wherein when the operation device is operated by a predetermined amount from 0, the motor rotation speed increases from 0 to the standby rotation speed to secure a standby flow rate. Construction machinery. 7. The bleed-off means for bleeding off pump discharge oil is provided in a state shared by each control valve separately from each control valve. Construction machinery. 8. The construction machine according to claim 1, wherein the maximum discharge pressure of the hydraulic pump is limited by controlling the maximum value of the torque of the electric motor. 9. A power supply device for driving an electric motor, comprising: a generator driven by an engine; and a battery for storing surplus electric power to compensate for insufficient electric power. Construction machinery. 10. A turning motor for turning the upper revolving unit as an actuator other than a hydraulic actuator, comprising a lower traveling unit and an upper revolving unit rotatably mounted on the lower traveling unit. The construction machine according to any one of claims 1 to 9, wherein a construction is used. 11. A construction machine main body is constituted by a lower traveling body and an upper revolving body pivotally mounted on the lower traveling body, and an excavation attachment is provided on the upper revolving body. Claims 1 to 10
Construction equipment according to any one of the above.