An object of the present invention is to provide a construction machine that has a hydraulic closed-circuit system mounted therein and capable of selectively connecting some of a plurality of hydraulic pumps driven by two engines to any one of a plurality of hydraulic actuators and that can downsize the engines while maintaining high work efficiency. A controller 80 includes an actuator/engine allocation computing section F6 that, at the time of connecting closed-circuit pumps that are not connected to any of the hydraulic actuators 1, 3, 5, and 7 to any one of the hydraulic actuators, allocates closed-circuit pumps driven by a right engine 9b to the one hydraulic actuator in a case in which an estimated maximum load on a left engine 9a is heavier than an estimated maximum load on the right engine, and allocates closed-circuit pumps driven by the left engine to the one hydraulic actuator in a case in which the estimated maximum load on the right engine is heavier than the estimated maximum load on the left engine.

A closed-circuit, self-contained hydraulic axis includes an electric motor, a hydraulic cylinder configured to be connected to a load and a main pump driven by the electric motor to pump hydraulic fluid through the circuit. Pressure connections of the pump are connected to the respective chambers of the cylinder such that the cylinder rod is configured to extend and retract depending on a direction of flow of the hydraulic fluid through the main pump. The hydraulic axis includes a main accumulator connected to the pump via first control valve, an energy storage accumulator connected to the pump via a second control valve, and a charge pump. The hydraulic axis is switchable between a first operating mode that is free of energy storage in the energy storage accumulator, and a second operating mode in which energy is stored in the energy storage accumulator.

An electro-hydraulic linear actuator module comprising a stator having a cylindrical bore therethrough, a linear electric machine translator movable axially within the stator bore, a positive displacement chamber adjacent each end of the translator for holding, in use, an incompressible fluid, first and second fluid pathways, one to each chamber, for the flow of an incompressible fluid, wherein movement of the translator along the stator bore alters the volumes of the chambers.

An object of the present invention is to provide a construction machine capable of suppressing lugging down of an engine irrespective of contents of operation of an operator and the load state of a hydraulic actuator. A controller 50 includes: a demanded torque estimating section 50c configured to estimate demanded torque as torque demanded from an engine 9 by the first hydraulic pump on the basis of a demanded velocity of a first hydraulic actuator 1 and a load pressure on the first hydraulic actuator; a demanded velocity limiting section 50d configured to, in a case in which a demanded torque change rate as a change rate of the demanded torque exceeds a predetermined change rate, limit the demanded velocity such that the demanded torque change rate becomes equal to or lower than the predetermined change rate; and a command calculating section 50e configured to calculate a delivery flow rate of the first hydraulic pump on the basis of the demanded velocity of the first hydraulic actuator, the demanded velocity being limited by the demanded velocity limiting section.

An object of the present invention is to provide a construction machine that has a hydraulic closed-circuit system mounted therein and capable of selectively connecting some of a plurality of hydraulic pumps driven by two engines to any one of a plurality of hydraulic actuators and that can downsize the engines while maintaining high work efficiency. A controller 80 includes an actuator/engine allocation computing section F6 that, at the time of connecting closed-circuit pumps that are not connected to any of the hydraulic actuators 1, 3, 5, and 7 to any one of the hydraulic actuators, allocates closed-circuit pumps driven by a right engine 9b to the one hydraulic actuator in a case in which an estimated maximum load on a left engine 9a is heavier than an estimated maximum load on the right engine, and allocates closed-circuit pumps driven by the left engine to the one hydraulic actuator in a case in which the estimated maximum load on the right engine is heavier than the estimated maximum load on the left engine.

A movement processing unit generates a work equipment operation signal for moving a bucket to a loading point and a swing operation signal related to a target swing speed, based on a command for starting an automatic movement of the bucket. A target speed changing unit changes the target swing speed so that the work equipment does not interfere with the loading target during a swing of a swing body.

A transmission system (10) includes a first piston (12), a second piston (14) and a modulator piston (16). The first piston (12) receives an input force (F.sub.IN), the second piston (14) transmits an output force (F.sub.OUT), and the modulator piston (16) transmits a modulating force (F.sub.ACT>which modulates the input force (F.sub.IN) received by the second piston (14) to implement tremor cancellation and force and/or provide variable motion scaling.

Aspects of the disclosure relate to methods, apparatus, and systems for actuating a soft robot. An actuation system includes a camshaft, a motor configured to drive the camshaft to rotate around a rotational axis, and an air bladder configured to expel fluid from the air bladder during compression and draw fluid into the air bladder during decompression. The system further includes a cam coupled to the camshaft that is configured to rotate around the rotational axis when the camshaft is driven and compress or decompress the air bladder based on a physical profile of the cam as the cam rotates around the rotational axis. The system also includes a soft robot coupled to the air bladder, wherein the soft robot is actuated to move based on the fluid inserted into the soft robot during compression or the fluid removed from the soft robot during decompression.

A construction machine incorporates a hydraulic closed circuit system capable of suppressing, even where a selector valve is stuck in an open state by a failure of the selector valve or a control system therefor, unintended operation of a hydraulic actuator and continuing operation of a machine body. The construction machine includes first sensors that detect open-closed states of a plurality of switching valves, first compulsory valve closing devices that change over the plurality of switching valves to a closed position irrespective of open-close control by a machine body controller, and a valve device controller that controls, when it is detected based on the open-closed states of the plurality of selector values detected by the first sensors that one of the plurality of selector values is stuck in an open state, the first compulsory valve closing device such that other selector valve connected to one of the plurality of closed circuit pumps to which the one selector valve is connected is closed.

A piston accommodated in an internal space of a cylinder and forming a pair of pressure chambers together with the cylinder, the piston being configured to move relative to the cylinder; a first actuator connected to one pair of pressure chambers; a second actuator connected to the other of the pair of pressure chambers; a position detector configured to detect a position of the piston relative to the cylinder; a pressure detector configured to detect a pressure of one pair of pressure chambers; and a controller configured to control the first actuator and the second actuator. The controller controls one of the first actuator and the second actuator that the position detected by the position detector is made close to a target position and controls the other of the first actuator and the second actuator that the pressure detected by the pressure detector is made close to a target pressure.