JP2681139B2 - Boom type lifting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a boom type lifting device applied to a cargo handling vehicle such as a fork logger wheel loader.

[0002]

2. Description of the Related Art Conventionally, as boom type lifting devices of this type, for example, Japanese Utility Model Publication No. 63-126398 and Japanese Utility Model Publication No. 63-
The thing described in 126399 is known. The boom-type lifting device is basically a vehicle body, a boom that can be elevated to the vehicle body, a cargo handling tool that can be elevated to the boom, and a boom cylinder that raises the boom to the vehicle body. A cargo handling tool cylinder for raising and lowering the cargo handling tool with respect to the boom is provided, and the cargo handling tool is held horizontally regardless of whether the boom is raised or lowered. However, although such a thing can hold the cargo handling tool horizontally, there is a drawback that the cargo handling tool moves back and forth as the boom rises and falls and is not vertically moved.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems and was devised to solve the problem. The object of the present invention is to hold a cargo handling device horizontally while holding it vertically. It is to provide a boom-type lifting device that can be lifted and lowered.

[0004]

SUMMARY OF THE INVENTION The boom type lifting device of the present invention is basically a vehicle body, a traveling device provided on the vehicle body, a boom provided so that the vehicle body can be elevated, and a boom can be elevated. , A boom cylinder that raises the boom above the vehicle body, a cargo handling cylinder that raises the boom toward the boom, a boom position detector that detects the position of the boom, and the angle of the cargo handling equipment. The cargo handling tool angle detector detects the vehicle body position, the vehicle body position detector detects the vehicle body position, the boom position from the boom position detector, and the cargo handling tool angle is held based on the cargo handling tool angle from the cargo handling tool angle detector. A control device for controlling the cargo handling cylinder so as to control the traveling device so that the cargo handling tool vertically moves up and down based on the boom position from the boom position detector and the vehicle body position from the vehicle body position detector,
The feature is that it is composed of

[0005]

[Operation] When the boom cylinder is activated, the boom is elevated to the vehicle body. The boom position detector detects the position of the boom. The load handling tool angle detector detects an angle of the load handling tool. The vehicle body position detector detects the position of the vehicle body. The control device controls the load handling cylinder to hold the load handling tool horizontally based on the boom position from the boom position detector and the load handling tool angle from the load handling tool angle detector, and the boom position from the boom position detector. The traveling device is controlled so that the cargo handling tool vertically moves up and down based on the vehicle body position from the vehicle body position detector.
Therefore, the cargo handling implement moves vertically while being held horizontally.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing a cargo handling vehicle equipped with a boom-type lifting device according to an embodiment of the present invention. FIG. 2 is a hydraulic circuit diagram. The boom-type lifting device 1 includes a vehicle body 2, a traveling device 3, a boom 4, a cargo handling tool 5, a boom cylinder 6, a cargo handling tool cylinder 7, a boom position detector 8, a cargo handling tool angle detector 9,
A main part of the vehicle body position detector 10 and the control device 11 are configured. The boom type lifting device 1 is, in this example,
Cargo handling vehicle 12 such as fork logger wheel loader
Has been applied. The vehicle body 2 forms a basic part of the boom-type lifting device 1. In this example, the vehicle body 2 is a so-called articulated type that is divided into front and rear parts and is connected so as to be bendable, and is redirected by the steering cylinder 13. The steering cylinder 13 includes a steering control valve 14,
It is connected to the tank 16 via the steering pump 15. The traveling device 3 is provided on the vehicle body 2, and in this example, the engine 17, the torque converter, the transmission,
Propeller shaft, differential gear 18, final reduction gear 19, wheels 2
Consists of zero. The traveling device 3 includes an electromagnetic clutch 21 and a correction motor 22 that are branched and connected from the input side of the differential gear 18 and the like. The correction motor 22 includes a forward high-speed response solenoid valve 23, a reverse high-speed response solenoid valve 24, an unload solenoid valve 25, a diversion valve 26, and a correction pump 27.
6 is connected. The boom 4 is provided on the vehicle body 2 so that it can be elevated, and in this example, the base end is pivotally connected to the front vehicle body 2 so that it can be elevated. The cargo handling tool 5 is provided on the boom 4 so as to be lifted. In this example, the cargo handling tool 5 is a fork logger including a fork 28, a clamp arm 29, and a clamp cylinder 30. It is linked. The clamp cylinder 30 includes a clamp hydraulic circuit switching unit 32 of the cargo handling switching valve 31, a cargo handling pump 3, and the like.
3 is connected to the tank 16. The clamp hydraulic circuit switching unit 32 is connected to the tank 16 via a clamp pilot pressure switching unit 35 of the pilot pressure switching valve 34, a pilot pressure control valve 36, and a pilot pressure pump 37. The boom cylinder 6 raises the boom 4 with respect to the vehicle body 2, and is provided between the front vehicle body 2 and the boom 4 in this example. The boom cylinder 6 is connected to the boom hydraulic circuit switching unit 38 of the cargo handling switching valve 31.
The boom hydraulic circuit switching unit 38 is on the rising side via the boom control pilot pressure solenoid valve 39 and the high-speed response electromagnetic valve 40 on the rising side of the boom pilot pressure switching unit 41 of the pilot pressure switching valve 34, and on the falling side is the boom pilot pressure switching unit. It is connected to the descending side of 41. The material handling cylinder 7 is a boom 4
With respect to the cargo handling tool 5, the linkage 42 that is provided on the front vehicle body 2 and that is pivotally connected to the boom 4 is used in this example.
It is pivotally connected to the cargo handling tool 5 via. Material handling cylinder 7
Is connected to the cargo handling tool hydraulic circuit switching unit 43 of the cargo handling switching valve 31. The cargo handling implement hydraulic circuit switching unit 43 is connected to the cargo handling implement pilot pressure switching unit 44 of the pilot pressure switching valve 34. The material handling device cylinder 7 includes a material handling tool angle correction valve 45.
It is connected to the diversion valve 26 via. The cargo handling tool angle correction valve 45 is connected to the pilot pressure control valve 36.
The boom position detector 8 detects the position of the boom 4, and in this example, is provided at the base of the boom cylinder 6 and detects the elevation angle of the boom 4 with respect to the vehicle body 2 to detect the horizontal position of the tip of the boom 4. Is detected. The cargo handling tool angle detector 9 detects the angle of the cargo handling tool 5, and in this example, is provided at the base of the cargo handling tool cylinder 7 and detects the elevation angle of the cargo handling tool 5 with respect to the boom 4. . The vehicle body position detector 10 detects the position of the vehicle body 2. In this example, the vehicle body position detector 10 is provided in the vicinity of the output shaft of the electromagnetic clutch 21 and detects the forward and reverse rotations thereof. The controller 11 controls the cargo handling tool 5 based on the boom position from the boom position detector 8 and the cargo handling tool angle from the cargo handling tool angle detector 9.
Is controlled horizontally and the traveling device 3 is controlled so that the cargo handling tool 5 is vertically moved up and down based on the boom position from the boom position detector 8 and the vehicle body position from the vehicle body position detector 10. In this example, a microcomputer or the like is used, and the boom position detector 8, the cargo tool angle detector 9, the vehicle body position detector 10, the engine rotation detector 46, and the start switch 47 are connected to the input side. The forward high speed response solenoid valve 2 is provided on the output side.
3, reverse high speed response solenoid valve 24, unload solenoid valve 25,
Boom control pilot pressure solenoid valve 39, high-speed response solenoid valve 4
0, the cargo handling tool angle correction valve 45 is connected. FIG.
, 48 is a neutral lamp and 49 is a parking lamp. Next, the operation will be described based on such a configuration. When the engine 17 is started, the steering pump 15, the correction pump 27, the cargo handling pump 33, and the pilot pressure pump 37 are rotated. Pressure oil from the steering pump 15 is sent to the steering cylinder 13 via the steering control valve 14 and is expanded and contracted. The pressure oil from the cargo handling pump 33 merges with the excess pressure oil at the steering control valve 14 and is sent to the cargo handling switching valve 31. The pressure of the pressure oil from the pilot pressure pump 37 is adjusted by the pilot pressure control valve 36, and the pilot pressure switching valve 34
Sent to When the clamp pilot pressure switching unit 35 of the pilot pressure switching valve 34 is switching-controlled, the clamp hydraulic circuit switching unit 3 of the cargo handling switching valve 31 depends on the pressure oil sent there.
2, the clamp cylinder 30 is expanded and contracted by the pressure oil sent to the cargo handling switching valve 31. When the cargo handling pilot pressure switching section 44 of the pilot pressure switching valve 34 is controlled to be switched, the cargo handling hydraulic circuit switching section 43 of the cargo handling switching valve 31 is switched by the pressure oil sent thereto, and the cargo handling switching valve 3
The load handling tool cylinder 7 is expanded and contracted by the pressure oil sent to 1. When the boom pilot pressure switching unit 41 of the pilot pressure switching valve 34 is switched and controlled, the boom hydraulic circuit switching unit 38 of the cargo handling switching valve 31 is switched by the pressure oil sent thereto, and is sent to the cargo handling switching valve 31. The boom cylinder 6 is expanded and contracted by the applied pressure oil. However, when the boom pilot pressure switching unit 41 is controlled to be raised, the pressure oil sent there is sent to the boom hydraulic circuit switching unit 38 via the boom control pilot pressure solenoid valve 39. The pressure oil from the correction pump 27 is diverted by the shunt valve 26 for vehicle position correction and cargo handling tool angle correction. When the pressure oil for correcting the vehicle position is not required to be corrected, the forward high-speed response solenoid valve 23 and the reverse high-speed response solenoid valve 24 are closed.
Is returned to the tank 16. The pressure oil for correcting the cargo handling tool angle is sent to the cargo handling tool angle correction valve 45, and is returned to the tank 16 when the correction is not necessary. When the cargo handling tool 5 is held horizontally and vertically moved during the cargo handling work, the start switch 47 is pushed to raise the boom 4. That is, the boom pilot pressure switching portion 41 of the pilot pressure switching valve 34 is set to the up side or the down side. Then, the boom cylinder 6 expands and contracts via the cargo handling switching valve 31, and the boom 4
Goes up and down. At this time, the output of the boom position detector 8 is calculated by the control device 11 and compared with the output of the cargo handling tool angle detector 9, and when the cargo handling tool 5 is raised, the cargo handling tool angle correction valve 45 is operated. An electrical signal is output to switch to the depression side, pressure oil for correcting the angle of the cargo tool from the shunt valve 26 is sent to the cargo cylinder 7, and the cargo tool 5 is laid face down and corrected. When the cargo handling tool 5 is lying down, the cargo handling tool angle correction valve 45 is switched to the upright position, and the cargo handling tool 5 is raised and corrected to be horizontal. In addition, the control device 11
The output of the boom position detector 8 is calculated according to the above, and compared with the output of the vehicle body position detector 10, and when the cargo handling tool 5 is moving forward, an electric signal is output to the unload solenoid valve 25 to close it. While switching to the valve side, an electric signal is output to the reverse high speed response solenoid valve 24 to switch to the operating side, and the electromagnetic clutch 21, the differential gear 18, and the final reduction gear 1 are driven by the correction motor 22.
The wheels 20 are rotated in the reverse direction via 9 so that the cargo handling tool 5 is vertically moved up and down. When the cargo handling implement 5 is moving backward, an electric signal is output to the unload solenoid valve 25 to switch to the valve closing side, and at the same time, the forward high-speed response solenoid valve 23
An electric signal is output to switch to the operating side, and the correction motor 22
Accordingly, the wheels 20 are rotated in the forward direction via the electromagnetic clutch 21, the differential gear 18, and the final reduction gear 19, and the cargo handling tool 5 is vertically moved up and down. During normal cargo handling work, the electromagnetic clutch 21 is placed in the disengaged state in order to protect the correction motor 22. When vertically raising the cargo handling implement 5 while holding it horizontally, if the rotation speed of the engine 17 is large, the amount of discharge of the steering pump 15 and the cargo handling pump 33 is also large, so the raising speed of the boom 4 becomes faster, The accuracy decreases. Therefore, the output of the engine rotation detector 46 is calculated by the control device 11, and when the rising speed of the boom 4 is too fast, the boom control pilot pressure solenoid valve 39 is switched to the disconnecting side and the high speed response solenoid valve 40 is operated at high speed. By repeating the switching in step 1, the pressure oil from the boom pilot pressure switching portion 41 to the boom hydraulic circuit switching portion 38 is reduced, and the rising speed of the boom 4 is reduced. When vertically moving the cargo handling implement 5 while holding it horizontally, the vehicle body 2 is moved back and forth by the correction motor 22, so the transmission is made neutral and the parking brake is released. if,
If not, the neutral lamp 48 and the parking lamp 49 are turned on to warn.

Although the traveling device 3 corrects the position of the vehicle body 2 by providing the correction motor 22 and the like in the previous embodiment, the present invention is not limited to this, and the position of the vehicle body 2 is corrected using an existing device. You can do it as well. Although the cargo handling tool 5 is a fork logger in the above embodiment, the cargo handling tool 5 is not limited to this and may be, for example, a fork or a bucket. In the above embodiment, the cargo handling tool cylinder 7 corrects the angle of the cargo handling tool 5 by providing the cargo handling tool angle correction valve 45 or the like. However, the present invention is not limited to this, and the cargo handling tool cylinder 7 can be adjusted by using an existing one, for example. You may make it correct. Although the boom control pilot pressure solenoid valve 39, the high-speed response solenoid valve 40, and the engine rotation detector 46 are provided in the previous embodiment, they are not limited to this, and may be omitted, for example. Although the neutral lamp 48 and the parking lamp 49 are only turned on in the above-mentioned embodiment, the present invention is not limited to this. For example, they may be turned on and the operation by the start switch 47 may be blocked.

[0008]

As described above, according to the present invention, as described above,
The following excellent effects can be obtained. (1) A vehicle body, a traveling device, a boom, a cargo tool, a boom cylinder, a cargo tool cylinder, a boom position detector, a cargo tool angle detector, a vehicle body position detector, and a control device. Since the tool angle detector, the vehicle body position detector, and the control device are provided, the cargo handling tool can be vertically moved while being held horizontally. (2) Since it is a boom-type elevating device, it can vertically elevate while holding the cargo handling device horizontally as in the case of the mast-type elevating device, so that there is no fear that the load may collide with another object and be damaged. (3) Since the traveling device can be used, no special device for vertically moving the cargo handling equipment is required, which is extremely rational. (4) Since only the boom position detector, the cargo handling tool angle detector, the vehicle body position detector, and the control device are provided, the present invention can be easily applied to existing cargo handling vehicles. (5) Since it is a boom-type lifting device, it has a better front view than the mast-type lifting device.

[Brief description of the drawings]

FIG. 1 is a side view showing a cargo handling vehicle equipped with a boom-type lifting device according to an embodiment of the present invention.

FIG. 2 is a hydraulic circuit diagram.

[Explanation of symbols]

 1 Boom Type Lifting Device 2 Car Body 3 Traveling Device 4 Boom 5 Cargo Handling Equipment 6 Boom Cylinder 7 Cargo Handling Equipment Cylinder 8 Boom Position Detector 9 Cargo Handling Equipment Angle Detector 10 Vehicle Body Position Detector 11 Control Device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Reference number within the agency FI Technical indication location E02F 3/36 E02F 3/36 A 3/43 3/43 D (72) Inventor Masami Higaki Osaka Prefecture 1-15-10 Kyomachibori, Nishi-ku, Osaka Toyo Hakko Co., Ltd. (72) Inventor Shinichi Sakai 3 832 Maie, Fumai-cho, Shimomashiro-gun, Kumamoto 3 Kumamoto TMC Co., Ltd. (56) References 62-98697 (JP, U)

Claims (1)

(57) [Claims] 1. A vehicle body and a traveling device provided on the vehicle body,
A boom that can be elevated to the vehicle body, a cargo handling tool that can be elevated to the boom, a boom cylinder that raises the boom to the vehicle body, a cargo handling cylinder that raises the cargo handling instrument to the boom, and a boom. Boom position detector that detects the position of the vehicle, a cargo tool angle detector that detects the angle of the cargo tool, a vehicle body position detector that detects the position of the vehicle body, and a boom position and cargo tool angle detection from the boom position detector To control the cargo tool cylinder to hold the cargo tool horizontally based on the cargo tool angle from the container, and to vertically move the cargo tool based on the boom position from the boom position detector and the vehicle body position from the vehicle body position detector. A boom-type lifting device characterized by comprising a control device for controlling the traveling device.