JPH0248397A - Autobalance type lifting gear - Google Patents

Abstract

PURPOSE:To make balance keepable automatically by detecting a tilt angle of load supported on a hydraulic jack, and outputting a compensating signal in direction of making the detected tilt angle smaller, to a solenoid proportional valve. CONSTITUTION:The maximum permissible value of tilt angles in all directions, which makes an airplane 1 regardable as horizontality in an automatic operation mode is preset in a controller 19. The tilt angles in all directions are detected by an inclinometer 20 installed in the airplane 1. When the signal is inputted, the tilting direction is discriminated from the detected value, and using a hydraulic jack 5 as a master jack, such a compensating signal as adjusting hydraulic fluid rate in direction of making the tilt smaller is outputted to a solenoid proportional valve 13 of one side or both sides of other hydraulic jacks 6, 7. Output of this compensating signal is stopped when the detected value of the inclinometer 20 is restored to the setting range. Consequently, the airplane 1 is automatically kept in horizontality and moved up and down.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an improvement in a lifting device using a plurality of jacks for horizontally lifting an airplane or the like.

(Conventional technology) Airplane! ! When lifting an aircraft from the ground for preparations or inspections, hydraulic jacks are generally placed at jack points set in predetermined parts of the aircraft, and each hydraulic jack is driven to extend and retract while monitoring the aircraft's tilt. .

(Problem to be solved by the invention) However, this requires the deployment of a large number of personnel, including an operator for each jack and a person who monitors the tilt of the aircraft and instructs the jack operation. This was a laborious and time-consuming task.

The present invention focuses on the above-mentioned points of good luck, and by automatically controlling the expansion and contraction of multiple jacks according to the slope of the load,
The purpose is to improve efficiency and save labor in lifting and lowering work.

(Means for Achieving the Object) The present invention includes a hydraulic operating circuit including a plurality of hydraulic jacks that support a load, and an electromagnetic proportional valve that controls the flow rate of hydraulic fluid supplied to the hydraulic jacks according to an input signal. , means for detecting the inclination angle of the load supported by these hydraulic jacks, and outputting a correction signal in the direction of reducing the inclination to the electromagnetic proportional valve when the inclination angle detected by the detection means exceeds a certain value. control circuit.

(Function) Each hydraulic jack extends while supporting a load at a speed corresponding to the supply flow rate of hydraulic oil controlled by the electromagnetic proportional valve.

On the other hand, the detection means detects the inclination angle of this load, and when the detected inclination angle exceeds a certain value, the control circuit outputs a correction signal to the electromagnetic proportional valve to correct the flow rate in the direction of reducing the inclination. The electromagnetic proportional valve controls the flow rate of hydraulic oil based on this correction signal, increases or decreases the extension speed of the hydraulic jack, and levels the load.

(Example) FIG. 1 shows an embodiment of the present invention.

The airplane 1 shown in the figure is equipped with 2 to 4 jack points at 3 locations on the underside of the fuselage, and these 7 jack points 2 to 4
Hydraulic jacks 5 to 7 for lifting and lowering the aircraft by supporting
is placed on the ground.

Hydraulic jacks 5 to 7 are all 8 shillings and 8 shillings
The piston rod 9 is slidably protruded from the cylinder 8, and the piston rod 9 is extended by the pressure of the hydraulic oil sent from the pump 11 into the pressure chamber of the cylinder 8, and the load is reduced by releasing this hydraulic oil pressure to the tank 12. The piston rod 9 is contracted accordingly. The jack points 2-4 are supported at the tips of the respective piston rods 9 of the hydraulic jacks 5-7.

An electromagnetic proportional valve unit (hydraulic operating circuit) is provided between the hydraulic jacks 5 to 7 and the hydraulic pump 11 and tank 12, respectively.
10 is interposed. The electromagnetic proportional valve unit 10 includes an electromagnetic proportional valve 13, three solenoid valves 14 to 16 which are switched by ON and OFF signals, and a check valve 17 with a pilot.

The electromagnetic proportional valve 13 controls the flow rate of the passing hydraulic oil in proportion to the input signal current, regardless of the flow direction, and is connected to the pressure chamber of the cylinder 8 via a check valve 17 with a pilot. .

The solenoid valve 14 is interposed between the hydraulic pump 11, the solenoid valve 15, and the solenoid valve 16,
When the ON signal is input, the oil discharged from the hydraulic pump 11 is supplied to the electromagnetic proportional valve 13 and the solenoid valve 15, and when the OFF signal is input, the oil discharged from the hydraulic pump 11 is returned to the tank 12.

The solenoid valve 15 is interposed between the solenoid valve 14, the tank 12, and the electromagnetic proportional valve 13, and supplies pump discharge oil to the electromagnetic proportional valve 13 via the solenoid valve 14 in response to an ON signal, and supplies pump discharge oil via the solenoid valve 14 in response to an OFF signal. In contrast, an electromagnetic proportional valve 13 is connected to the tank 12.

Further, the solenoid valve 16 is interposed between the pilot circuit of the check valve 17 with a pilot, the solenoid valve 14 and the tank 12, and in response to an ON signal, pump discharge oil is supplied to the pilot circuit via the solenoid valve 14. , the pilot circuit is released to the tank 12 for the OFF signal.

A potentiometer 18 for detecting the stroke position of the piston rod 9 is attached to the hydraulic jacks 5 to 7. The potentiometer 18 outputs the stroke and position of the piston rod 9 as a signal current by changing the electrical resistance value in response to the expansion and contraction of the piston rod 9.

Further, an inclinometer 20 is used as a means for detecting the inclination angle of the airplane 1.
will be placed in The inclinometer 20 detects the longitudinal and lateral inclination angles of the airplane 1 and outputs them as signal currents.

Since the 111 aircraft is usually equipped with this type of inclinometer, it is also possible to use the onboard instrument of Flight 8!1 as the inclinometer 20.

A controller 19 is provided as a control circuit for controlling the electromagnetic proportional valve unit 10. Solenoid proportional valve 13 and solenoid valve 14 ~
16 through signal circuits.

control? Two types of operation modes, automatic operation and manual operation, are set at 19, and a switch 21 is used to select these modes and at the same time select the hydraulic jacks 5 to 7 to be operated when driving in the manual operation mode.
, an operating lever 22 that instructs the raising and lowering speed and stop according to the rotational position, an input device 23 equipped with a display device that sets the target height in automatic operation mode, and calculation and display of the hydraulic jacks 5 to 7. With the F switch 24, the stroke positions of the inclinometer 20 are set to zero, respectively. Display devices fi 25 and 26 for displaying the tilt angle after 7rI and left and right, and a display device 27 for displaying the stroke position of the hydraulic jack 5 are provided. Furthermore, the hydraulic jack 6 for the hydraulic jack 5
and 7 display devices 28 and 2 for displaying the difference in stroke position.
9 is provided.

When the operating lever 22 is in the raised position, the controller 19 sends an ON command signal to the solenoid valves 14 and 15 of the electromagnetic proportional valve unit 7 , and sends an ON command signal to the solenoid valve 16 .
Outputs an OFF command signal to. On the other hand, operation lever 2
2 is in the lowered position, it outputs an ON command signal to the strain/idle valves 14 and 16, and an OFF command signal to the solenoid valve 15. Further, when the operating lever 22 is at the stop position, an OFF signal is output to the solenoid pulps 14 to 16. Further, a flow rate signal corresponding to the rotational position of the operating lever 22 is outputted to the electromagnetic proportional valve 13 in either the ascending or descending position, and a zero flow rate signal is outputted to the electromagnetic proportional valve 13 in the stop position.

Note that these signals are output to the selected hydraulic jack 5 to the electromagnetic proportional valve unit 10 in the manual operation mode, and to the selected hydraulic jack 5 in the automatic operation mode.
This is done for all electromagnetic proportional valve units 10 of 7 to 7.

Inside the controller 19, the maximum permissible values of the longitudinal and lateral inclination angles at which the airplane 1 can be regarded as horizontal are set in advance. Then, in the automatic operation mode, the inclinometer 2
When the detected longitudinal and horizontal inclination angles of the airplane 1 are input as signals, the controller 19 compares the input inclination angles with the set values, and if the detected values exceed the set values. First, it is determined whether the inclination is related to the front-rear direction or the left-right direction, and then the direction of inclination is determined from the detected value. Then, using the hydraulic jack 5 as a master jack, a correction signal is output to one or both electromagnetic proportional valves 13 of the other hydraulic jacks 6 and 7 to adjust the hydraulic oil flow rate in a direction to reduce this inclination. The output of this correction signal is stopped at the same time as the detected value of the inclinometer 20 returns to the set range.

The controller 19 also displays the stroke position of the hydraulic jack 5 on the display device 27 based on the signal input from the potentiometer 18, and displays this value on the switch 23.
When the height matches the target height set in , an OFF signal is output to the solenoid valves 14 to 16 of each electromagnetic proportional valve unit 10, and a flow rate zero signal is output to the electromagnetic proportional valve 13, respectively.

The maximum value allowed for the stroke difference between the hydraulic jacks 5 to 7 is set inside the controller 19. Based on the signal input from each potency meter 18, the controller 19 calculates the difference between the stroke position of the hydraulic jack 5, which is the master jack, and the stroke position of the hydraulic jacks 6 and 7, and displays this on the display device 28. 29, and when this stroke difference exceeds the set maximum allowable value, an OFF signal is output to the solenoid valves 14 to 16 of each electromagnetic proportional valve unit 10, and a zero flow signal is output to the electromagnetic proportional valve 13. to stop operation.

Furthermore, the maximum allowable values for the longitudinal and lateral inclinations of the airplane 1 are set in the controller 19, respectively. Then, one controller displays on the display devices 25 and 26 the after-turn and left and right inclination angles of Flight 8!1, which are sequentially inputted as signals from the inclinometer 20, and compares them with the respective maximum allowable values to determine whether the input values are within the allowable range. When the maximum value is exceeded, the same signal as when the difference in stroke position exceeds the allowable range is output to each electromagnetic proportional valve unit 10.

Next, the effect will be explained.

When the manual operation mode is selected by operating the switch 21, and then one of the hydraulic jacks 5 to 7 is selected and the operating lever 22 is turned to the upward side, the controller 19 moves the selected hydraulic jack 5 (6, 7). An ON signal is output to the solenoid pulps 14 and 15 of the electromagnetic proportional valve unit) 10, an OFF signal is output to the solenoid valve 16, and a flow rate signal corresponding to the rotation angle of the operating lever 22 is output to the electromagnetic proportional valve 13. As a result, the oil discharged from the hydraulic pump 11 via the Tsuremade pulps 14 and 15 is supplied to the pressure chamber of the sill 8 while the electromagnetic proportional valve 13 controls the flow rate according to the opening degree corresponding to the flow rate signal. As a result, the piston rod 9 extends at a speed corresponding to the rotational position of the operating lever 22.

When the operating lever 22 is rotated to the stop position, the controller 19 outputs an OFF signal to the thread/id pulps 14 to 16 and a zero flow signal to the electromagnetic proportional valve 13, respectively. As a result, the oil discharged from the hydraulic pump 11 flows back to the tank 12, while the valve 17 prevents the hydraulic oil from flowing out from the pressure chamber of the cylinder 8, so the hydraulic jack 5 stops extending and remains at that position. Supported.

Furthermore, when the operating lever 22 is rotated to the lowering side, the controller 19 sends an ON signal to the solenoid pulps 14 and 16.
OFF signal to solenoid pulp 15, electromagnetic proportional valve 13
A flow rate signal corresponding to the rotational position of the operation lever 22 is outputted at each time. As a result, the discharge pressure of the hydraulic pump acts on the pilot circuit, the check valve 17 is activated, and the flow rate of the hydraulic oil in the pressure chamber of the cylinder 8 is controlled by the opening degree corresponding to the flow rate signal of the electromagnetic proportional valve 13. Reflux to 12. As a result, the piston rod 9 contracts at a speed corresponding to the rotational position of the working lever 22.

When the flight 8!1 is to be raised to a predetermined position, the hydraulic jacks 5 to 7 are sequentially extended in the above manual operation mode to contact the jack points 2 to 4 of the airplane 1. At this time, if the longitudinal and horizontal inclinations of the airplane 1 displayed on the display devices 25 and 26 are not within the range that can be regarded as horizontal, the hydraulic jacks 5 to 7 may be slightly expanded or contracted as necessary. 8! Correct the posture of 1 to be horizontal.

Next, the automatic operation mode is selected using the switch 21, and the display and calculated stroke position of the hydraulic jacks 5 to 7 are set to zero using the reset switch 24. and,
Input device 1123 for the target height at which the airplane 1 should be lifted.
, and move the operating lever 22 to the upward direction. Accordingly, the controller 19 sends an ON signal to the strain/idle valves 14 and 15 of each hydraulic jack 5 to 7, an OFF signal to the solenoid valve 16, and a flow rate adjustment signal to the electromagnetic proportional valve 13 according to the rotational position of the operating lever 22. Output each number. As a result, the oil discharged from the hydraulic pump 11 is transferred to the electromagnetic proportional valve 1.
3 supplies it to the pressure chamber in the sill 8 while controlling the flow rate by the opening degree based on the flow rate signal, the piston rods 9 of the hydraulic jacks 5 to 7 simultaneously extend, and the flight 8!1 starts to rise. Note that the climbing speed of the airplane 1 changes steplessly according to the rotational position of the control lever 22.

During this ascent, the inclination angles detected by the inclinometer 20 provided on the airplane 1 are sequentially input to the controller 19, and the inclination angles of the flight 8! In addition to displaying these values, if these values exceed the maximum permissible value that can be considered horizontal that has been set internally, it is determined whether the inclination is related to the front-rear direction or the left-right direction, and the direction of inclination is determined from the detected values. After the determination, a correction signal is output to one or both of the electromagnetic proportional valves 13 of the hydraulic jacks 6 and 7 to adjust the flow rate of the hydraulic oil in the direction of reducing the inclination.

Therefore, for example, if the airplane 1 tilts backward beyond a set value, the controller 19 outputs a correction signal to increase the flow rate to the electromagnetic proportional valve 13 of the hydraulic jack 7, and slightly increases the extension speed of the hydraulic jack 7. As a result, the posture of the airplane 1 tilted backward is returned to horizontal. As a result, the inclinometer 20
When the inclination angle after tJ, which is input as a signal from the controller 19, becomes less than the set value again, the controller 19 stops outputting the correction signal to the electromagnetic proportional valve 13.

In this way, the controller 19 constantly monitors the longitudinal and lateral inclination of the airplane 1, and when the inclination angle exceeds the set value,
Since a correction signal is output to correct the extension speed of one or both of the hydraulic jacks 6 and 7, the airplane 1 ascends while maintaining a horizontal state.

Now, when the stroke position of the hydraulic jack 5, which is the master jack, matches the target height set in the input device 23, the controller 19 activates the solenoid valves 14 to 16 of the electromagnetic proportional valves 10 of the hydraulic jacks 5 to 7.
The F signal is outputted to the electromagnetic proportional valve 13, and the flow rate zero signal and signal are output to the electromagnetic proportional valve 13 to adjust the hydraulic pressure.

Stop extension of keys 5-7. Thereafter, the airplane 1 is supported in a horizontal state at the specified target height.

When lowering the airplane 1 at the 1st position, the operating lever 22 is rotated to the lowering side while remaining in the automatic operation mode. As a result, the controller 19 controls each of the hydraulic jacks 5 to 7.
An ON signal is sent to the idle valves 14 and 16, an OFF signal is sent to the Tsuremaid valve 15, and an operating lever 22 is sent to the electromagnetic proportional valve 13.
In this case, the hydraulic oil in the pressure chamber of the cylinder 8 is returned to the tank 1°4 while the flow rate is controlled by the electromagnetic proportional valve 13 from the open check valve 17. When the inclination angle detected by the inclinometer 20 exceeds the set value, the controller 19 outputs a correction signal to the electromagnetic proportional valve 13 to horizontally control the descending flight 8!1, as in the direct ascent.

By the way, due to maintenance, alpha inspection, etc., flight W11
・If you want to tilt it slightly in the raised position, press switch 2.
1 to manual operation mode, and hydraulic jack 5.
- 7 and move the operating lever 22 upward or downward, the selected hydraulic jack 5 (6
, 7) can be extended to tilt the flight 8!1. In this case, the controller 19
The difference in stroke position is detected from the stroke positions of the hydraulic jacks 5 to 7 that are sequentially input from the meter 18, and if this exceeds a preset allowable maximum value, the electromagnetic proportional valve unit 10 is activated regardless of the position of the operating lever 22. The hydraulic jack 5 (6, 7) that is being driven is stopped by outputting a signal to.

The controller 19 also detects flight 8! of the inclinometer 20!
If any of the front and rear and left and right inclination angles of 1 exceed the maximum permissible value set in advance inside the hydraulic jack 19, a similar signal is output and the hydraulic jack 5
(6, 7) is stopped. In this way, the inclination of the airplane 1 is monitored using both the stroke position detected by the tilt meter 19 and the inclination angle detected by the inclinometer 20, so even if a failure occurs in either monitoring system, the other By activating the monitoring system, the angle of inclination to flight 1 always remains within a safe range. Note that these monitoring systems also operate in automatic operation mode.

(Effects of the Invention) As described above, the present invention provides a hydraulic operating circuit including a plurality of hydraulic jacks that support a load, and an electromagnetic proportional valve that controls the flow rate of hydraulic oil supplied to each hydraulic jack according to a signal. , a means for detecting the tilt angle of the load, a signal that corrects the flow rate when the detected tilt angle exceeds a certain value, and a control circuit that outputs to the electromagnetic proportional valve, so that when the load is tilted by more than a certain value, Then, based on the correction signal output by the control circuit, the electromagnetic proportional valve corrects the flow rate supplied to the hydraulic jack, adjusts the extension speed of the hydraulic jack, and reduces the inclination. Therefore, the load is always raised and lowered while maintaining the level, and the effort required to maintain the level can be saved. Therefore, the present invention can be applied to an elevator for inspection and maintenance of an airplane.
If applied to a, etc., a great effect can be obtained in increasing the efficiency and labor saving of lifting and lowering work, as well as improving safety.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a self-balancing lifting device for an airplane showing an embodiment of the present invention. 1...Airplane, 2~4...Jacking point, 5~
7... Hydraulic jack, 10... Solenoid proportional valve unit, 11... Hydraulic pump, 12... Tank, 13...
・Solenoid proportional valve, 14-16... Solenoid valve, 1
7...Check valve with pilot, 18...Botegushi 3 meter, 19...Controller, 20...Inclinometer, 22...Operation lever Patent applicant Kayabae Gyo Co., Ltd. procedural amendment Commissioner Yoshiki of the Patent Office 1) Takeshi Moon 1, Case G) Indication Patent Application No. 198617 of 1986 2 Name of the invention Self-balancing lifting device 3 Relationship to the case by the person making the amendment Patent applicant address name Hamamatsucho 2, Minato-ku, Tokyo Chome 4-1 World Trade Center Building (092) Kayabae Gyo Co., Ltd. t1 Agent 6, "Claims" and "Detailed Description of the Invention" columns in the specification to be amended. 7. Contents of amendment (1) The "Claims" of the specification will be amended as shown in the attached sheet. (2) From the 20th line of page 2 to the 1st line of page 3 of the specification, the phrase ``...when the inclination angle exceeds a certain value, the inclination is reduced...'' was replaced with ``...・Reduce the inclination angle..." and correct it. (3) From line 7 to line 8 on page 3 of the specification:
・If the inclination angle exceeds a certain value, the inclination will be reduced.・
"..." should be replaced with "...Reduce the inclination angle..."
” he corrected. (4) From line 11 to line 14 of page 8 of the specification: ``Inside the controller 19, the maximum permissible values of the longitudinal and lateral inclination angles at which the airplane 1 can be regarded as horizontal are set in advance. ``In the automatic operation mode,'' was replaced with ``In the automatic operation mode, the controller 19
” he corrected. (5) From line 15 to line 20 of page 8 of the specification: ``...When input, the controller 19 compares the input tilt angle with the set value, and the detected value is If it exceeds the set value, determine whether the slope is related to the longitudinal direction or the horizontal direction, and further determine the direction of inclination from the detected value. Then, the tilt direction is determined from the detected value,
” he corrected. (6) In the fourth line of page 9 of the specification, the phrase "The output of this correction signal is..." is corrected to "The output of this correction signal is...". (7) In the fifth line of page 9 of the specification, the phrase "...is stopped at the same time as it returns to the set range" is corrected to "...is output until it returns to zero." (8) From line 17 to line 20 on page 13 of the specification, it says, ``If these values exceed the preset internal maximum allowable value that can be considered horizontal, the Determine what is related to the slope, and delete the phrase ``In addition.'' (9) Delete "J beyond the set value" on the 4th line of page 14 of the specification. "When the inclination angle becomes zero," is corrected to "...when the inclination angle becomes zero." (From the 14th line to the 15th line on page 14 of the specification, and from the 18th line to the 19th line on page 15 of the specification) ``When the tilt angle exceeds the set value, the correction signal is...・”
Correct the statement with "Inclination angle correction signal...". (12) In the 12th line of page 17 of the specification, the phrase "When the detected tilt angle exceeds a certain value..." is corrected to "When the tilt angle is detected...". Claims: ``A hydraulic operating circuit comprising a plurality of hydraulic jacks that support a load, an electromagnetic proportional valve that controls the flow rate of hydraulic fluid supplied to the hydraulic jacks in accordance with an input signal, and a hydraulic operating circuit that is supported by these hydraulic jacks. A means for detecting the inclination angle of a load, and a means for detecting the angle of inclination of a load
and a control circuit that outputs = to the electromagnetic proportional valve.

Claims (1)

[Claims] A hydraulic operation circuit including a plurality of hydraulic jacks that support loads, an electromagnetic proportional valve that controls the flow rate of hydraulic oil supplied to the hydraulic jacks according to an input signal, and an inclination angle of the loads supported by these hydraulic jacks. a means for detecting;
When the inclination angle detected by the detection means exceeds a certain value,
A self-balancing lifting device comprising: a control circuit that outputs a correction signal in a direction to reduce the inclination to the electromagnetic proportional valve.