JPH05139697A - Boom type elevating device - Google Patents

Abstract

PURPOSE:To vertically elevate a cargo handling tool while horizontally holding it by controlling a cargo handling tool cylinder by means of elevation of a boom to horizontally hold the cargo handling tool, and by controlling a travelling device by means of the elevation of the boom to vertically elevate the cargo handling tool. CONSTITUTION:A boom 4 is elevatably provided on a vehicle body 2 and a cargo handling tool 5 is elevatably provided on the boom 4. A control device controls a cargo handling tool cylinder 7 so as to horizontally hold the cargo handling tool 5 based on a boom position from a boom position detector and a cargo handling tool angle from a cargo handling tool angle detector, and controls a travelling device 3 so as to vertically elevate the cargo handling tool 5 based on the boom position from the boom position detector and a vehicle position from a vehicle position detector. Since the cargo handling tool 5 is thus vertically elevated while being horizontally held, there is no possibility that a cargo is damaged due to collision to other articles, and a special device for vertically elevating the cargo handling tool is not required so that this method can be easily applied to an existing cargo handling vehicle.

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 one 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 so that the cargo handling tool can be held horizontally regardless of the boom. 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 with the elevation of the boom and does not move vertically.

[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 tool 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 car body, a cargo handling cylinder that raises the boom above 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 position of the vehicle body, 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 traveling tool cylinder so as to vertically move the cargo handling tool vertically 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 cargo implement cylinder to hold the cargo implement horizontally based on the boom position from the boom position detector and the cargo implement angle from the cargo implement 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
Applied to. 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 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
It consists of zero. The traveling device 3 includes an electromagnetic clutch 21 and a correction motor 22 that are branched from the input side of the differential gear 18 and are connected to each other. 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, and the tank 1
Connected to 6. 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, and the base end thereof can be lifted on the tip of the boom 4. It is linked. The clamp cylinder 30 includes a clamp hydraulic circuit switching unit 32 of the cargo switching valve 31, a cargo pump 3
It is connected to the tank 16 through 3. 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 has an ascending side through the boom control pilot pressure solenoid valve 39 and the high-speed response electromagnetic valve 40 as an ascending side of the boom pilot pressure switching unit 41 of the pilot pressure switching valve 34, and a descending side as the boom pilot pressure switching unit. It is connected to the descending side of 41. The cargo handling cylinder 7 is a boom 4
With respect to the cargo handling tool 5, the linkage 42 is provided on the front vehicle body 2 and is pivotally connected to the boom 4 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 device 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. In this example, the boom position detector 8 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 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 a boom position detector 8, a cargo handling tool angle detector 9, a vehicle body position detector 10, an engine rotation detector 46, and a start switch 47 are connected to the input side. In addition, on the output side, the forward high speed response solenoid valve 2
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. Note that 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 switched and 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 switched and controlled, the cargo 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 cargo 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 switch-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 switched to the upward side, 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 divided by the flow dividing valve 26 for vehicle position correction and cargo handling tool angle correction. When the pressure oil for vehicle position correction does not need to be corrected, the forward high-speed response solenoid valve 23 and the reverse high-speed response solenoid valve 24 are closed, so the unload solenoid valve 25
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 required. 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 rising side or the falling 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 electric 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 bowed down and corrected to be horizontal. When the cargo handling tool 5 is lying down, the cargo handling tool angle correction valve 45 is switched to the upright side, and the cargo handling tool 5 is raised and corrected so as 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. When the cargo handling tool 5 is moving forward, an electric signal is output to the unload solenoid valve 25 to close it. Along with 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 the forward high speed response solenoid valve 23 is also provided.
An electric signal is output to switch to the operating side, and the correction motor 22
Thus, 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 the cargo handling tool 5 is held vertically and is lifted vertically, if the rotation speed of the engine 17 is large, the lifting speed of the boom 4 is also increased because the discharge amount of the steering pump 15 and the cargo handling pump 33 is large, and the correction is performed. 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 forward and backward 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 above embodiment, the present invention is not limited to this, and the position of the vehicle body 2 is corrected using an existing one. 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 cylinder 7 is provided with the cargo handling tool angle correction valve 45 and the like to correct the angle of the cargo handling tool 5, but the present invention is not limited to this. For example, an existing one can be used to adjust the angle of the cargo handling tool 5. 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-described 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,
The following excellent effects can be achieved. (1) Consists of a car body, traveling device, boom, cargo handling tool, boom cylinder, cargo handling tool cylinder, boom position detector, cargo handling tool angle detector, vehicle body position detector, and control device, and especially boom position detector, cargo handling 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 lifting device, it can lift and lower vertically while holding the cargo handling device horizontally as in the case of the mast-type lifting device, so there is no risk of the cargo colliding with other objects and being damaged. (3) Since the traveling device can be used, a special device for vertically moving the cargo handling implement is not 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 a mast-type lifting device.

[Brief description of 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 Car Body Position Detector 11 Control Device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI Technical indication location E02F 3/43 D 9022-2D (72) Inventor Masami Higaki 1-15, Kyomachibori, Nishi-ku, Osaka-shi, Osaka No. 10 Toyo Hakko Co., Ltd. (72) Inventor Shinichi Sakai 3 832, Maie, Fumai-cho, Shimomashiro-gun, Kumamoto 3 Kumamoto TCM Co., Ltd.

Claims (1)

[Claims] 1. A vehicle body and a traveling device provided on the vehicle body,
A boom that can be elevated on the vehicle body, a cargo handling tool that can be elevated on the boom, a boom cylinder that raises the boom to the vehicle body, a cargo handling cylinder that raises the cargo equipment 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 a traveling device.