JPH0516006Y2 - - Google Patents

Description

[Detailed explanation of the idea]

(Industrial application field) This idea is suitable for vehicles such as truck cranes.
The present invention relates to a hydraulic suspension device for use in a vehicle. (Conventional technology and its problems) Truck cranes are generally used for suspension work.
Laterally from the chassis frame to ensure stability
Extend the outriggers in the opposite direction and lift the entire vehicle body.
This allows the tires and other parts to be lifted off the ground.
of the palm frame by hanging it on the palm frame.
We are trying to increase the hanging load. At this time Thailand
To make sure that the ya is completely lifted off the ground
In conventional truck cranes, the axle
) can be shifted without using a spring.
Many are fixed types that can be attached directly to the frame. Also, if the truck crane is
Hanging also applies when moving objects while hanging them.
Truck crane apertures to ensure running stability
The Kusuru is fixed. However, the installation of the axle with a spring
If you make it a fixed type without intervening, it will be easier to
The ride comfort when moving vehicles such as lanes is extremely poor.
There is a problem. This invention was made to solve such problems.
Vehicles such as truck cranes can be moved by
Reduces shock and vibration caused by uneven road surfaces, etc.
In addition to improving riding comfort, the so-called
Hydraulic suspension for vehicles designed to prevent "nose dive"
The purpose is to provide pension equipment. (Means for solving problems) In order to achieve the above-mentioned purpose, the vehicle oil of the present invention
The pressure suspension device is connected to the chassis frame and
interposed between the pistons and defined by the piston.
Piston side chamber and piston rod side piston, etc.
a hydraulic cylinder having a side chamber, one side of the piston;
an oil passage communicating between the chamber and the other side chamber of the piston;
Disposed along the road and defined by movable bulkheads
It has a gas chamber and an oil chamber, which are used for the movement of the piston.
of the hydraulic oil discharged from the chamber on one side of the piston.
an accumulator that stores part of the oil in the oil chamber;
It is installed at the inlet of the humulator, and has a fixed orifice and a first
Bidirectional hydraulic fluid flow according to the operating command signal.
and in response to the second actuation command signal, the
The flow of hydraulic oil only in the direction outflowing from the mulator.
Parallel consisting of a first check valve that allows
circuit, the accumulator and the piston other side chamber
The first operation command signal is disposed in the middle of the oil path between
Allow bidirectional hydraulic oil flow according to the above specifications.
the piston one side chamber in response to a second actuation command signal;
The flow of hydraulic oil from the piston side to the other side chamber side of the piston.
It has a throttling function that allows for
A second check valve detects the braking state of the vehicle.
Brake sensor and the output of the brake sensor
and the first operation when the vehicle is not in a braking state.
When a command signal is generated and the vehicle is in a braking state
a controller that generates the second actuation command signal;
It is characterized by consisting of a. (effect) When the vehicle is not in a braking state, the controller
generates an operation command signal for the first and second chains.
Allow the hydraulic oil to flow in both directions. child
In the hydraulic circuit formed when the hydraulic cylinder
When the piston expands and contracts, the space between the chamber on one side of the piston and the chamber on the other side of the piston is
Some of the hydraulic oil flowing in and out flows into the oil chamber of the accumulator.
The amount of oil stored in the gas chamber increases or decreases.
contracts and expands, the pressure in the gas chamber increases and decreases, and this gas
If the hydraulic pressure increases or decreases as the pressure in the chamber increases or decreases,
functions are realized. And has an aperture function
The flow of hydraulic oil flowing through the oil passage by the second check valve
The amount is regulated and the shock absorber function is realized.
Ru. On the other hand, when the vehicle is under braking, the controller
The controller generates a second actuation command signal and
Flows out from the accumulator to the 2nd check valve.
The flow of hydraulic oil in the direction of
Only the flow of hydraulic oil to the other side chamber of the piston is allowed.
be done. For this reason, the hydraulic cylinder is not allowed to extend.
Only contraction is allowed. and hydraulic cylinder
During contraction, hydraulic fluid flows only from the fixed orifice in the parallel circuit.
can flow into the accumulator, and
Since the flow rate is regulated by this fixed throttle, the
, the piston moves from one side chamber to the other side chamber.
The flow of hydraulic oil is controlled by a second check with a throttling function.
It is throttled by the valve, causing the hydraulic cylinder to contract.
As a result, when braking
Excessive "nose dive" is avoided. (Example) An embodiment of the present invention will be described below with reference to the drawings.
do. Figure 1 shows the external appearance of the truck crane according to the present invention.
, chassis frame 3 of truck crane 1
A known crane 2 is mounted and fixed on the upper surface of the first crane.
In the figure, arm 2a of crane 2 is connected to chassis frame 3.
folded into armrest 2b attached to
Indicates the condition. Then, the truck shown in Figure 1
Lane 1 indicates a type with a single axle for each front and rear wheel.
Wheels 4 and 4 are located at both ends of the front axle (not shown).
installed, and the front axle is
Cross-sectional shape arranged laterally below the front of arm 3
It is housed in a substantially rectangular front axle housing 5.
(Figure 2). front axle housing
On the upper wall 5a near the left and right front wheels 4, 4 of the gear 5,
While the brackets 5b and 5c are provided protrudingly,
Near the upper edge of each side wall 3a, 3b of the palm frame 3
beside and above the brackets 5b, 5c
A bracket 3 is attached horizontally and vertically to each side wall 3a, 3b.
c and 3d are provided in a protruding manner. And these
between the brackets 5b and 3c and between the brackets 5c,
Hydraulic series for the left front wheel (details will be described later) between 3d and 3d.
The hydraulic cylinder 10 and right front wheel hydraulic cylinder 12 are installed.
These hydraulic cylinders 10, 12
supports the load on the front wheels 4, 4, and
From the front end of the palm frame 3 to the front axle
The upper and lower parts extending toward both the left and right ends of Uzing 5
Shaft shifting by two radius slots 7a and 7b
frame 3 and front axle in the longitudinal direction of the vehicle.
It regulates relative positional relationships. The rear wheels 8, 8 are located below the rear of the chassis frame 3.
In the rear axle housing 9 arranged laterally
Attaches to both ends of the rear axle (not shown) to be accommodated.
If attached, front axle housing 5
Similarly, the rear axle housing 9 and the chassis
A hydraulic system for the left and right rear wheels is installed between the side walls 3a and 3b of the frame 3.
cylinders 16 and 18 are installed, and these hydraulic pressures
The upper part applied to the rear wheels 8, 8 by the cylinders 16, 18
It supports the downward load, and there are two upper and lower parts (not shown) each.
The chassis frame 3 and the rear are connected by the book radius slot.
Specifies the relative position of the axle in the longitudinal direction of the vehicle.
It's under control. In addition, numerals 13 and 14 in Fig. 1 indicate vehicle stopped suspension.
Extends to the left and right of the vehicle body during work to secure the vehicle body.
It is an outrigger for Hydraulic cylinder of the hydraulic suspension device of the present invention
10, 12, 16, 18 are spring functions, shot
Quar absorber function, on-tire function, anti-no
It has dive function, vehicle height adjustment function, etc.
The details of the function will be described later. Next, referring to FIGS. 3 to 6, the hydraulic system
Structures of the cylinders 10, 12, 16, 18 and these
Hydraulic pressure is applied to the hydraulic cylinders 10, 12, 16, 18, etc.
The hydraulic pressure supply circuit that supplies this will be explained. Front wheel hydraulic cylinders 10, 12 and rear wheel hydraulic pressure
Both cylinders 16 and 18 have substantially the same configuration.
Each hydraulic cylinder 10, 12, 16,
18 is the cylinder body 10a, 12a, 16a, 1
8a, and this cylinder body 10a, 12a, 16
Slide the piston chambers a and 18a, and open the piston chamber.
Upper chamber 10f, 12f, 16f, 18f and lower chamber 1
Piste divided into 0g, 12g, 16g, 18g
10b, 12b, 16b, 18b and hydraulic circuit
parts 10d, 12d, 16d, 18d and a straw
From the sensor 10e, 12e, 16e, 18e
The lower chambers of the piston chamber 10g, 12g, 16
g, extends from the piston surface on the 18g side, and is connected to the cylinder main body.
Projecting outward from the bodies 10a, 12a, 16a, 18a
Piston rods 10c, 12c, 16c,
18c is the piston 10b, 12b, 16b, 18
b, and this piston rod
The displacement amounts of 10c, 12c, 16c, and 18c are as described above.
Stroke sensors 10e, 12e, 16e, 1
8e is detected. Each hydraulic cylinder 10,1
2, 16, 18 stroke sensors 10e, 12
e, 16e, and 18e are attitude control controllers to be described later.
are electrically connected to the controller 120, respectively. Oil pressure of each hydraulic cylinder 10, 12, 16, 18
The circuit parts 10d, 12d, 16d, and 18d are respectively
It is configured as shown in FIG. 4, and includes a hydraulic circuit section 10d,
12d, 16d, 18d have four ports P1,
P2, PP and B are provided, and one end is connected to the said port.
The other end is connected to the piston lower chamber 10g,
In the oil passage 21 that communicates with 12g, 16g, and 18g,
Relief valve 25, throttle 26a and check valve 2
6b and a parallel flow control valve 26 consisting of
A circuit is placed between this parallel circuit and port P1.
A pilot switching valve 27 is provided in the oil passage 21.
There is. The relief valve 25 is in the piston lower chamber 10g, 12
From g, 16g, 18g side to port P1 side and
When the hydraulic pressure of the hydraulic oil flowing through the
i.e. pistons 10b, 12b, 16b, 1
When the piston speed of 8b exceeds a predetermined value,
The valve is opened and hydraulic oil is distributed. Also, check valve
26b is a poppet 260 as shown in FIG.
A diaphragm-type device that limits the amount of movement is used.
Ru. More specifically, the inlet port of the check valve 26b
These ports are connected between port 263 and exit port 264.
A valve chamber 261 having a larger diameter than the above is formed, and this valve chamber 2
61 has the poppet 260 slidable in the axial direction.
The valve chamber 261 is fitted with a poppet.
Large diameter end face 260b of port 260 and outlet port 264
A compressed spring 262 is housed between the side steps 264a.
has been done. Spring 262 has a small diameter of poppet 260.
The valve part 260a is connected to the inlet valve seat 263a of the valve chamber 261.
The poppet 260 is pressed in the direction of contact.
The small diameter valve portion 260a has a through hole 260c in the radial direction.
is bored in the large diameter end face 260b, and a central axis
A hole 260 communicating with the through hole 260c along
d is drilled. Then, the stepped portion 264a
In the valve chamber 261, a valve chamber 262 is provided facing the poppet 260.
A ring-shaped spacer 265 is provided concentrically with 261.
I'm being kicked. This poppet 260 is inserted from the inlet port 263 side.
Flow of hydraulic oil in the direction toward the outlet port 264 side
That is, from the switching valve 27 side to the piston lower chamber 10
Operation in the direction toward g, 12g, 16g, 18g side
It only allows the flow of hydraulic oil, and the inlet port
The hydraulic pressure on the port 263 side is the hydraulic pressure on the outlet port side and the spring
When the spring force of 262 is overcome, the poppet 260 moves into the valve chamber 2.
61 to the outlet port 264 side, and the hydraulic oil enters.
Port port 263, valve seat 263a and small diameter valve part 260
The gap between a, the through hole 260c, the hole 260d and the exit
Flows via port 264 . But long
The spacer 265 provided in the valve chamber 261 allows the port to be
The amount of movement of the poppet 260 is regulated, and the poppet 260
The large diameter end face 260b of 260 hits the spacer 265.
When moved to the contact position, the valve seat 263a and the small diameter valve part
The gap between the check valves 260a and 260a is maximum, and the check valve 26
The flow rate of hydraulic oil flowing through b is regulated by this maximum gap.
It will be controlled. The switching valve 27 is connected to the port PP.
The pilot oil line 24 is connected, and the switching valve 27 is
When hydraulic pressure is applied, it opens and circulates hydraulic oil.
let One end is connected to said port P2, the other end
is the piston lower chamber 10g, 12g, 16g, 18g
A pilot check valve is installed in the oil passage 22 that communicates with the
(second check valve) 28 is provided, and this check valve
The pyrotechnic valve 28 is connected to the port PP.
The oil passage 24 is connected to the check valve 28.
When pilot hydraulic pressure is not applied to
From P2 side, piston lower chamber 10g, 12g, 16g,
Allows hydraulic oil to flow only in the direction toward the 18g side
However, when pilot hydraulic pressure is applied, either
It also allows directional flow. Figure 8 shows
More details on the configuration of this pilot check valve 28
As shown in FIG.
The first valve chamber 281 and the second valve chamber 282 are shaped like
The first valve chamber 281 has a small diameter portion 281.
a and a large diameter portion 281b. First valve chamber 28
The first and second valve chambers 282 are a passage 28 along the central axis.
7 and one end surface 28a of the check valve 28.
An outlet port communicating with the first valve chamber 281 is located in the center of the valve chamber 281.
A hole 285 is drilled in the second valve chamber 282.
A pipe bored from the other end surface 28b of the tsukvalve 28
The pilot oil passage 284 is connected to this.
The pilot oil passage 24 is connected to the pilot oil passage 284.
are doing. Approximately at the center of the outer peripheral wall of the check valve 28
The inlet port 286 communicating with the passage 287 is
The inlet port 286 is connected to the oil passage.
22. The first valve chamber 281 has a small diameter poppet 280.
The inner peripheral surface of 281a is fitted so as to be slidable in the axial direction.
Furthermore, the small diameter portion 281a of the valve chamber 281 has a
Large diameter end face 280b of poppet 280 and outlet port
Spring 288 compressed between 285 side step portions 285a
is accommodated. Spring 288 is poppet 280
The small diameter valve portion 280a is connected to the valve chamber 281 and the passage 2.
It corresponds to the inlet valve seat 287a formed in the communication part of 87.
The poppet 280 is pressed in the direction of contact. Po
The small diameter valve portion 280a of the pet 280 has a radial direction.
A through hole 280c is bored, and the poppet 28
The large diameter end surface 280b of 0 has the through hole along the central axis.
A hole 280d communicating with the through hole 280c is bored.
There is. Then, the outlet port 285 side step portion 28
5a has a valve inside the valve chamber 281 toward the poppet 280.
A ring-shaped spacer 289 is concentric with the valve chamber 281.
It is provided. A piston 283 is fitted into the second valve chamber 282.
The piston on the poppet 280 side of the piston 283
The piston rod 283a formed on the piston surface is
End face of small diameter valve portion 280a with poppet 280
from the valve chamber 282 to the passage 287 side so as to face the
It stands out. A pilot is inserted into the piston 283 of the second valve chamber 282.
If hydraulic pressure is not applied, the inlet port 286 is
The supplied hydraulic pressure is applied to the large diameter end face 2 of the poppet 280.
Due to the hydraulic pressure acting on 80b and the pressing force of spring 288
If you win, Poppet 280 will be opened and this check
Valve 28 is connected from inlet port 286 to outlet port 285.
Only flow of hydraulic fluid towards is allowed. on the other hand,
Where pilot hydraulic pressure acts on piston 283
, the piston 283 moves to the poppet 280 side.
Then, the rod 283a springs the poppet 280.
288 spring force and the differential pressure across the poppet 280.
Push against the outlet port 285 side and open the poppet 2.
80 is moved to the exit port 285 side. child
As a result, the hydraulic fluid flows through the inlet port 286 and the valve seat 287.
Gap between a and small diameter valve part 280a, through hole 280
c, via hole 280d and exit port 285
Flow from inlet port 286 to outlet port 285
Flow in the opposite direction is permitted.
It will be done. However, the space provided in the valve chamber 281
The movement of the poppet 280 is regulated by the sensor 289.
The large diameter end face 280b of the poppet 280 is
When the valve seat 2 moves to the position where it contacts the pacer 289,
The gap between 87a and small diameter valve part 280a is maximum.
Therefore, the flow rate of the hydraulic oil flowing through the check valve 28 is as follows.
It will be regulated by the maximum gap. Hydraulic circuit parts 10d, 12d, 16d, 18d
An oil passage 23 is connected to the port B, and this oil passage
23 is an oil passage 21 between the switching valve 27 and port P1.
is connected to. And in the middle of this oil road 23
has the same function as the pilot check valve 28.
The pilot check valve 29 and the pilot operation
A parallel valve consisting of an operation selector valve (second check valve) 30
A column circuit is provided, and a check valve 29 and a cut-off circuit are installed.
The pilot oil passages 24 are connected to the switching valves 30, respectively.
The pilot oil pressure acts on the check valve 29.
If there is no check valve 29, open the port from the port B side.
Allows hydraulic oil to flow only in the direction toward the P1 side.
However, when pilot hydraulic pressure is applied, either
It also allows for directional flow. The switching valve 30 is a pilot
Opens when hydraulic pressure is applied to allow hydraulic oil to flow
do. Each hydraulic circuit section 10d, 12d, 16d, 1
Port P2 of 8d is connected to each port P1,
Port PP is connected to pilot oil line 51, which will be described later.
has been done. Hydraulic circuit section 10d of left front wheel hydraulic cylinder 10
Port P1 is electromagnetically switched via the hydraulic pressure path 43.
Connected to outlet port 47b of valve 47, electromagnetic switching
The input port 47a of the valve 47 receives a working hydraulic pressure, which will be described later.
41 is connected. In the hydraulic pressure path 43
is connected to an operating hydraulic pressure path 44 that branches in the middle of the oil path.
This hydraulic pressure path 44 is connected to the hydraulic cylinder for the right front wheel.
It is connected to port P1 of hydraulic circuit section 12d of No. 12.
ing. The hydraulic pressure path 43 further includes an oil path in the middle of the oil path.
A branching drain oil passage 48 is connected to the drain oil passage 48.
The oil passage 48 is connected to the drain side via the relief valve 36.
It is connected to the. And the working hydraulic path 41
are each input port 49 of electromagnetic switching valves 49 and 50
Also connected to a, 50a, electromagnetic switching valves 49, 50
Each output port 49b, 50b is for left and right rear wheel oil.
Hydraulic circuit parts 16d and 18 of pressure cylinders 16 and 18
Hydraulic pressure passages 45 and 46 are connected to each port P1 of d.
connected via. Solenoid switching valve 47, 49,
50 are attitude control controllers 1, which will be described later.
20 and is electrically connected to the attitude control controller.
When an energizing signal is supplied from 120, these electromagnetic
The switching valves 47, 49, and 50 are opened to allow the flow of hydraulic oil.
is allowed. Piston upper chamber 10 of hydraulic cylinder 10 for left front wheel
Port P3 communicating with f is connected to port P3 via oil passage 73.
The cumulator 57 is connected, and the oil path 73 is in the middle.
Pilot check valve 54 in order from port P3 side
and pilot check valve (first check valve)
Flow control valve consisting of 55a and throttle 55b (parallel
circuit) 55 is provided, and this flow rate control valve 55 and
The oil passage 73 between the check valves 54 is connected to the hydraulic circuit section.
An oil passage 74 communicating with port B of 10d is connected.
ing. The accumulator 57 is, for example, bladder-shaped.
is used, and the inside of the accumulator 57 is
An oil chamber 57b and a gas chamber 57c are formed by a rubber bag 57a, etc.
The oil chamber 57b communicates with the oil passage 73.
The gas chamber 57c is filled with high pressure N.₂filled with gas
ing. Pilot check of the flow control valve 55
A pilot oil passage 51, which will be described later, is connected to the valve 55a.
The pilot check valve 54 is connected to the pilot check valve 54 as will be described later.
A pilot oil passage 52 is connected. and,
Fill these check valves 54 and 55 with pilot oil.
When no pressure is applied, the accumulator 57 side
of the hydraulic oil in the direction from the piston upper chamber 10f side.
Only flow is allowed, pilot hydraulics act
Sometimes flow in either direction is allowed. Piston upper chamber 12 of hydraulic cylinder 12 for right front wheel
Port P3 that communicates with
The cumulator 62 is connected, and the oil path 75 is in the middle.
Pilot check valve 59 in order from port P3 side
and pilot check valve (first check valve)
Flow control valve consisting of 60a and throttle 60b (parallel
circuit) 60 is arranged, and this flow rate control valve 60 and
The oil passage 75 between the check valves 59 is connected to the hydraulic circuit section.
An oil passage 76 communicating with port B of 12d is connected.
ing. The accumulator 62 is the accumulator 62.
It has a bladder shape similar to Ta 57, and the piping
The rotary check valve 60a is equipped with a pilot to be described later.
The oil line 51 is connected, and the pilot check valve 59
A pilot oil passage 52, which will be described later, is connected to
Ru. And these check valves 59 and 60
If the pilot hydraulic pressure does not work, the
From the motor 62 side to the piston upper chamber 12f side
Only hydraulic oil flow in the opposite direction is allowed, and the pilot oil
Allows flow in either direction when pressure is applied
be done. Pistons of hydraulic cylinders 16 and 18 for left and right rear wheels
to each port P3 that communicates with the upper chambers 16f and 18f.
are connected to the above-mentioned storage system via oil passages 77 and 79, respectively.
Accumulators 65 and 68 similar to 57 are connected.
There were pilots on oil roads 77 and 79.
Check valves 64 and 67 are provided.
Oil passage 7 between 4, 67 and accumulators 65, 68
7, 79 are the ports of the hydraulic circuit portions 16d, 18d.
When the oil passages 78 and 80 communicating with route B are connected,
Both are connected to the drain side via the relief valves 37 and 38.
Drain oil passages 77a and 79a communicating with
It is. Said pilot check valves 64, 67
A pilot oil passage 52, which will be described later, is connected to
Ru. Then, the check valves 64 and 67 are equipped with a pyrotron.
When the hydraulic pressure does not work, the accumulator 6
From the 5, 68 side to the piston upper chamber 16f, 18f side
Only hydraulic fluid flow in the direction of
When rotary hydraulic pressure is applied, the flow can occur in either direction.
This is also allowed. Figure 5 shows the hydraulic supply system, with reference numeral 102 at both ends.
The switch is equipped with solenoids 102a and 102b, respectively.
Pulling center electromagnetically operated 4-port 3-position switching
The hydraulic pressure path 41 is a solenoid switching valve 10.
2 port 102c, and port 102d
There is an operating hydraulic path 4 communicating with the hydraulic pump 100a.
1a is connected. Port 102e and
Both ports 102f are connected to the drain side.
Ru. The suction side of the hydraulic pump 100a is connected to the oil passage 41b.
installed in the drain tank 91 through the
connected to filter 101 which is immersed in
Ru. There is a throttle 103a and a chi in the middle of the hydraulic pressure path 41.
A flow control valve 103 consisting of an exhaust valve 103b is arranged.
It is set up. Check valve 103b is a hydraulic pump
100a through the electromagnetic switching valve 102.
Allows hydraulic fluid to flow only in the downstream direction
It is. The solenoid 102a of the electromagnetic switching valve 102,
102b is an attitude control controller 120 which will be described later.
The solenoid 102a is electrically connected to the solenoid 102a.
and 102b are both de-energized, the electromagnetic
The switching valve 102 is switched to a neutral position 102B,
Working hydraulic path 41a on the discharge side of the hydraulic pump 100a
The hydraulic pressure path 41 is cut off, and the hydraulic pressure path 41a is closed.
is connected to the drain side. Solenoid 102a
When energized, the electromagnetic switching valve 102 moves to the open position 10.
2A, the hydraulic pressure path 41a and the hydraulic oil
The pressure path 41 is connected. Solenoid 102b
When energized, the solenoid switching valve 102 is in drain position 1.
02C and the hydraulic pressure path 41 is drained.
As a result, the hydraulic oil in the hydraulic pressure path 41
is discharged into the drain tank 91. Operation between the hydraulic pump 100a and the electromagnetic switching valve 102
A relief valve 107 and a filter are provided in the hydraulic pressure path 41a.
It is connected to the drain tank 91 through the tank 106.
The drain oil passage 111 that passes through is branched, and the
The valve 107 discharges water from the hydraulic pump 100a.
and supplied to hydraulic cylinders 10, 12, 16, 18, etc.
The hydraulic pressure supplied is regulated to a predetermined value. Reference numeral 105 in FIG. 5 indicates the solenoid 105a.
A 4-port solenoid switching valve that can be switched to two positions.
Yes, the port 105b of the solenoid switching valve 105 has a
The pilot oil passage 51 is connected to the port 105c.
Communicates with oil passage 41b via pressure pump 100b
The pilot oil passage 51a is connected to the port 105.
d and 105e are connected to the drain side respectively.
Ru. Solenoid 105a is an attitude control controller
120 , and the electromagnetic switching valve 105 is electrically connected to
An energizing signal is provided from the attitude control controller 120.
If not supplied, port 105b and port 10
5c, and port 105d and port 105e.
are connected to each other and are discharged from the hydraulic pump 100b.
Pilot pressure oil flows through the oil passage 51a and the electromagnetic switching valve 10.
5 to the pilot oil passage 51, and
An energizing signal is supplied from the controller 120.
port 105b and port 105e, and
and ports 105c and 105d are connected respectively.
The pilot oil passage 51 is switched to the switching position where
The pilot oil passage 5 communicates with the drain tank 91.
The pilot pressure oil in 1 returns to the drain tank 91.
be done. Note that the hydraulic pumps 100a and 100b are both
Internal combustion engine installed on truck crane 1
(E/G) 110. Returning to FIG. 3, the pilot oil passage 52 is
to the pilot oil passage 51 via the lock valve 70,
and the flow control valve 10 via the check valve 71.
3 and the hydraulic pressure path 41 between the electromagnetic switching valve 47.
The check valve 70 is connected to the pilot oil passage 51.
The pilot heading towards the pilot oil passage 52
The check valve 71 only controls the flow of pressure oil.
Pi in the direction from 41 to pilot oil passage 52
Only the flow of rotary pressure oil is allowed. Figure 6 shows the construction of the hydraulic suspension device of the present invention.
The posture control controller 120 that controls motion control is shown.
and each input terminal 1 of the attitude control controller 120
20a to 120d are the stroke sensors 10
e, 12e, 16e, and 18e are connected, respectively.
These stroke sensors 10e, 12e, 16e,
18e is the piston rod 10c, 12c, 1
Magnetize the magnetic scale engraved on the surface of 6c and 18c.
Read with air sensor, piston rod 10c, 1
Displacement amount (stroke amount) of 2c, 16c, 18c
It is a non-contact type that counts the
detected by sensors 10e, 12e, 16e, and 18e.
Piston rod 10c, 12c, 16c, 18c
The stroke amount signal is sent to the attitude control controller 12.
0. A tilt angle sensor 122 is connected to the input terminal 120e.
It is continued. This tilt angle sensor 122
It is attached to the appropriate position of frame 3, and is attached to the left side of the vehicle body.
This detects the tilt angle θ in the right direction.
The tilt angle signal is fed to the attitude controller 120.
It will be done. Brake pressure switch 12 is connected to input terminal 120f.
5 is electrically connected, and the brake pressure switch 12
5 is placed in the middle of the brake tube 128, and
Turns on signal when the rake operating oil pressure exceeds the specified pressure.
The signal is supplied to the attitude control controller 120.
In addition, numeral 126 is the brake pedal, and 127 is the mass.
The master cylinder 127 has a
A brake tube 128 is connected thereto. The input terminal 120j has a vertical acceleration (G) sensor.
124 is electrically connected, and this vertical acceleration
The degree (G) sensor 124 is also mounted on the chassis frame 3 as appropriate.
It is attached to the position, and the sinking speed of the car body or
detects the time change in the lifting speed and calculates these
The detected value is a predetermined value (e.g. ±0.2G, but the vibration period
2Hz or less), the corresponding predetermined signal is activated.
The signal is supplied to the attitude control controller 120. Various switches can be used for input terminals 120g to 120i.
The channels 130, 132, and 134 are connected, respectively.
These switches convert the vehicle attitude control command signal into attitude control signals.
For manual input to the controller 120
The manual changeover switch 134 is a manual changeover switch 134.
2-position switch for manual mode and auto mode
Switched to manual mode position (on position),
In addition, a device (not shown) mounted on the truck crane 1
The transmission is neutral, very low gear, and 1st gear.
When the switch is switched to one of the step switching positions
(i.e. when the vehicle is stopped or at low speeds below the specified speed)
(when running at high speed), the attitude control command signal
input is possible. posture control switch
130 is a command signal to tilt the vehicle body forward and backward and left and right.
The lever 130a is moved between the front and rear of the vehicle.
When tilted in a direction, the vehicle body will move forward or backward depending on the tilt angle.
generates a command signal to tilt the lever 130 in the direction
When a is tilted to the left or right side of the vehicle, it will move according to the tilt angle.
generates a command signal to tilt the vehicle horizontally to the left and right.
Then, the command signal is sent to the attitude control controller 120.
Supplied. Also, the up and down control switch 13
2: Move the vehicle upwards and downwards while keeping it horizontal.
This is a device that generates a command signal to lower lever 1.
When 32a is tilted in the longitudinal direction of the vehicle body, the tilt angle
Generates a command signal to move the vehicle body up and down according to the command.
command signal is supplied to the attitude control controller 120.
Ru. Output terminal 120 of attitude control controller 120
k is the solenoid 105 of the electromagnetic switching valve 105;
k, and the output terminals 120m to 120p have the electromagnetic
The switching valves 47, 49, 50 are connected to the output terminals 120r and
and 120s each solenoid of the electromagnetic switching valve 102.
are respectively connected to the id 102a and 102b,
The attitude control controller 120 performs these electromagnetic switching
Supply a drive signal to the valve. Next, the hydraulic suspension configured as described above
A method of controlling the operation of the yon device will be explained. Hydraulic suspension device is an attitude control
The controller 120 executes a predetermined control program to be described later.
The operation is controlled by
The motion control includes the above-mentioned control when the truck crane 1 is running.
Tilt angle sensor 122, vertical acceleration (G) sensor 1
24, brake pressure switch 125, stroke set
Detection signals of sensors 10e, 12e, 16e, 18e
(This is called "driving").
(referred to as “time control”) and when the vehicle stops or exceeds a specified speed.
When operating the crane during low-speed operation,
The author selected the manual changeover switch 134 and the posture control.
control switch 130, up and down controls
The command signal is displayed by operating the switch 132.
is supplied to the power control controller 120 to control the operation.
(This is called "suspension control")
The former type of driving control includes driving suspension.
Mode control, anti-nose dive control during braking,
Angle control, level adjustment control and pitting prevention control
There is an on-tire system for controlling the latter suspension work.
control, attitude control, and vehicle height control. Below, this
The operation control of each mode is shown in Fig. 9 to Fig. 15.
A detailed explanation is given with reference to the operation control program shown below.
Ru. First, the attitude control controller 120 is shown in FIG.
Perform step 200 as shown and switch to manual switching switch.
134 is off, i.e., in the auto mode position.
Determine whether or not. Then, this discrimination result is positive.
If (YES), proceed to step 201 and explain later.
Release the suspension lock circuit. That is, the appearance
The power control controller 120 can be used with any electromagnetic switching valve.
47, 49, 50, 102, 105 also have energizing signals
In this case, the oil shown in Figures 3 to 5
The pressure circuit is for driving suspension mode control.
A circuit is formed. In addition, attitude control controller 1
20 sequentially performs each step shown in Figures 9 to 14.
Then, in each of those discrimination steps,
If the determination result is positive, this travel sensor
The circuit for suspension mode control remains
Formed and maintained. Driving suspension mode control This driving suspension mode control is hydraulic suspension
Spring function and shock absorber in pension device
It is intended to provide functionality. In Figure 16
As mentioned above, the solenoid of the electromagnetic switching valve 102
Both ids 102a and 102b are deactivated.
Therefore, the solenoid switching valve 102 is switched to the neutral position 102B.
Therefore, the hydraulic pump 100a
These hydraulic fluids are not discharged and supplied to the hydraulic pressure path 41,
It is returned to the drain tank 91. On the other hand, electromagnetic switching
Solenoid 105a of valve 105 is deenergized
Therefore, the oil passage 51a and the pilot oil passage 51 are connected.
The pilot pressure oil from the hydraulic pump 100b is
Through the pilot oil passage 51 and the pilot oil passage 52
Supplied to pilot check valves 28, 54, etc.
These pilot check valves 28, 54
etc. will be developed. At this time, the relief valve 108 is released.
It is in a reef state, which causes the pilot oil pressure to
It is held at a predetermined constant value. Solenoid switching valves 47, 49, 50, 102, and 1
05 is operated and controlled as described above.
Front wheel side and
Figures 17 and 17 show the respective hydraulic circuits on the rear wheel side.
A closed circuit shown in FIG. 18 is formed. Furthermore, Figure 17
and pilot check valves 28, 54 in FIG.
etc. correspond to the state in which they are opened to those poppets.
The operation of the switching valves 27, 30, etc. is indicated by broken lines.
The operating status can be shown by showing only the switching position on the drawing.
In addition, the flow direction of hydraulic oil and pilot pressure oil
is indicated by an arrow (the same applies below). Piss of each hydraulic cylinder 10, 12, 16, 18
Ton 10b, 12b, 16b, 18b has a piston.
In the direction of pushing up the ton, move the piston rod 10.
Shear shift via c, 12c, 16c, 18c
Load of crane 2 etc. mounted on frame 3 (automobile)
(heavy weight) or the load of the suspended object suspended by crane 2.
Force and piston lower chamber 10g, 12g, 16g, 1
The combination with the hydraulic oil pressure acting on the piston surface on the 8g side
In the direction in which the force acts and pushes the piston down, the piston
Stone upper chamber 10f, 12f, 16f, 18f side
Hydraulic oil pressure acts on the piston surface, and this
The force pushing the piston up and the force pushing it down are the balance.
The pistons 10b, 12b, 16b, 18
b is at rest in its equilibrium position. Now, piston 1 is inserted through piston rod 10c.
The force (reaction force) that pushes 0b upward increases and
The above-mentioned equilibrium state is disrupted, and the hydraulic cylinder 10
Assuming that the piston 10b is displaced in the direction of contraction,
Hydraulic oil is discharged from the piston upper chamber 10f.
, and the hydraulic fluid is indicated by the solid arrow in Figure 17.
The route, that is, the pilot opening of the oil passage 73
Excavator valve 54, oil passage 74, opened pilot
Parallel circuit consisting of check valve 29 and switching valve 30
Pilot-operated switching valve with open passage and oil passage 21
27. Throttle 26a and check of flow control valve 26
Pilot check of valve 26b and oil passage 22
It flows into the piston lower chamber 10g via the valve 28.
However, it is discharged from the piston upper chamber 10f.
The amount of hydraulic oil flowing into the piston lower chamber 10g
The amount of hydraulic oil is the body removed by piston rod 10c.
The integral is less, so the upper chamber of the piston is 10f.
A part of the hydraulic fluid discharged from the accumulator 57
and compresses the gas chamber 57c. Then Aki
The internal pressure of the humulator 57 will rise, and this
As a result, the piston upper chamber 10f and the piston lower chamber 10
The hydraulic pressure acting on the piston 10b also increases.
is a new level where the increased reaction force and hydraulic pressure are balanced.
It will come to rest at an equilibrium position. Conversely, a reaction force pushing the piston 10b upward
decreases, the balance state collapses, and hydraulic cylinder 1
Suppose that the piston 10b is displaced in the direction in which 0 is extended.
Then, the hydraulic fluid flows in the direction indicated by the dashed arrow in Figure 17.
passage, that is, the flow from the piston lower chamber 10g to the oil passage 21.
Throttle 26a of quantity control valve 26, switching valve 27, oil passage
22 opened pilot check valve 28,
Pilot check valve 29 and pilot operation switching
A parallel circuit consisting of the valve 30, the oil passage 74, and the oil passage 73.
Pilot check valve 54 is opened.
It flows into the upper chamber 10f of the stone. In this case, the piste
The amount of hydraulic oil that the piston upper chamber 10f sucks is the same as that of the piston lower chamber 1.
0g is larger than the amount of hydraulic oil discharged, so there is a shortage
Hydraulic oil must be replenished from the accumulator 57.
The oil chamber 57b of the accumulator 57 is activated.
The volume of the gas chamber increases by the amount of oil that decreases, and the
The internal pressure of the humulator 57 decreases. This result pis
Hydraulic oil acting on upper chamber 10f and lower chamber 10g
The pressure also decreases, and the piston 10b has a reduced reaction force and a low
It is now static at a new equilibrium position where the lowered hydraulic pressure is balanced.
It will stop. As mentioned above, the hydraulic circuits in Figures 17 and 18
The path is a closed circuit, so the piston upper chamber 10f
And the piston lower chamber 10g is a drain tank 91.
These hydraulic pressures are cut off and drained from the drain tank 91.
There is less risk of dust being sucked into the circuit, and oil
When the pressure cylinder 10 expands, the piston enters the upper chamber 10f.
The oil circulation becomes faster. Note that the above-mentioned throttling function provided in the oil passage 22
installed in the pilot check valve 28 and oil passage 21.
The throttle 26a of the installed flow control valve 26 controls the flow of hydraulic oil.
Although it has a damping effect by restricting the flow, the piston 1
When 0b is displaced to the extension side, the flow rate control valve 26
Since the flow is blocked by the check valve 26b,
From the piston lower chamber 10g to the piston upper chamber 10f
This hydraulic fluid is used in the pilot check valve 28 and
It will flow through the throttle 26a, and the piston
When 10b is displaced to the contraction side, the hydraulic oil is more
A large damping force is obtained by the amount that does not flow through the lock valve 26b.
It will be done. Moreover, as shown in FIG. 19, the piston lower chamber 10
The hydraulic oil flows from the g side to the piston upper chamber 10f side.
Only the pilot check valve 28 and throttle 26a
If the flow is through the piston of piston 10b
As the speed increases, the damping force also remains constant.
Although it increases (area Z in Figure 19)_Adamping force at
), when the piston speed exceeds a predetermined value
The relief valve 25 installed in the oil passage 21 is released.
The hydraulic oil also flows through this relief valve 25.
The piston speed will change to the above position.
Area exceeding the fixed value (area Z in Figure 19)_B) in
The damping force can be kept approximately constant. This results in
Excessive damping force occurs in the region of high piston speed.
This eliminates the risk of vibration occurring in the tires.
The ride comfort will be improved. The above-mentioned action applies to other hydraulic cylinders 12, 16, 1
The same applies to No. 8, and the hydraulic circuit on the rear wheel side is
The action of the
These explanations are omitted as they can be easily deduced from the route map.
Omitted. In addition, when driving over rough terrain, etc.
If high pressure occurs in the closed circuit described above, the first
In the hydraulic circuit on the front wheel side shown in Figure 7, there is a relief
The valve 36 allows the rear wheel side hydraulic circuit shown in FIG.
In this case, the relief valves 37 and 38 release the hydraulic oil.
A portion of the water is allowed to escape to the drain side. Thus, the above-mentioned case of a hydraulic suspension device
Each hydraulic pressure is controlled by the spring function and shock absorber function.
Cylinders 10, 12, 16, 18 are used to increase or decrease the load.
Each hydraulic cylinder 10, 12, 16, 18 according to
expand and contract to support the load at the above-mentioned equilibrium position, and
To reduce shock and vibration during road clearing, etc.
I can do it. In addition, accumulators 57, 62 for the front and rear wheels and
Capacity of gas chambers 57c of 65 and 68, gas to be filled
When the pressure etc. are set appropriately, the front axle 5 and
For rear axle 9 with various axle load distribution ratios
It is possible to respond. In addition, the extension of the hydraulic cylinders 10, 12, 16, 18
If the contraction amount (stroke amount) is outside the specified value range,
Strokes of hydraulic cylinders 10, 12, 16, 18
In order to maintain the amount of leakage within the specified value range,
level adjustment control is executed. Next, returning to Figure 9, the attitude control controller
120 is a stroke sensor in step 202.
Each sensor 10e, 12e, 16e, 18e detected
Amount of extension of hydraulic cylinders 10, 12, 16, 18
(Stroke amount) L_A,L_B,L_C,L_Dand then
The arithmetic mean value L of the stroke amount of the left and right front wheels is_AB(=
1/2×(L_A+L_B)) and store it (step
Tupu 203). This average value L_ABis the front axle
This refers to the stroke amount at the center position.
Stroke amount average value L_ABis the hydraulic cylinder on the front wheel side
The electromagnetic switching valve 47 is used for hydraulic control of 10 and 12.
These controls are performed simultaneously using only
In response, the vehicle is controlled to hold it horizontally.
The stroke amount is for ease of understanding.
L_A,L_B,L_C,L_Dis read when the detected value is the same value.
If it continues for a certain period of time (e.g. 5 seconds)
You can also read this detected value, or
A predetermined number of times detected during a period of time (for example, 1 second)
The average value of the detected values may be used as the read value. The attitude control controller 120 is a straw as described above.
value L_AB,L_C,L_DFigures 10 to 12 based on
Execute the level adjustment control shown in the figure. Level adjustment control The posture control controller 120 first
value L_ABIs it within a predetermined range ±δ?
(steps 210 and 215). stroke
The amount is based on the standard stroke of each hydraulic cylinder 10 and 12.
Indicates the amount of leakage, and the amount of δ is a minute amount (for example, 4 mm)
Therefore, the specified range ±δ is the detected
If the stroke amount is within this range, it is effectively the standard.
The range that can be considered as the stroke amount
show. Stroke value L_ABis within the specified range ±δ
If it is within (steps 210 and 215)
If the result is also positive (YES), hydraulic cylinder 10
There is no need to adjust the level for and 12, and this
without performing any operation control on them.
Proceed to step 220 shown in FIG. On the other hand, the stroke value L_ABis within the said predetermined range.
is smaller than the lower limit (−δ) (step
If the determination result of 210 is negative (NO)), posture control
Controller 120 executes steps 211 and 212
Solenoid 102a of electromagnetic switching valve 102 and
Outputs an energizing signal to the solenoid of the electromagnetic switching valve 47.
The solenoid switching valve 102 is switched to the open position 102A.
The solenoid switching valve 47 is also switched to the open position.
Let them make it. Then, the stroke sensor 10e and
The detection value signal of 12e is monitored (step 213), and the
Stroke value L_ABis substantially the above upper limit (+δ)
Repeat steps 211 and 212 until equal to
Execute the return. Stroke value L_ABis below the specified range
If it is below the limit value (-δ), the hydraulic circuit is activated.
It also means there may be an oil leak.
Then, considering this possibility, the stroke value L_ABabove
Hydraulic cylinder 1 until equal to the limit value (+δ)
0 and 12 are expanded. Stroke value
L_ABis substantially equal to the upper limit (+δ).
Then, execute step 210 again and complete the stroke.
value L_ABis the lower limit of the predetermined range (-δ)
Confirm that the above has been completed and proceed to the subsequent step 215.
Proceed to. FIGS. 20 to 22 show the steps 211 and 22.
212 shows the hydraulic circuit formed by the execution of
First, the solenoid of the electromagnetic switching valve 105 shown in FIG.
As shown in Figure 16, the power remains de-energized and the electromagnetic
The exchange valve 105 is in an open state, and the relief valve 108 is in an open state.
is in a relief state and the pilot oil pressure reaches the specified level.
held at a constant value. On the other hand, the electromagnetic switching valve 10
2 is a solenoid from the attitude control controller 120
An energizing signal is supplied to 102a and the open position 102A
The switch is operating. At this time, the electromagnetic switching valve 10
Port 102c and port 102d of 2 are connected.
As a result, the hydraulic pressure path 41 and the oil path 41a are communicated with each other.
As a result, the hydraulic oil is discharged from the pump 100a at the hydraulic pressure
Relief discharged into the passage 41 and in a relief state
The actuation that is supplied to the actuation hydraulic path 41 by the action of the valve 107
The hydraulic pressure is maintained at a predetermined constant value. The attitude control controller 120 is shown in FIG.
The front of the electromagnetic switching valve connected to the hydraulic pressure path 41
An energizing signal is supplied only to the solenoid switching valve 47 for the wheels.
Open this and close the other electromagnetic switching valves 49 and 50.
keep it as it is. Therefore, the hydraulic pressure path 41
The discharged hydraulic oil is supplied to the flow control valve 103 and electromagnetic switching
The hydraulic pressure of the hydraulic cylinders 10 and 12 is controlled via the valve 47.
It is supplied to each port P1 of the path sections 10d and 12d.
And pilot oil from the hydraulic pump 100b
The pressure is supplied to the hydraulic circuit section 10 via the pilot oil passage 51.
Each port PP of d, 12d, 16d, 18d, and
and pilot check valves for flow control valves 55 and 60.
55a and 60a, respectively. Also, pyro
The hydraulic pressure is branched from the hydraulic pressure path 41 and checked.
It also occurs in the pilot oil passage 52 via the valve 71.
(The hydraulic pressure of the hydraulic pressure path 41 is pilot oil.
(It is set higher than the pilot oil pressure of road 52).
The pilot oil pressure is transmitted through the pilot oil passage 52.
Pilot check valves 54, 59, 64, 67
provided to each. The hydraulic cylinders 16 and 18 on the rear wheel side are
The hydraulic circuit shown in Fig. 18 is formed, and the above-mentioned
Same as driving suspension mode control.
The operation is controlled by On the other hand, the hydraulic cylinder on the front wheel side
10 and 12 form the hydraulic circuit shown in Fig. 22.
The hydraulic circuit is filled with hydraulic oil through port P1.
Replenishment will be provided. Oil pressure of the left front wheel hydraulic cylinder 10
The hydraulic oil supplied to the circuit is indicated by the arrow in Figure 22.
Path, i.e., pilot check valve 29 and switching
A parallel circuit consisting of the valve 30, the oil passage 74, and the oil passage 73.
Pilot check valve 54 is opened.
As it flows into the upper chamber 10f of the stone, the
It also flows into the piston 57 and increases the hydraulic pressure.
Press down the cylinder 10b (hydraulic cylinder 10
). At this time, the piston lower chamber 10g
A portion of the hydraulic oil is indicated by the broken line arrow in Fig. 17 mentioned above.
Discharge to the piston upper chamber 10f side using the same route as shown.
It is brought out. Hydraulic pressure of the right front wheel hydraulic cylinder 12
The hydraulic oil supplied to the piston is also
It flows into the chamber 12f and pushes the piston 12b downward.
Lower it. In this way, the hydraulic cylinders 10 and 10 on the front wheel side
and 12 extend in the direction that the stroke amount increases.
and stroke amount L_ABis the upper limit value (+δ)
Apply pressure to each hydraulic cylinder 10 and 12 until they are equal.
Hydraulic oil will be replenished. Return to step 215 in Figure 10 and set the stroke value
L_ABis the upper limit value (+δ) of the predetermined range.
(The determination result in step 215 is negative)
), the attitude control controller 120 is
Execute steps 216 and 217 to open the solenoid valve 102.
to the solenoid of the id 102b and the solenoid switching valve 47.
The energizing signal is outputted to the electromagnetic switching valve 102.
Switch to rain position 102C and operate the solenoid switching valve.
47 is also switched to the open position. And then
Detection value signals of stroke sensors 10e and 12e
Monitor (step 218) and stroke value L_ABis actually
until it becomes equal to the upper limit value (+δ).
Repeat steps 216 and 217. Sutro
peak value L_ABis substantially equal to the upper limit (+δ)
When it becomes clear, execute step 215 again and
Rourke value L_ABis the upper limit of the predetermined range (
+δ) or less, and then proceed to the subsequent 11th
Proceed to step 220 as shown in the figure. FIGS. 23 to 25 illustrate the steps 216 and 25.
217 shows the hydraulic circuit formed by the execution of
First, the electromagnetic switching valve 105 shown in FIG. 23 is as shown in FIG.
Similarly, it is in a deactivated state of enlightenment, and Lily
The safety valve 108 is in the relief state and the pilot
Oil pressure is maintained at a predetermined constant value. On the other hand, electricity
Is the magnetic switching valve 102 the attitude control controller 120?
An energizing signal is supplied to the solenoid 102b from the
It is being switched to the in position 102C. Koto
and the port 102c of the solenoid switching valve 102 and the port
102f is connected, port 102d and port 1
02e is connected, the operating hydraulic pressure path 41 and the oil path 41
Both a are connected to the drain tank 91 side.
Ru. As a result, the hydraulic oil from the pump 100a is
It is no longer discharged to the hydraulic pressure path 41, and conversely, the hydraulic system
Hydraulic oil drains from cylinders 10 and 12 to the drain tank
It is discharged at 91. The attitude control controller 120 is shown in FIG.
of the electromagnetic switching valve connected to the hydraulic pressure path 41.
An energizing signal is provided only to the electromagnetic switching valve 47 for the front wheels.
Then open the other electromagnetic switching valves 49 and 50.
keep it closed. Therefore, I will explain later.
Hydraulic circuit section 10 of sea urchin hydraulic cylinders 10 and 12
Hydraulic pressure connected to each port P1 of d and 12d
The hydraulic oil discharged to the passages 43 and 44 is transferred to the electromagnetic switching valve 4.
7. Operating hydraulic path 41, throttle 1 of flow control valve 103
03a, drain tank via electromagnetic switching valve 102
It is discharged to the tank 91. And hydraulic pump 100
The pilot oil pressure from b flows through the pilot oil path 51.
Hydraulic circuit parts 10d, 12d, 16d, 18 through
d, each port PP, and the flow control valves 55 and 60.
Provided for pilot check valves 55a and 60a, respectively.
be provided. Also, the pilot oil pressure is the pilot oil path.
Branched from 51 and connected to the pilot via check valve 7.
It has also occurred in the pilot oil passage 52, and the pilot oil passage 5
2 through pilot check valves 54, 59, 6
4 and 67, respectively. The hydraulic cylinders 16 and 18 on the rear wheel side are
The hydraulic circuit shown in Fig. 18 is formed, and the above-mentioned
Same as driving suspension mode control.
The operation is controlled by On the other hand, the hydraulic cylinder on the front wheel side
10 and 12 form the hydraulic circuit shown in Fig. 25.
When the electromagnetic switching valve 47 is opened, the oil as shown in FIG.
Hydraulic oil in the pressure circuit enters the hydraulic hydraulic path through port P1.
43 and 44. Discharge from the hydraulic circuit of the left front wheel hydraulic cylinder 10
The hydraulic fluid that is
The pilot of the piston upper chamber 10f and the oil passage 73
Check valve 54, oil line 74, pilot check
A parallel circuit consisting of a valve 29 and a switching valve 30, and a port
It is discharged to the hydraulic pressure path 43 via the port P1.
At this time, some of the hydraulic oil in the accumulator 57 also
leaks out and lowers the hydraulic pressure, which causes the piston to
The hydraulic pressure in the upper chamber 10f decreases and the piston 10b
moves upward (hydraulic cylinder 10 contracts)
). Due to the movement of the piston 10b, the effect shown in Fig. 17 is achieved.
A part of the hydraulic oil flows into the lower chamber of the piston along the same path as the line arrow.
Replenished to 10g. Discharged from the hydraulic circuit of the hydraulic cylinder 12 of the right front wheel.
Similarly to the above, the hydraulic oil used is also in the piston upper chamber 12f.
The piston 12b is discharged into the oil passage 44 from above.
(the hydraulic cylinder 12 contracts). So
The hydraulic oil discharged into the oil passages 43 and 44 is
As mentioned above, the opened electromagnetic switching valve 47 is activated.
Hydraulic path 41, throttle 103a of flow control valve 103,
to the drain tank 91 via the electromagnetic switching valve 102
be discharged. At this time, the throttle 103a of the flow control valve 103
Since the flow rate of hydraulic fluid discharged is regulated,
The hydraulic oil in the hydraulic cylinders 10 and 12 on the front wheel side gradually increases.
The hydraulic cylinders 10 and 12 are discharged to the
The stroke gradually shrinks in the direction of decreasing the amount of
amount L_ABbecomes equal to the upper limit value (+δ)
The hydraulic oil of each hydraulic cylinder 10 and 12 is drained until
will be done. Returning to FIG. 11, the attitude control controller 120
This time, the stroke of the hydraulic cylinder 16 for the left rear wheel.
detection value L_CIs it within the specified range ±δ?
It is determined whether or not (steps 220 and 225). Sutro
The stroke amount is the standard stroke of the hydraulic cylinder 16.
The specified range ±δ indicates the amount of detected straw.
If the oil pressure amount is within this range, the hydraulic cylinder 16
The stroke amount is substantially the predetermined reference stroke amount.
Indicates the range that can be considered to exist. straw
detection value L_Cis within the predetermined range ±δ
(Both judgment results in steps 220 and 225 are positive.
), level adjustment for hydraulic cylinder 16
There is no need to do anything to the hydraulic cylinder 16.
The steps shown in Figure 12 without performing dynamic control
Proceed to step 230. On the other hand, stroke detection value L_Cis the said prescribed provision.
When it is smaller than the lower limit of the range (-δ)
(If the determination result of step 220 is negative), posture control
Roller 120 performs steps 221 and 222 to
Solenoid 102a of magnetic switching valve 102 and electromagnetic switching
Output an energizing signal to each solenoid of the switching valve 49.
The electromagnetic switching valve 102 is switched to the open position 102A.
The solenoid switching valve 49 is also switched to the open position.
let Then, the stroke sensor 16e detects
Monitor the value signal (step 223) and do the same as above.
Because of the stroke detection value L_Cis substantially the upper limit
Step 221 until equal to the value (+δ)
and 222 are executed repeatedly. Stroke detection value
L_Cis substantially equal to the upper limit (+δ).
Then, step 220 is executed again to
Detected value L_Cis the lower limit of the predetermined range (-
δ) or above, and then proceed to the subsequent steps.
Proceed to 225. FIGS. 20, 26, and 27 show the above steps.
Hydraulic circuit formed by execution of steps 221 and 222
, the electromagnetic switching valve 105 and the electromagnetic switching valve 102
is switched to the switching position as described above in Figure 20.
The pilot oil pressure is maintained at a predetermined constant value.
On the other hand, hydraulic oil with a predetermined hydraulic pressure flows through the hydraulic pressure path 41.
supplied to Attitude control controller 120 is shown in FIG.
Of the electromagnetic switching valves connected to the hydraulic pressure path 41, the left
An energizing signal is supplied only to the electromagnetic switching valve 49 for the rear wheels.
Open this and close the other electromagnetic switching valves 47 and 50.
Keep it as it was created. Therefore, the working hydraulic path 41
The hydraulic oil discharged to the flow control valve 103 and the electromagnetic cutoff
The hydraulic circuit section of the hydraulic cylinder 16 via the switching valve 49
16d is supplied to port P1. And the hydraulic cycle
Each port of road section 10d, 12d, 16d, 18d
Pilot of PP and flow control valves 55 and 60
Etch valves 55a and 60a and pilot switch
Each of the exhaust valves 54, 59, 64, and 67 has a piston.
Rotary hydraulic pressure is supplied. The hydraulic cylinders 10 and 12 on the front wheel side are
The hydraulic circuit shown in Figure 7 is formed, and the right rear
The hydraulic cylinder 18 for the wheels uses oil as shown in FIG. 18 above.
A pressure circuit is formed, and each of these hydraulic cylinders
This is the same as the driving suspension mode control described above.
The operation is controlled in the same way. On the other hand, on the left rear wheel side
The hydraulic cylinder 16 has a hydraulic circuit shown in FIG.
and hydraulic oil is supplied to the hydraulic circuit through port P1.
is refilled. And the refilled hydraulic oil
The route indicated by the arrow in Figure 27, i.e. the pilot
Parallel circuit consisting of exhaust valve 29 and electromagnetic switching valve 30
Pilot road, oil road 78, and oil road 77 opened
Flows into the piston upper chamber 16f via the check valve 64.
At the same time, it also flows into the accumulator 65 and is produced.
Increase the hydraulic pressure and push the piston 16b downward.
lower (extend the hydraulic cylinder 16). this
At this time, part of the hydraulic oil in the lower piston chamber (16 g) is as described above.
Follow the same route as shown by the broken line arrow in Figure 18.
It is discharged to the piston upper chamber 16f side. This way
The hydraulic cylinder 16 on the left rear wheel side is connected to its stroke.
The stroke amount L_cbut
Hydraulic pressure is increased until it becomes equal to the upper limit value (l+δ).
Hydraulic oil will be supplied to the cylinder 16. Return to step 225 in Figure 11 and check the stroke.
Output price L_cis the upper limit of the predetermined range (l+δ)
(the determination result in step 225 is negative)
), the attitude control controller 120
Execute steps 226 and 227 to close the solenoid switching valve 102.
Noid 102b and solenoid of electromagnetic switching valve 49
An energizing signal is output to each of the solenoid switching valves 102.
Switch to drain position 102C and electromagnetic switch
The valve 49 is also switched to the open position. and,
The detection value signal of the stroke sensor 16e is monitored.
(Step 228), stroke detection value L_cis substantially
The step is continued until the upper limit value (l+δ) is equal to the upper limit value (l+δ).
Repeat steps 226 and 227. stroke
Detected value L_cis substantially equal to the upper limit (l+δ)
When the stroke is reached, execute step 225 again and
detection value L_cis the upper limit of the predetermined range (l
+δ) or less, and then proceed to the subsequent 12th
Proceed to step 230 as shown in the figure. FIGS. 23, 28, and 29 show the steps mentioned above.
Hydraulic circuit formed by the execution of steps 226 and 227
, the electromagnetic switching valve 105 and the electromagnetic switching valve 102
is switched to the switching position as described above in Figure 23.
The pilot oil pressure is maintained at a predetermined constant value.
On the other hand, the hydraulic pressure path 41 is on the drain tank 91 side.
will be communicated to. As a result, the pump 100a
Hydraulic oil is no longer discharged into the hydraulic pressure path 41, and vice versa.
When the hydraulic oil is drained from the hydraulic cylinder 16,
It is discharged to the tank 91. The attitude control controller 120 is shown in FIG.
of the electromagnetic switching valve connected to the hydraulic pressure path 41.
An energizing signal is sent only to the solenoid switching valve 49 for the inner and left rear wheels.
The other electromagnetic switching valves 47,
50 is held closed. Therefore, the following will be explained later.
The hydraulic circuit section 16d of the hydraulic cylinder 16 is
Discharged to the hydraulic pressure path 45 connected to port P1
The hydraulic oil is supplied to the electromagnetic switching valve 49, the hydraulic pressure path 41,
Throttle 103a of flow control valve 103, electromagnetic switching valve 1
02 to drain tank 91.
And hydraulic circuit parts 10d, 12d, 16d, 1
Each port PP of 8d, flow control valves 55 and 60
Pilot check valves 55a and 60a, pilot
Each of the check valves 54, 59, 64, and 67 has
Pilot hydraulic pressure is supplied. The hydraulic cylinders 10 and 12 on the front wheel side are
The hydraulic circuit shown in Figure 7 is formed, and the right rear
The hydraulic cylinder 18 on the wheel side is filled with oil as shown in FIG.
A pressure circuit is formed, and each of these hydraulic cylinders
This is the same as the driving suspension mode control described above.
The operation is controlled in the same way. On the other hand, on the left rear wheel side
The hydraulic cylinder 16 has a hydraulic circuit shown in FIG.
When the electromagnetic switching valve 49 is opened, the state shown in FIG.
Hydraulic oil in the hydraulic circuit is supplied through port P1.
It is discharged into the pressure path 45. Discharge from the hydraulic circuit of the left rear wheel hydraulic cylinder 16
The hydraulic fluid that is
The piston upper chamber 16f, the pilot of the oil passage 77
Check valve 64, oil line 78, pilot check
A parallel circuit consisting of a valve 29 and a switching valve 30, and a port
It is discharged to the hydraulic pressure path 45 via the port P1.
At this time, some of the hydraulic oil in the accumulator 65 also
leaks out and lowers the hydraulic pressure, which causes the piston to
The hydraulic pressure in the upper chamber 16f decreases and the piston 16b
moves upward (hydraulic cylinder 16 contracts)
). Due to the movement of the piston 16b, the effect shown in Fig. 18 is achieved.
A part of the hydraulic oil flows into the lower chamber of the piston along the same path as the line arrow.
Replenished to 16g. Then, it is discharged into the oil path 45.
As mentioned above, the extracted hydraulic oil is
switching valve 49, hydraulic pressure path 41, and flow rate control valve 103.
Drain through the throttle 103a and the electromagnetic switching valve 102.
is discharged into the tank 91. At this time, the flow rate of the discharged hydraulic oil is controlled by the flow rate.
The oil is regulated by the throttle 103a of the valve 103.
The hydraulic oil in the pressure cylinder 16 is gradually drained and the left rear
The stroke amount of the wheel hydraulic cylinder 16 is reduced.
The stroke amount L_cis the above
Hydraulic cylinder until it becomes equal to the upper limit (l+δ)
16 hydraulic oil will be discharged. Returning to FIG. 12, the attitude control controller 120
is the same as the hydraulic cylinder 16 for the left rear wheel in Fig. 11.
Similarly, this time, the stroke of the hydraulic cylinder 18 for the right rear wheel.
detection value L_DIs it within the specified range l±δ?
It is determined whether or not (steps 230 and 235). Sutro
detection value L_Dis within the specified range l±δ
(Both the determination results in steps 230 and 235 are affirmative.)
), level adjustment for the hydraulic cylinder 18
There is no need for any adjustment to the hydraulic cylinder 18.
The step shown in Fig. 13 can be performed without executing the operation control of
Proceed to step 240. On the other hand, stroke detection value L_Dis the said prescribed provision.
When it is smaller than the lower limit of the range (l-δ)
(If the determination result of step 230 is negative), the attitude control
The controller 120 executes steps 231 and 232 to
Solenoid 102a of magnetic switching valve 102 and electromagnetic switching
Output an energizing signal to each solenoid of the switching valve 50.
The electromagnetic switching valve 102 is switched to the open position 102A.
The solenoid switching valve 50 is also switched to the open position.
let Then, the detection of the stroke sensor 18e
Monitor the value signal (step 233) and do the same as above.
For the reason, the stroke detection value L_Dsubstantially above the above
The above steps are repeated until equal to the limit value (l+δ).
Repeat steps 231 and 232. Stroke detection
value L_Dis substantially equal to the upper limit (l+δ)
If so, execute step 230 again and remove the straw.
detection value L_Dis the lower limit of the predetermined range (l
−δ) or higher, and then proceed with the subsequent steps.
Proceed to step 235. formed by performing steps 231 and 232 above.
The hydraulic circuit is the solenoid valve 49 shown in Figure 26.
The noid is deenergized and closed, and the solenoid switching valve 5 is turned on instead.
If 0 is energized and opened, this figure 26, 20
This circuit is the same as that shown in Figures 1 and 27, and this
The operation of the circuit can be easily deduced from the above explanation.
Therefore, I will omit this explanation below, and as mentioned above,
The hydraulic circuit on the right rear wheel side
The roller 18 extends in the direction in which its stroke amount increases.
Length, stroke amount L_Dis the upper limit (l+δ)
Hydraulic oil is replenished into the hydraulic cylinder 18 until it becomes equal to
will be paid. Return to step 235 in Figure 12 and check the stroke.
Output price L_Dis the upper limit of the predetermined range (l+δ)
(the determination result in step 235 is negative)
), the attitude control controller 120
Execute steps 236 and 237 to close the solenoid switching valve 102.
Noid 102b and solenoid of electromagnetic switching valve 50
An energizing signal is output to each of the solenoid switching valves 102.
Switch to drain position 102C and electromagnetic switch
The valve 50 is also switched to the open position. and,
The detection value signal of the stroke sensor 18e is monitored.
(Step 238), Stroke detection value L_Dis substantially
The step is continued until the upper limit value (l+δ) is equal to the upper limit value (l+δ).
Repeat steps 236 and 237. stroke
Detected value L_Dis substantially equal to the upper limit (l+δ)
When it becomes clear, execute step 235 again and
Low detection value L_Dis the upper limit of the predetermined range.
Check that the value is below (l + δ) and start the connection.
Proceed to step 240 shown in FIG. formed by performing steps 236 and 237 above.
The hydraulic circuit is the solenoid of the electromagnetic switching valve 49 shown in FIG.
The noid is deenergized and closed, and the solenoid switching valve 5 is turned on instead.
If 0 is energized and opened, this figure 28, 23
This circuit is the same as that shown in Figures 1 and 29.
The operation of the circuit can be easily deduced from the above explanation.
Therefore, I will omit this explanation below, and as mentioned above,
The hydraulic circuit on the right rear wheel side
The cylinder 18 is moved slowly in the direction that its stroke amount decreases.
Shrinks quickly, stroke amount L_Dis the upper limit value (l
+δ), the hydraulic cylinder 18 is operated until
Oil will be drained. Thus, each hydraulic cylinder 10, 12, 16,
18 are constantly adjusted to their respective reference stroke amounts,
The basic posture while running is maintained. Angle control After the level adjustment control is completed, the attitude control
Controller 120 performs step 240 shown in FIG.
The inclination angle θ detected by the inclination angle sensor 122 is
Read the detected value and find out that the horizontal tilt angle θ of the vehicle body is
Predetermined specified value θ_N(e.g. 10°) or less
Determine. If this judgment result is positive, the posture
The controller 120 executes step 242.
to release the suspension lock circuit described later.
(The determination in step 240 is the result of the execution of step 241, which will be described later.)
Hydraulic suspension unless performed after line
The operation control of the suspension device is controlled by the aforementioned traveling suspension system.
mode control) and proceed to step 243. On the other hand, if the determination result in step 240 is negative,
Proceeds to step 241, where attitude control controller 1
20 is the solenoid switching valve 47, 49, 50, 102.
No energizing signal is output to the misaligned solenoid, and the electromagnetic
An energizing signal is output to the solenoid of the switching valve 105.
to form a suspension lock circuit. Tiger
Tsuku crane 1 is mounted on the chassis frame 3.
2 is placed, the center of gravity is relatively high, and the vehicle body
When tilting left or right, the center of gravity shifts and becomes unstable.
Ru. Then, when the car body tilts, it hangs on the wheel on the tilting side.
The load ratio increases, and the amount of sinking on the tilting side of the vehicle body increases.
growing. In the tilt angle control, the tilt angle θ is set to the predetermined value θ._N
If the size is larger, each hydraulic cylinder 10, 12, 1
Increase the amount of sinking by regulating (locking) the expansion and contraction of 6 and 18.
Although it is intended to prevent
It is. FIGS. 30 to 32 show the implementation of step 241.
Showing the hydraulic circuit formed by the line, the electromagnetic switching valve
102, the solenoids 102a and 102b are
is also deenergized, and the solenoid switching valve 102 is in the neutral position 102.
B, and the hydraulic pump 100a
These hydraulic fluids are not discharged and supplied to the hydraulic pressure path 41,
It is returned to the drain tank 91. Also, solenoid switching valve
105 solenoid 105a is energized.
Ports 105b and 105e of the electromagnetic switching valve 105,
and ports 105c and 105d are connected respectively.
The hydraulic pump 100b is switched to the switching position.
The pilot pressure oil discharged from the oil passage 51a is drained.
Returned to InTank 91. Therefore, the pilot
Check valves 28, 54, 59, 64, 67, etc.
Both the pilot operation switching valve 27, etc. are closed.
It is. Furthermore, the attitude control controller 120
An energizing signal is sent to any of the electromagnetic switching valves 47, 49, and 50.
is not output and these solenoid switching valves are in the closed state.
Ru. As a result, the piston upper chambers 10f, 12f, 1
6f, 18f and piston lower chamber 10g, 12g,
Both 16g and 18g of hydraulic oil can be used with these pistons.
The piston is trapped in the upper chamber of the piston and the lower chamber of the piston.
Stones 10b, 12b, 16b, 18b move out.
Hydraulic cylinders 10, 12, 16, 1 stopped coming.
8 will be locked. Attitude control controller 120 is hydraulic cylinder 1
0, 12, 16, 18 held in lock state
After that, monitor the detection signal from the tilt angle sensor 122.
and the inclination angle θ is the predetermined angle θ_NSteer until
Repeat steps 240 and 241 to remove the hydraulic cylinder.
10, 12, 16, 18 in lock state
Ru. Also, the inclination angle θ is equal to the predetermined angle θ._Ngreater than predetermined
angle θ_O(for example, 20°) or more, posture control control
The roller 120 causes an alarm buzzer (not shown) to sound.
It is designed to warn of danger. Also, the engine
110 stops and goes to attitude control controller 120.
When the power supply to the solenoid switching valve 105 is stopped, the
Although the energizing signal cannot be supplied, the hydraulic pump 10
0a and 100b are also stopped and the hydraulic pressure and pilot
The pyro oil pressure will no longer be discharged, and the pyro
Check valve 28, 54, 59, 64, 67, etc.
and pilot operation switching valve 27, etc. are all specified.
Closed due to lack of pilot hydraulic pressure.
the hydraulic cylinders 10, 12, 1
6 and 18 are maintained. The inclination angle θ is the predetermined angle θ_NAs mentioned above,
As mentioned above, release the suspension lock circuit.
(Step 242), then proceed to the subsequent step 243. Anti-nose dive control during braking At step 243 in Figure 13, the attitude control controller
The brake pressure switch 125 is turned on for the troller 120.
whether the brake pedal 126 is depressed or not; that is, whether the brake pedal 126 is depressed
In rare cases, the brake operation inside the brake tube 128
It is determined whether the hydraulic pressure is below a predetermined pressure. child
If the determination result is positive, then the procedure shown in Fig.
Proceed to step 250, if negative, i.e. break
Kipetal 126 is stepped on and the brake tube
If the brake operating oil pressure in 128 is higher than the predetermined pressure,
If so, proceed to step 244 and control posture control controller 1.
20 is each solenoid of the electromagnetic switching valves 102 and 105
An energizing signal is output to the ports 102a and 105a, and the electromagnetic
The solenoids of the switching valves 47, 49, and 50 are deenergized.
to close these solenoid switching valves 47, 49, and 50.
to form an anti-nose dive circuit. Depress brake pedal 126 while the vehicle is running.
When sudden braking is applied, Crane 2 is placed and relatively
A car body with a high center of gravity will lose weight due to inertia.
The front part sinks, and conversely, the rear part of the vehicle rises and the front part sinks.
The downward angle tends to increase, but the anti-novel
The dive control has a large forward downward angle during braking.
The purpose is to suppress the
Ru. Figures 33 to 35 show the execution of step 244.
It shows the hydraulic circuit formed by the
The solenoid of the electromagnetic switching valve 102 is activated by the roller 120.
As a result of energizing the valve 102a, the electromagnetic switching valve 102
is switched to open position 102A and constant oil pressure is applied.
is supplied to the hydraulic pressure path 41. This hydraulic fluid
Quantity control valve 103, check valve 71 (see Figure 3)
is supplied to the pilot oil passage 52 via
The pilot hydraulic pressure is
Supplied to rotary check valves 54, 59, 64, 67
and open these pilot check valves.
Ru. On the other hand, the solenoid 105 of the electromagnetic switching valve 105
When a is energized, port 10 of the electromagnetic switching valve 105
5b and 105e, and ports 105c and 105d
are switched to the switching position where the hydraulic
The pump discharged into the oil path 51a from the pump 100b
The pilot pressure oil is returned to the drain tank 91.
Therefore, the pilot check valves 28, 29, 55
a, 60a, and pilot operation switching valves 27, 3
All 0's are closed. Furthermore, the attitude control
The controller 120 has electromagnetic switching valves 47, 49, 50.
These electromagnetic switches do not output an energizing signal to any of them.
The exchange valve is in a closed state. As a result, Figure 34 and
A hydraulic circuit shown in FIG. 35 is formed. When braking, the hydraulic cylinders 10 and 12 on the front wheels contract.
Then, the pistons 10b and 12b are displaced upward.
and the piston upper chamber 1 as shown by the arrow in Fig. 34.
Hydraulic oil is discharged from 0f and 12f, and this hydraulic oil
A part of the pilot check valve 5 is in an open state.
4, 59, oil passages 74, 76, oil passage 23 pilots
Check valve 29, pilot check of oil line 22
into the piston lower chambers 10g and 12g via the valve 28.
The remainder flows through the flow rate control valves 55 and 60.
It flows into the cumulators 57 and 62. At this time,
Pilot check valve 5 of flow control valves 55 and 60
Pilot hydraulic pressure is supplied to 5a and 60a.
Since there is no pilot check valve 55a, 60
towards the accumulators 57 and 62 via a.
The flow is blocked and the flow through the throttles 55b, 60b
Only this is acceptable. Also, the above-mentioned pilot
As mentioned above, the valves 28 and 29 are pipes with a restrictor.
Since this is a rotary operated check valve, these checks
The flow rate of hydraulic oil flowing through the valves 28 and 29 is regulated.
It will be. Therefore, the nose die during sudden braking
The hydraulic cylinders 10 and 12 on the front wheel side are
The force that tries to contract them is the flow rate control.
Restrictions 55b, 60b of control valves 55, 60, and piping
Reduced by the throttling effect of the rotary check valves 28 and 29.
be weakened. In addition, the oil for anti-nose dive control during braking
When the pressure circuit is formed, the hydraulic cylinders 10 and 12
Even if the pilot tries to extend, the pilot check valve 28
And the pilot operation switching valve 27 is filled with pilot oil.
The piston is in a closed state due to no pressure being supplied.
From the ton lower chamber 10g, 12g to the piston upper chamber 10
The flow of hydraulic oil toward f and 12f is blocked and the piston
The tons 10b and 12b can be displaced downward.
That is, the hydraulic cylinders 10 and 12 cannot be extended.
I can't do it. On the other hand, during sudden braking, the hydraulic cylinder 16 on the rear wheel side,
Fig. 35 also shows the case where 18 tries to expand.
Pilot check valve 28 and pilot operation off
Since pilot hydraulic pressure is not supplied to the switching valve 27.
These check valves 28 and 28 are closed.
Discharged from the piston lower chamber 10g by the switching valve 27.
Hydraulic cylinder is prevented from leaking hydraulic oil
Data 16 and 18 cannot be expanded. However, after
When the hydraulic cylinders 16 and 18 on the wheel side try to contract
In this case, the pistons 16b and 18b are displaced upward,
At this time, as shown by the arrow in Fig. 35,
Hydraulic oil is discharged from chambers 16f and 18f, and this operation
A part of the hydraulic oil is in the open state as shown in Figure 34.
pilot check valves 64, 67, oil passage 78,
80, oil passage 23 pilot check valve 29, oil
the piston via the pilot check valve 28 of the passage 22.
It flows into the lower chambers 16g and 18g, and the rest is
It flows into the multors 65 and 68. At this time, the 34th
Similar to the hydraulic circuit on the front wheel side shown in the figure, the pilot
Due to the throttling action of the exhaust valves 28 and 29, the piston
From the upper chambers 16f, 18f to the piston lower chambers 16g, 1
Hydraulic oil towards 8g is regulated and hydraulic cylinder 1
6, 18 and tries to elongate them.
The force is attenuated. In this way, during sudden braking, the hydraulic cylinder 1 on the front wheel side
0 and 12 are diaphragms 55b and 60b and a check with diaphragm.
sinks at a sinking speed regulated by valves 28 and 29.
The hydraulic cylinders 16 and 18 on the rear wheel side are also compressed.
As a result, only the direction of the vehicle is allowed
The phenomenon of excessive nose dive (nose dive) is avoided.
Ru. The attitude control controller 120 is the above-mentioned antino
After forming the hydraulic circuit for controlling the dive,
Check whether the rake pressure switch 125 is turned off or not.
It is determined (step 245) and the brake pressure switch 12 is
Steps 244 and 245 if 5 is not turned off.
Repeatedly perform the anti-nose dive control
The hydraulic circuit remains formed. Meanwhile, the brake pedal 126 is released and the brake pedal 126 is released.
The key pressure switch 125 is turned off and the step
If the determination result of 245 is positive, the attitude control control
The roller 120 has a built-in to timer (programmed timer).
(may be current) and then set (step
246), this timer sets the predetermined time to (for example, 3
~4 seconds) have elapsed (step
247). Then, wait for the predetermined time to elapse. Predetermined time
After a period of time has elapsed, the image formed in step 244 is
16 to 18 as described above after releasing the hydraulic circuit.
Return to the hydraulic circuit shown in the figure (step 248), and
Proceed to step 250 in Figure 14. Brake like this
Even if the pressure switch 125 is turned off, the anti-noise
If the predetermined time period to elapses without canceling the dive circuit.
By releasing the nose dive only after the
It is possible to reliably prevent this and improve riding comfort.
I can do it. Pitting prevention control At step 250, attitude control controller 1
20 is above the vehicle body from the vertical acceleration G sensor 124
A predetermined value indicating that the acceleration G in the direction exceeds a predetermined value.
When the signal or downward acceleration G exceeds a predetermined value.
A signal that is not one of the predetermined signals representing
) is output. This judgment
Another possibility is that the vehicle pitches due to driving on rough terrain, etc.
This is a test that determines whether or not the
In this case, the attitude control controller 120
The relevant control program without executing anti-chiking control.
This time the execution of the loop ends. On the other hand, the determination result in step 250 is negative, that is,
The upward force on the vehicle body is detected by the vertical acceleration G sensor 124.
A predetermined signal indicating that the speed G exceeds a predetermined value.
In other words, the downward acceleration G exceeds a predetermined value.
If any of the predetermined signals representing
If so, proceed to step 251 and position control controller 1.
20 responds to the signal from the vertical acceleration G sensor 124.
A hydraulic circuit is formed to prevent pitting.
Ru. This pitting prevention control hydraulic circuit is, for example,
Reduces pitching vibrations caused by driving on rough terrain
This is for suppressing and eliminating posture control.
120 is a predetermined value from the vertical acceleration G sensor 124.
The signal indicates acceleration of the vehicle upwards (in the direction of floating).
degree is a predetermined value (for example, 0.2G, but the vibration period is 2
Hz) is detected.
The oil shown in FIGS. 16 to 18 explained above is
A pressure circuit is formed. This hydraulic circuit is as described above.
When the hydraulic cylinders 10, 12, 16, 18 are extended
Piston lower chamber 10g, 12g, 16g, 18
g to piston upper chambers 10f, 12f, 16f, 1
The flow rate of hydraulic oil towards 8f is controlled by a pilot with a throttle.
of the exhaust valve 28 and the throttle 26a of the flow control valve 26.
It is regulated by squeezing action, and this squeezing action
It is possible to attenuate the upward impact of the car body by
I can do it. Then, the rear wheel side hydraulic cylinder 16,1
8 contracts, the piston upper chambers 16f, 18
Operation from f to piston lower chambers 16g and 18g
The flow rate of oil is determined by the pilot check valve 28 with throttle,
and the throttle 26a of the flow rate control valve 26 and the throttle chain.
It is regulated by the throttling action of the lock valve 26b, and this throttling
Contraction of hydraulic cylinders 16 and 18 due to
is attenuated. On the other hand, the attitude control controller 120 performs vertical acceleration.
A predetermined signal from the degree G sensor 124 is
The acceleration in the direction (direction of sinking) is a predetermined value (for example,
0.2G, but the vibration frequency is 2Hz or less)
If a signal representing
A hydraulic circuit shown in FIGS. 3 to 35 is formed.
As mentioned above, this hydraulic circuit includes the hydraulic cylinder 10,
Allow only contractions of 12, 16, and 18, and limit expansion.
Moreover, the hydraulic cylinder 10,
When the pistons 12, 16, and 18 are contracted, the upper chamber 10 of the piston
f, 12f, 16f, 18f to piston lower chamber 1
Hydraulic oil heading towards 0g, 12g, 16g, 18g
Pilot check valves 28, 29 and
and each throttle 55b, 60b of the flow rate control valves 55, 60.
It is regulated by the throttling action of
This action attenuates the downward impact of the car body.
I can do it. In addition, the hydraulic cylinder 16 on the rear wheel side
When the hydraulic cylinders 16 and 18 try to extend, the hydraulic cylinders 16,
18 are in the locked state and these hydraulic cylinders
16 and 18 are restricted. In this way, the signal from the vertical acceleration G sensor 124
The oil shown in Figures 16 to 18 above depending on the number
In the hydraulic circuit and the hydraulic circuit shown in Figs. 33 to 35,
Vehicle pitching can be controlled by switching alternately.
It can be rapidly attenuated and eliminated. Then, the attitude control controller 120 moves to the next step.
t1 to measure the elapse of a predetermined time t1 in step 252
After setting the timer, the vertical acceleration G sensor 12
Check whether the signal from 4 has been inverted to the off signal.
Determine (step 253). This determination result is positive.
If so, proceed directly to step 255 to prevent pitting.
The hydraulic circuit for stop control is released and the above-mentioned Fig. 16
Return to the hydraulic circuit shown in Fig. 18 and the control program
Ends execution of the current loop of the ram. If the determination result in step 253 is negative, immediately
In other words, the signal from the vertical acceleration G sensor 124 is
If it is not an off signal, proceed to step 254;
When the timer is set in step 252 above
Determine whether the predetermined time t1 has already elapsed from
However, if it has not yet passed, proceed to steps 253 and 254.
Execute repeatedly. That is, pitting prevention circuit
continue to hold to dampen pitching. So
If the determination result in step 254 is positive, the previous
Proceed to step 255 and the pitting prevention circuit will be released.
be done. That is, in this case, the vertical acceleration G sensor 12
4 indicates that the vehicle is still pitching.
Detected, but prevent this pitching condition
It takes a long time to form a hydraulic circuit for
Even if you have not yet escaped from the pitting state,
This is to release the pitching prevention circuit once. child
This is a higher priority level than anti-pitching control.
Prioritizes operation control such as wheel adjustment control and angle turning control.
This is for the purpose of removing the pitching prevention circuit once.
These high-priority actuation controls can be
You can execute the control with priority.
High priority operations such as bell adjustment control and angle turning control
If there is no need to perform control, step immediately.
Returning to 251, the pitching prevention circuit is formed again,
The time required to run the program during this time is very small.
Therefore, there is virtually no inconvenience. on-tire control Returning to step 200 in FIG. 9 above, this step
If the discrimination result is negative in the
when the manual selector switch 134 is in the manual mode position.
When outputting an on signal, the screen in Figure 15
Proceed to step 260. Said manual changeover switch 1
34 is a diagram of the truck crane 1 as described above.
The gearbox that does not operate is in neutral, very low gear, and
If the gear is switched to any one of the first gear positions.
and when switched to manual mode position
This outputs an on signal to the manual switch.
Step 260 is executed by the ON signal of switch 134.
When the attitude control controller 120 suspends
form a lock circuit. This suspension lock circuit is used to control the rotation angle.
The circuit shown in FIGS. 30 to 32 formed by
This is the same as when suspending the vehicle and suspending it.
or do not drive the vehicle below the specified speed.
This suspension lock is used when suspending work from
When a circuit is formed, each hydraulic cylinder 10, 12,
16 and 18 cannot be expanded or contracted (locked).
), suspension of hydraulic suspension equipment
The function is lost and the crane is in a so-called on-tire state.
Hanging work for the main unit 2 will be carried out, and this will result in
The suspension work can be stabilized. vehicle height control Next, the attitude control controller 120
At 261, the up/down control switch 132
Is it in the neutral position and not outputting any command signals?
(off) or not. This up and down control
As mentioned above, the lever switch 132
When 32a is tilted in the longitudinal direction of the vehicle body, the tilt angle
It also generates a command signal to move the vehicle body up and down accordingly.
Therefore, if the determination result in step 261 is negative,
In other words, the manual changeover switch 134 is turned on.
the lever 132a is outputting the on signal, and the lever 132a is
If the stand is tilted to either the front or back direction,
Proceeding to step 262, the attitude control controller 120
Form a vehicle height up/down circuit. This vehicle height control is applied to crane 2 during suspension work, etc.
You can hang it by slightly adjusting the vehicle height without changing the hanging position.
If you want to change the lower height, for example when running on uneven ground.
Raise the vehicle height to straddle obstacles during suspension work
This is effective when you want to
When raising the vehicle body by tilting it towards the side, please refer to Figure 20.
Hydraulic circuit shown in Figures 22, 27 and 36
is formed. That is, the attitude control controller 120 uses electromagnetic switching.
The solenoid switching valve 10 does not output an energizing signal to the valve 105.
5 in the open state and apply a constant pilot oil pressure.
generated in the pilot oil passage 51 and the solenoid switching valve 10
An energizing signal is output to the second solenoid 102a.
Switch to the open position 102A and operate the predetermined pressure.
Oil is generated in the hydraulic pressure path 41. Then Pyro
The pilot hydraulic pressure generated in the oil passage 51 is
Check valves 28, 29, 55a, 60a and
These are supplied to the pilot switching valves 27 and 30.
Open the check valve and switching valve, and open the operating hydraulic path.
41 to the pilot oil passage via the check valve 71.
The pilot oil passage that occurs at 52 is the pilot oil passage.
Supplied to the valves 54, 59, 64, and 67
Open these check valves. Additionally, the attitude control controller 120 is an electromagnetic switching valve.
Activate each solenoid of 47, 49, and 50 to open.
The hydraulic oil in the hydraulic pressure path 41 is
Through the opened electromagnetic switching valves 47, 49, 50
Each of the hydraulic circuit parts 10d, 12d, 16d, 18d
Supplied to port P1. Then, the
The supplied hydraulic oil is controlled according to the level adjustment control explained above.
As can be easily inferred from the light, Figure 22 and
The hydraulic circuit shown in Figure 27 is filled and replenished, and each piston
Flows into the upper chambers 10f, 12f, 16f, and 18f.
and each piston 10b, 12b, 16b, 18
b at the same time and press down on the hydraulic cylinders 10 and 1.
Extend 2, 16, and 18 by the same stroke amount
Ru. As a result, the vehicle body moves upward while maintaining its horizontal position.
will be moved to. At this time, the attitude control
The troller 120 has each stroke sensor 10e, 1
Stroke detection values from 2e, 16e, 18e
While monitoring, these stroke detection values are
When the lever 132a of the control switch 132 is turned down,
20 and 22 until the value corresponding to the tilt angle is reached.
Holds the hydraulic circuit shown in Figures 27 and 36.
and set the desired height according to the angle of inclination of the lever 132a.
Raise the vehicle. Tilt the lever 132a forward to lower the vehicle body.
23, 25, 29, and
A hydraulic circuit shown in FIG. 37 is formed. That is, the attitude control controller 120 uses electromagnetic switching.
The solenoid switching valve 10 does not output an energizing signal to the valve 105.
5 in the open state and apply a constant pilot oil pressure.
generated in the pilot oil passage 51 and the solenoid switching valve 10
An energizing signal is output to the second solenoid 102b.
Switch to drain position 102C and adjust hydraulic pressure.
The passage 41 is connected to the drain tank 91 side. vinegar
Then, pilot oil generated in the pilot oil passage 51
The pressure is determined by the pilot check valves 28, 29, 55a,
60a and the pilot switching valves 27, 30.
to open these check valves and switching valves,
From the pilot oil passage 51 through the check valve 70
The pilot oil pressure generated in the pilot oil passage 52 is
Pilot check valves 54, 59, 64, and 6
7 to open these check valves.
Ru. The hydraulic cylinders 10 and 12 on the front wheel side are shown in Fig. 25.
The hydraulic circuit shown in FIG.
The hydraulic circuits shown in Fig. 29 are formed in 18, respectively.
, the attitude control controller 120 is connected to the electromagnetic switching valve 4.
Activate each solenoid 7, 49, 50 to open.
When the hydraulic circuit parts 10d, 12d, 16d, 1
Hydraulic pressure path 43 connected to each port P1 of 8d
~ 46 hydraulic oil is used for each electromagnetic switching valve 47, 49, 5
0, hydraulic pressure path 41, flow control valve 103 throttle 1
03a, drain tank via electromagnetic switching valve 102
It is discharged to the tank 91. And the level tone mentioned above
As can be easily inferred from the explanation of adjustment control, each oil
Hydraulic circuit of pressure cylinders 10, 12, 16, 18?
The hydraulic fluid flows through the lines shown by the arrows in Figures 25 and 29.
is discharged to each hydraulic pressure path 43 to 46 via a
The working oil pressure in each hydraulic circuit decreases and each hydraulic cylinder
das 10, 12, 16, 18 are the same straw at the same time
The car body contracts by the amount of
move towards At this time, the attitude control controller
120 is the same as when raising the vehicle height mentioned above.
Stroke sensor 10e, 12e, 16e, 18
These are performed while monitoring the stroke detection value from e.
The stroke detection value of the vertical control switch
The value corresponding to the inclination angle of the lever 132a of 132
Figure 23, Figure 25, Figure 29 and Figure 29 until
Hold the hydraulic circuit shown in Fig. 37 and press the lever 132a.
Lower the vehicle body to the desired height according to the angle of inclination.
let Then, depending on the tilting angle of the lever 132a,
When the vehicle descends to the height above, the attitude control
controller 120 forms a suspension lock circuit.
to lock the hydraulic cylinders 10, 12, 16, 18.
After that, execute step 261 again and use the up and down controls.
It is determined whether the power switch 132 is off or not. attitude control The vehicle is at the desired height and the vertical controls are
The lever 132a of the switch 132 is in the neutral position.
If the determination result in step 261 is positive,
Proceed to step 264 and turn the posture control switch
130 is in the neutral position and does not output any command signals.
Determine whether it is off (off). This posture system
The control switch 130 is, as described above,
If you tilt the lever 130a forward, backward, left or right, it will fall.
A finger that tilts the vehicle body according to the direction and tilt angle.
This is a signal that generates a command signal and is used in step 264.
If the determination result is negative, that is, the manual cutoff is
The exchange switch 134 is outputting an on signal, and
1, the lever 130a is moved in either the front, back, left, or right direction.
If the person is lying down, proceed to step 265 and change the posture.
The controller 120 is an attitude control circuit.
to form. This posture control is useful for vehicles when suspending work on slopes, etc.
A place where you can keep your body in a horizontal position and stabilize the suspension work.
It is effective when the lever 130a is tilted, and
The hydraulic circuit shown in the table below is shaped according to the tilt angle.
will be accomplished. Note that the angle of inclination of the lever 130a is
Specified as +α to -α in the direction and +β to -β in the left and right direction.
It has been done.

[Table] In the above table, for example, if the lever 130a is tilted forward by an angle corresponding to an angle α (0<α≦α _M ) that is less than or equal to a predetermined angle α _M , the 23rd, 24th, 25th
The hydraulic circuit shown in the figure is formed, the hydraulic cylinders 10 and ₁₂ on the front wheel side are contracted, and an angle α (α _{M <} α
≦α _N ), the hydraulic circuits shown in Figs. 23, 24, and 25 are first formed, and the hydraulic cylinders 10 and 12 on the front wheel side are contracted, and then the hydraulic cylinders 10 and 12 on the front wheel side are contracted. A circuit similar to that shown in the figure is formed to extend the rear wheel side hydraulic cylinders 16 and 18, and the front part of the vehicle body sinks by a desired angle. Incidentally, tilting the vehicle body by more than the predetermined angle α _N is not allowed because it will destroy the stability of the vehicle body. The attitude control controller 120 monitors the stroke detection values from the stroke sensors 10e, 12e, 16e, and 18e, and determines that the inclination angle calculated from these stroke detection values corresponds to the inclination angle of the lever 130a of the attitude control switch 130. The hydraulic circuit shown in the above table is held until the angle of inclination of the lever 130a is reached, and the vehicle body is tilted to a desired tilt angle corresponding to the tilting angle of the lever 130a. According to the table above, install hydraulic cylinders 10 and 12 on the front wheel side.
When contracting simultaneously, the posture control controller 120 forms the hydraulic circuits shown in FIGS. 23, 24, and 25. Since this hydraulic circuit is the same as the circuit formed in steps 216 and 217 of FIG. 10 described above, detailed explanation thereof will be omitted. When simultaneously extending the front wheel side hydraulic cylinders 10 and 12, the attitude control controller 120 forms the hydraulic circuits shown in FIGS. 20, 21, and 22. This hydraulic circuit is shown in step 211 in Figure 10 above.
Since it is the same as the circuit formed in steps 2 and 212, detailed explanation thereof will be omitted. When simultaneously contracting the rear wheel side hydraulic cylinders 16 and 18, the attitude control controller 120 forms a circuit similar to the circuit shown in FIGS. 23, 28, and 29. That is, the attitude control controller 120 outputs an energizing signal to the solenoid of the electromagnetic switching valve 49 shown in FIG. The others are 23rd, 28th, 2nd
The same circuit as that shown in FIG. 9 is formed. Then, the hydraulic fluid in the hydraulic cylinders 16 and 18 is simultaneously discharged to the drain tank 91 side, the hydraulic cylinders 16 and 18 both contract, and the rear of the vehicle body sinks. The detailed operation of this hydraulic circuit is explained in the second section.
Since this can be easily deduced from the explanation of the circuits shown in FIGS. 3, 28, and 29, the explanation will be omitted below. When simultaneously extending the rear wheel side hydraulic cylinders 16 and 18, the attitude control controller 120 forms a circuit similar to the circuit shown in FIGS. 20, 26, and 27. That is, in this case as well, the attitude control controller 120 outputs an energizing signal to the solenoid of the electromagnetic switching valve 49 shown in FIG. 49 and 50 are opened, and the others are the second
The same circuits as those shown in FIGS. 0, 26, and 27 are formed. And the hydraulic cylinder 16,1
8 is replenished with hydraulic oil at the same time, and hydraulic cylinder 1
6 and 18 will both expand and the rear of the vehicle will rise. The detailed operation of this hydraulic circuit is explained in the 20th section.
Since this can be easily deduced from the explanation of the circuits shown in FIGS. 26 and 27, the explanation will be omitted below. When simultaneously contracting the left hydraulic cylinders 10 and 16, the posture control controller 120
The hydraulic circuits shown in Figures 3, 25, 29, and 38 are formed. In this case, the attitude control controller 120 controls the electromagnetic switching valve 47 among the electromagnetic switching valves 47, 49, and 50.
and 49 will be opened. Then, the hydraulic oil is discharged from the hydraulic cylinder 16 on the left rear wheel side to the drain tank 91 in the same manner as described above with reference to FIG. 29, and the left rear wheel sinks. In addition, since the electromagnetic switching valve 47 is also opened, the hydraulic oil is about to be discharged from the hydraulic cylinders 10 and 12 on the front wheel side, but the hydraulic circuit 18 on the right rear wheel does not contract, and the hydraulic cylinder on the left rear wheel Since only 16 sinks, the palm frame 3
The left wheel side will be twisted in the direction of sinking. At this time, since the rigidity of the chassis frame 3 is high, a force is applied to the left hydraulic cylinder 10 on the front wheel side to contract it, and a force is applied to the right hydraulic cylinder 12 to extend it. Only the hydraulic oil in the hydraulic cylinder 10 is discharged through the path shown in FIG. 25, and the hydraulic cylinder 10 sinks, and the right hydraulic cylinder 12 remains at its original position without expanding or contracting. In this way, the front and rear left wheels 4,
8 will sink at the same time, and the vehicle will be tilted with its left side down. When simultaneously contracting the right hydraulic cylinders 12 and 18, the attitude control controller 120
Of the hydraulic circuits shown in Figures 3, 25, 29, and 38, the electromagnetic switching valve 50 is energized instead of the electromagnetic switching valve 49,
When the electromagnetic switching valve 49 is closed and the electromagnetic switching valve 50 is opened, hydraulic oil is discharged from the hydraulic cylinder 18 on the right rear wheel side to the drain tank 91, causing the right rear wheel to sink. As the right rear wheel sinks, the hydraulic cylinder 12 of the right front wheel contracts, causing the front and rear right wheels 4 and 8 to sink simultaneously, causing the vehicle body to tilt with its right side down. When simultaneously extending the left hydraulic cylinders 10 and 16, the attitude control controller 120
Hydraulic circuits shown in Figures 0, 22, 27, and 39 are formed. In this case, the attitude control controller 120 controls the electromagnetic switching valve 47 among the electromagnetic switching valves 47, 49, and 50.
and 49 will be opened. Then, hydraulic cylinder 1
6 is replenished with hydraulic oil, the hydraulic cylinder 16 is extended, and the left rear wheel is lifted up. In addition, since the electromagnetic switching valve 47 is also opened, the hydraulic cylinders 10 and 12 on the front wheel side try to be replenished with hydraulic oil, but the hydraulic circuit 18 on the right rear wheel does not expand or contract, and the hydraulic cylinder on the left rear wheel Since only 16 is extended, the palm frame 3
The left rear wheel side will be twisted in a direction that lifts it up. Since the chassis frame 3 has high rigidity, a force is applied to the left hydraulic cylinder 10 on the front wheel side to extend it, and a force is applied to the right hydraulic cylinder 12 to contract it. Hydraulic oil is replenished only into the cylinder 10 through the path shown in FIG. 22, and this hydraulic cylinder 10 expands, while the right hydraulic cylinder 12 remains at its original position without expanding or contracting. In this way, the front and rear left wheels 4,
8 will lift up at the same time, and the vehicle will be tilted with its right side down. When simultaneously extending the right hydraulic cylinders 12 and 18, the attitude control controller 120
Of the hydraulic circuits shown in Figures 0, 22, 27, and 39, the electromagnetic switching valve 50 is energized instead of the electromagnetic switching valve 49,
When the electromagnetic switching valve 49 is closed and the electromagnetic switching valve 50 is opened, the hydraulic cylinder 18 on the right rear wheel side is replenished with hydraulic oil, and the right rear wheel is lifted up. As the right rear wheel lifts up, the hydraulic cylinder 12 of the right front wheel expands, causing the front and rear right wheels 4, 8 to expand.
lifts up at the same time, causing the vehicle to tilt with its left side down. When the vehicle body is tilted to an angle corresponding to the angle of inclination of the lever 130a of the attitude control switch 130, the attitude control controller 120 forms the suspension lock circuit and locks the hydraulic cylinder 10,
After locking 12, 16, and 18, the process returns to step 261 and executes the determination step.
If the determination results in steps 261 and 264 are both affirmative, the execution of the current loop of the attitude control program is ended. (Effects of the invention) As detailed above, according to the vehicle hydraulic suspension device of the invention, the piston side chamber defined by the piston and the piston rod side are interposed between the chassis frame and the axle. A hydraulic cylinder having a chamber on the other side of the piston, an oil passage communicating between the chamber on one side of the piston and the chamber on the other side of the piston, a gas chamber and an oil chamber disposed in the oil passage and defined by a movable partition, An accumulator that stores part of the hydraulic oil discharged from one side chamber of the piston in an oil chamber when the piston moves, and is installed at the inlet of the accumulator, and is configured to transfer hydraulic oil in both directions according to a fixed throttle and a first operation command signal. and a first check valve that allows the flow of hydraulic oil only in the direction of outflow from the accumulator in response to a second operation command signal; It is arranged in the middle of the road, and allows the flow of hydraulic oil in both directions according to the first operation command signal, and allows the flow of hydraulic oil from one side of the piston chamber to the other side of the piston according to the second operation command signal. A second check valve has a throttle function that allows only the flow of hydraulic fluid and regulates the amount of hydraulic fluid; a brake sensor that detects the braking state of the vehicle; It is composed of a controller that generates an operation command signal and generates a second operation command signal when the vehicle is in a braking state, so it realizes a spring function and a shock absorb function when the vehicle is running, and prevents shocks caused by uneven road surfaces, etc. It is possible to improve riding comfort by alleviating vibrations and vibrations, and also to avoid excessive nose dive during sudden braking.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention; FIG. 1 is a side view of a truck crane on which a hydraulic suspension device according to the present invention is mounted; FIG. 2 is a partial cross-sectional view of the truck crane shown in FIG. 1; Figure 3 is a hydraulic circuit diagram of the hydraulic suspension device according to the present invention;
FIG. 4 shows the hydraulic circuit section 10 of the hydraulic cylinder shown in FIG.
Detailed circuit diagram of d, 12d, 16d, 18d, 5th
The figure is a hydraulic circuit diagram of the hydraulic oil and pilot oil pressure supply system, Figure 6 is an input/output wiring diagram of the attitude control controller that controls the operation of the hydraulic suspension device according to the present invention, and Figure 7 is the flow rate of Figure 4. control valve 26
FIG. 8 is a sectional view showing the details of the check valve 26b constituting the pilot check valve 2 of FIG.
8, FIGS. 9 to 15 are program flowcharts showing the operation control procedure of the hydraulic cylinder executed by the posture control controller 120 in FIG. 6, and FIGS. 16 to 18 are respectively A hydraulic circuit state diagram is shown to explain the operation of the hydraulic suspension device according to the present invention, and FIG. 19 shows a relationship between piston speed and damping force to explain the shock absorber function of the hydraulic suspension device according to the present invention. Graphs, Figures 20 to 3
9 are hydraulic circuit state diagrams for explaining the operation of the hydraulic suspension device according to the present invention. 1... Truck crane, 3... Chassis frame, 4... Front wheel, 5... Front axle, 8...
...Rear wheel, 9...Rear axle, 10, 12, 1
6, 18...Hydraulic cylinder, 10b, 12b, 1
6b, 18b... Piston, 10e, 12e, 1
6e, 18e...stroke sensor, 10f, 1
2f, 16f, 18f...Piston upper chamber, 10
g, 12g, 16g, 18g... piston lower chamber,
21, 22, 23... Oil path, 25... Relief valve, 26... Flow rate control valve, 26a... Throttle, 26
b...Check valve with throttle, 260...Poppet,
265...Spacer, 27...Pilot switching valve, 28, 29...Pilot check valve (second
check valve), 280...Poppet, 283...
... Piston, 283a ... Piston rod, 28
9...Spacer, 30...Pilot switching valve, 4
1... Operating hydraulic pressure path, 47, 49, 50... Solenoid switching valve, 51, 52... Pilot oil path, 54, 5
9,64,67...Pilot check valve, 5
5, 60...flow control valve (parallel circuit), 55a,
60a... Pilot check valve (first check valve), 55b, 60b... Throttle, 57, 62,
65, 68... Accumulator, 70, 71...
Check valve, 73-80...Oil passage, 91...Drain, 100a, 100b...Hydraulic pump, 10
2... Solenoid switching valve, 103... Flow rate control valve, 10
5... Solenoid switching valve, 120... Attitude control controller, 122... Tilt angle sensor, 124... Vertical acceleration G sensor, 125... Brake pressure switch, 130... Attitude control control switch,
132...Up/down control switch, 134...
...Manual changeover switch.

Claims (1)

[Scope of utility model registration request] a hydraulic cylinder that is interposed between a chassis frame and an axle and has a chamber on one side of the piston defined by a piston and a chamber on the other side of the piston on the piston rod side; an oil passage that communicates the chamber on one side of the piston with the chamber on the other side of the piston; It has a gas chamber and an oil chamber disposed in the middle of the oil passage and defined by a movable partition wall, and a part of the hydraulic oil discharged from a chamber on one side of the piston as the piston moves is transferred to the oil chamber. an accumulator for storage, disposed at the inlet of the accumulator, allowing hydraulic oil to flow in both directions in response to a fixed throttle and a first operation command signal, and flowing out from the accumulator in response to a second operation command signal; a parallel circuit consisting of a first check valve that allows only the flow of hydraulic oil in the direction; and a parallel circuit that is disposed in the middle of the oil path between the accumulator and the other side chamber of the piston, and is configured to operate in response to the first operation command signal. a throttle that allows the flow of hydraulic oil in both directions, and that regulates the amount of hydraulic oil by allowing only the flow of hydraulic oil from one chamber side of the piston to the chamber side of the other side of the piston in accordance with the second operation command signal; a second check valve having a function;
a brake sensor that detects a braking state of the vehicle; and generating the first actuation command signal when the vehicle is not in a braking state according to the output of the brake sensor;
A hydraulic suspension device for a vehicle, comprising a controller that generates the second actuation command signal when the vehicle is in a braking state.