JPH0772078B2 - Lift car - Google Patents

Description

The present invention relates to a bucket lift type lift truck. That is, for example, when moving, a lift truck for loading and unloading work at high places, which loads goods in buckets and transports them between the ground and a target at high places, and at the construction site, for building work at high places, where materials are similarly transported. Lift trucks, lift trucks for extinguishing fires in high places that also carry firefighters, equipment, people to evacuate in case of fire,
Etc.

“Prior Art” In such a lift truck, the lifting bucket has conventionally been as follows. That is, as shown in FIG. 4, the bucket 1 is pivotally supported on a carrier 4 which is lifted and lowered along a boom 3 which is mounted on a vehicle main body 2 so as to be capable of undulating, expanding and contracting and turning, and also has a posture maintaining mechanism. 5 held on the carrier 4. As the posture holding mechanism 5, a bucket 1 is provided via a tilt mechanism.
Is generally used, and a handle (not shown) is manually rotated in the forward and reverse directions according to the hoisting angle of the boom 3 every time the boom 3 is hoisted, whereby the inclination of the holding arm 6 of the attitude holding mechanism 5 is increased. The angle was changed and the bucket 1 was adjusted to the horizontal posture accordingly.

"Problems to be Solved by the Invention" By the way, the following problems have been pointed out in such a conventional example. That is, each time the boom 3 is raised or lowered, the posture holding mechanism 5 must be manually operated to adjust the bucket 1 to a horizontal posture in accordance with the rising and lowering angle of the boom 3 each time. It was annoying and was a problem in terms of work efficiency. Also, work at a high place where a person rides on the bucket 1 and uses the bucket 1 as a scaffold is not easy because such horizontal adjustment is a prerequisite, and there is a problem in terms of work efficiency from this aspect as well. In the lift truck of the conventional example, such a problem in use has been pointed out for the lifting bucket.

In view of such circumstances, the present invention has been made to solve the problems of the above-mentioned conventional example, in which the drive motor of the posture holding mechanism is driven in the forward and reverse directions by the horizontal adjusting means including a level sensor or the like. It is an object of the present invention to propose a lift vehicle in which the use of a lifting bucket is automated, facilitated, and ensured by controlling it.

"Means for Solving Problems" The technical means of the present invention for achieving this object are as follows. This lift vehicle has a boom mounted on a vehicle body so as to be capable of undulating, expanding and contracting, and swinging, a carrier that can be moved up and down along the boom, and luggage, people, etc. that are pivotally supported on the carrier. A bucket; a posture holding mechanism interposed between the carrier and the bucket to variably hold the posture of the bucket; and a horizontal adjusting unit that controls the posture holding mechanism to adjust the bucket to a substantially horizontal posture. Become. The posture maintaining mechanism and the level adjusting means are as follows.

First, the posture maintaining mechanism includes a threaded rod mounted on the carrier with a bearing and having a screw threaded thereon, a mover screwed with the threaded rod, and both ends of the mover and the bucket are pivoted. And a drive motor mounted on the carrier and connected to the threaded rod. The drive motor is an electric type capable of rotating in the forward and reverse directions,
By the forward / reverse rotation drive of the drive motor, the posture of the bucket can be changed through the screw rod that is normally / reversely rotated, the movable element that is moved back and forth, the holding arm that is increased / decreased in inclination angle, and the like. ing.

Next, the horizontal adjusting means includes a level sensor attached to the bucket for detecting the inclination of the bucket from the substantially horizontal posture, and adjusts the bucket to the substantially horizontal posture based on the detection result of the level sensor. When the bucket is detected to be in a substantially horizontal posture, the leveling means first performs a power cutoff control on the drive circuit of the drive motor, so that the drive motor is not driven, and then When it is detected that the bucket is tilted from the substantially horizontal posture, the drive circuit of the drive motor is energized and the drive circuit is switched in accordance with the detected tilt direction to rotate the drive motor. The direction is controlled forward / reversely, the drive motor automatically starts driving, and when it is detected that the bucket has returned to the substantially horizontal posture, the drive circuit of the drive motor is changed according to the above. The power is cut off and the drive motor is not driven.
Thus, the bucket is adjusted to a substantially horizontal posture by the horizontal adjusting means regardless of the ups and downs of the boom, and the ups and downs angle of the boom with respect to the horizontal plane and the angle of the bucket with respect to the boom thus tilted. , Almost match.

"Operation" Since the present invention comprises such means, it operates as follows. Raise the boom on the vehicle body at the destination,
Extend and turn to position the tip of the boom facing the target at a high place. Then, the carrier is moved up and down along the boom, luggage, people, etc. are loaded in the bucket on the carrier and transported between the ground and a high place.

In this way, the boom is appropriately undulated, and the bucket tends to incline from the substantially horizontal posture corresponding to each undulation of the boom, but such inclination of the bucket from the substantially horizontal posture is detected by the level sensor. It Then, based on the detection result, the drive motor of the posture maintaining mechanism is controlled by the horizontal adjusting means, and the bucket is immediately adjusted to the substantially horizontal posture.

That is, when it is detected that the bucket is tilted from the substantially horizontal posture, the horizontal adjusting means controls the switching energization of the drive circuit of the drive motor attached to the posture holding mechanism in accordance with the detected tilt direction. The drive motor is driven by a predetermined amount in either the forward or reverse rotation direction. Then, in the posture holding mechanism, the screw rod rotates forward and backward based on such forward and reverse rotation drive of the drive motor, the mover moves forward and backward, and the inclination angle of the holding arm is appropriately increased or decreased, so that the bucket is substantially formed. Adjusted to a horizontal position.

In this way, the hoisting angle of the boom with respect to the horizontal plane,
When the angle of the bucket with respect to the tilted boom almost coincides, the bucket is automatically and easily adjusted to a substantially horizontal posture regardless of the ups and downs of the boom. In addition, it is possible to easily achieve work at high places and performance of various operations in which a person gets into the bucket and uses the floor surface of the bucket adjusted to be substantially horizontal as a scaffold.

[Examples] The present invention will be described in detail below based on the examples shown in the drawings. First, an overview of lift trucks will be given. FIG. 4 is a front view showing a general lift vehicle.

In addition to the self-propelled type shown in the drawings, there are traction type lift vehicles that both have a boom 3 mounted on the vehicle body 2 so that it can be undulated, extended, and swiveled. A bucket 1 that is lifted up and down along a line 3 and is pivotally supported on the carrier 4 to store luggage, people, etc.
Are carried by the carrier 4 between the ground and a high-altitude target, such as the veranda of a high-rise building.

The boom 3 will be described in detail. On the vehicle body 2, a turntable 7 is mounted on the vehicle body 2 by a drive device such as a hydraulic motor M1 for turning which can rotate forward and backward, and the turntable 7 is mounted on the turntable 7. , Hydraulic undulating cylinder C1
It is rotatably supported by a driving device such as the above and a pin 8. The boom 3 is of a multi-stage type that can be expanded and contracted, and is extended and stored from the second stage onward by a drive device such as a hydraulic expansion and contraction cylinder C2. As the boom 3, a nested multi-stage boom, a ladder-like multi-stage boom that is a ladder, a square cross-section, a substantially flat cross-section, a direct-expansion refraction type, and various types and shapes thereof, etc. There is one.

When the carrier 4 and the like are described in detail, the carrier 4 is moved up and down along the boom 3. That is, the carrier 4 is provided with wheels 9, and a wire winch device M2 for lifting and lowering which is hydraulic and capable of rotating in the forward and reverse directions is used to feed and wind the wire W stretched in front and rear thereof, thereby moving the carrier W above the boom 3. It runs between the base end 3 ₂ and the front end 3 ₁ . The bucket 1 is pivotally supported on the carrier 4 by a pin 10, and the box-shaped bucket 1 having an open upper surface is loaded with luggage, people and the like.
The lift car is configured in this way.

Next, the posture holding mechanism 5 and the horizontal adjusting means 11 will be described.
FIG. 1 is an explanatory diagram of an embodiment in which these are enlarged and shown.

First, the posture holding mechanism 5 will be described. A tilt mechanism is used as the posture holding mechanism 5 shown in the figure, and a ball screw 13 which is a screw rod mounted on the carrier 4 by a bearing 12 and screwed with a screw, and a ball which is screwed into the ball screw 13 which is a screw rod are used. And a holding arm 6 pivoted at both ends between the movable element 14 and the bucket 1. The attitude holding mechanism 5 includes a drive motor M3 as a drive source for changing the attitude of the bucket 1. The drive motor M3 is of an electric type and is capable of rotating in forward and reverse directions, and is provided with a speed reducer. The drive motor M3 is mounted on the carrier 4 and is connected with a ball screw 13. The electric motor is used as the drive motor M3 because, for example, when a hydraulic motor is used, the structure for arranging the conduit hose becomes complicated and safety problems occur. By the drive of the drive motor M3, the ball screw 13 rotates in the forward and reverse directions to move the mover 14 back and forth, and thus the holding arm 6
By increasing or decreasing the inclination angle of the, the posture of the bucket 1 pivotally supported on the carrier 4 is held while being changed.

Next, the level adjusting means 11 will be described. Leveling means 11
Is equipped with a level sensor S, and this level sensor S is attached to the bucket 1 and tilts the bucket 1 from a substantially horizontal posture.
For example, the inclination angle of the floor surface of the bucket 1 is detected. As such a level sensor S, for example, there is one shown in FIG. 3, but it is conceivable to apply various other known level detection methods.

Explaining the level sensor S of FIG. 3, the pair of level sensors S is composed of glass cases K and K whose both ends are respectively bent upward, and drive motors respectively arranged below the both ends. Each terminal of the drive circuit of M3, mercury A filled in a predetermined amount so as to be located in the lower part of the central part of each case K, K in the horizontal posture, and provided in the lower part of the central part of each case K, K, The case K includes a terminal connected to the positive side of the battery B, and the other case K includes a terminal connected to the negative side of the battery B. Then, in the substantially horizontal posture, the state shown in the figure is obtained and the electric shielding control is performed, and the drive circuit is not energized. Next, at the time of tilting, the mercury A moves to the end on either side of the cases K, K, whereby the drive circuit is energized and controlled, and the drive motor M3 is driven. The drive circuit is switched depending on the moving direction of the mercury A, and the rotation direction of the drive motor M3 is controlled in the forward and reverse directions.

By the way, the horizontal adjusting means 11 shown in the figure is composed of the level sensor S having the switching function as described above, and the level sensor S is a battery B mounted on the vehicle body 2.
Between the drive motor M3 and the drive motor M3, and between the terminals of the drive circuit formed via a cable 15 and a current collecting ring 16 that connects the cable 15 so as not to twist. That is, according to the illustrated example, as described above, when the bucket 1 is in the substantially horizontal posture, the level sensor S is switched off to control the electricity cutoff, and the drive motor 3M is not driven. On the contrary, as described above, when the bucket 1 is tilted from the substantially horizontal posture,
When the level sensor S is switched on, the drive circuit is energized, the drive motor M3 automatically starts driving, and when the bucket 1 returns to the substantially horizontal posture, the drive motor M3 automatically stops driving as described above. . In the figure, 17 is the cable 15
It is a cable reel that winds up. The horizontal adjusting means 11 is
It is configured in this way.

Next, the remote control device 18 and the like will be described with reference to FIG. The remote control device 18 is attached to the bucket 1 and outputs drive control signals to the drive devices for raising, retracting, retracting, and turning the boom 3, and the drive device for raising and lowering the carrier 4. The illustrated remote control device 18 includes a first operating lever 19 for controlling the hoisting cylinder C1, a second operating lever 20 for controlling the telescopic cylinder C2, and a third operating lever 2 for controlling the turning motor M1.
1. Lifting winch device M2 4th control lever 22 control
have. 1st, 2nd, 3rd, 4th operating levers 19, 20, 2
A limit switch is provided correspondingly to 1,22, but a method of further providing a potentiometer may be considered.

Each signal from the remote control device 18 is transmitted to the vehicle main body 2 side through a cable 23 attached to the boom 3 and input to the control box 24. In the control box 24, the remote control device 18
A signal for magnetizing the control valve 25 of, for example, a four-link electromagnetic system, which will be described later, is output from an amplifier based on the signal from the. 26 is a hydraulic pump, and this hydraulic pump 26
It is driven by the engine 28 of the vehicle body 2 via the PTO device 27. And this hydraulic pump 26 is a control valve for the tank 29.
The pipe 30 is arranged in a pipe 30 between the pipes 25, and the pipe 30 branches to a predetermined vicinity in the vicinity of the control valve 25 and then reaches the tank 29 again. Therefore, in such a control valve 25 of four-electromagnetic system,
Based on the signal from the control box 24, the flow path branched by each spool is opened / closed and switched, so that the undulating cylinder C1, the telescopic cylinder C2, and the turning motor.
Of the M1 and the lifting and lowering device M2, the designated one is driven. When the remote control device 18 having a built-in potentiometer is used, the control valve 25 of the four-series electromagnetic proportional system is used to branch the spools based on the signal from the control box 24. In addition to opening / closing and switching of the flow path, the flow rate can be adjusted, which has the advantage that the operating speed of each drive device can be controlled.

Now the first control lever 19 of the remote control device 18
Is pushed forward from the neutral position in the drawing, the piston rod of the hoisting cylinder C1 advances by a predetermined amount, so that the boom 3 is hoisted. On the contrary, by pulling it from the neutral position shown in the figure to the front, the undulating cylinder C1
The piston rod of 1 moves backward by a predetermined amount, so that the boom 3 is laid down. Similarly, the second, third and fourth operating levers
Cylinder C for expansion and contraction is operated by pushing down 20, 21 and 22 from the neutral position in the figure to the front or pulling them forward.
2, the turning motor M1 and the lifting winch device M2 are respectively driven in a predetermined manner, whereby the boom 3 is extended / shortened / turned right / left and the carrier 4 is raised / lowered.

Further, in the illustrated example, on the vehicle main body 2 side, a manual control lever 19 ', 20', 21 ', 22' is attached to a control valve 25 of a four-series electromagnetic system. This manual control lever 19 ', 20', 21 ', 2
2'is the first, second, third and fourth operating levers 19, 20, 21,
It is possible to control each spool of the control valve 25 by a direct manual method as in the conventional example, so that the operation can be performed from the vehicle body 2 side of the boom 3 and the carrier 4, that is, the ground side. It has become.

First, the remote control device 18 is
In addition to the method using the first, second, third, and fourth operation levers 19, 20, 21, and 22, a slide switch method, a button switch method, and other methods are also possible. Secondly, as the drive device for the boom 3 and the carrier 4, a hydraulic system is used, but an electric drive system and other drive systems are also possible, so various control systems are possible. . Thirdly, the signal transmission from the remote control device 18 to the control box 24 is not limited to the method using the illustrated cable 23, but it is also possible to send and receive signals by a wireless method, and other known signal transmission methods are adopted. Can be considered. In the figure, 31 is a cable reel for winding the cable 23. The remote control device 18 and the like are configured in this way. The above is the description of the configuration.

Next, the operation and the like will be described. In the destination, the boom 3 is appropriately contoured on the vehicle body 2, extension, is turning its tip portion 3 ₁ is opposed position to the target altitude. Then, the carrier 4 is moved up and down along the boom 3, and luggage, people and the like are loaded on the bucket 1 on the carrier 4 and transported between the ground and a high place.

Now, here, in response to the ups and downs of the boom 3, the bucket 1 tends to incline from a substantially horizontal posture, but this inclination is automatically detected by the level sensor S of the horizontal adjusting means 11. Then, based on the detection result, a drive current for adjusting the bucket 1 to a substantially horizontal posture flows to the drive motor M3 of the posture holding mechanism 5, and the drive motor M3 is driven in a predetermined direction by a predetermined amount. That is, when it is detected that the bucket 1 is slightly tilted from the substantially horizontal posture, the level adjusting means is detected.
At 11, the drive circuit of the drive motor M3 attached to the posture maintaining mechanism 5 is switched and energized in accordance with the detected tilt direction, and the drive motor M3 is moved in either the forward or reverse rotation direction. Only a fixed amount is driven. Then, in the posture holding mechanism 5, based on such forward / reverse rotation driving of the drive motor M3,
The ball screw 13 as a screw rod rotates forward and backward, the mover 14 moves back and forth, and the tilt angle of the holding arm 6 is appropriately increased or decreased, so that the bucket 1 is immediately adjusted to a substantially horizontal posture without being greatly tilted. .

In this way, the hoisting angle θ of the boom 3 with respect to the horizontal plane
And the angle θ ′ of the floor surface of the bucket 1 with respect to the boom 3 inclined in this way substantially match, and the bucket 1 is automatically and easily adjusted to a substantially horizontal posture regardless of the ups and downs of the boom 3. Leading to. Also, a person gets into the bucket 1,
It is also possible to easily carry out high-altitude work and various operations using the floor surface of the bucket 1 adjusted to be substantially horizontal as a scaffold.

Furthermore, in the case where the remote control device 18 is attached to the bucket 1, the above-described operations such as ups and downs, expansion and contraction, and turning of the boom 3, and the lifting operation of the carrier 4, that is, the bucket 1 itself are related to the substantially horizontal bucket 11. It is also possible to perform it by the remote control device 18 while directly looking at the high altitude target from above. And each undulating cylinder
C1, telescopic cylinders C2, swing motor M1, to the winch device M2 for elevating each drive current flows, have to be opposed position the tip 3 ₁ and the bucket 1 of the boom 3 to heights of goals is Reliable and easy to achieve.

"Effects of the Invention" As described above, the lift vehicle according to the present invention can be moved up and down by controlling the drive motor of the attitude holding mechanism in the forward / reverse direction by the horizontal adjusting means including the level sensor and the like. The bucket can be automatically adjusted to a substantially horizontal posture, and it is possible to easily carry out high-altitude work and various operations using the bucket. In this way, the use of the bucket is automated, facilitated, and ensured, the work efficiency is significantly improved, and the problems existing in this type of conventional example are eliminated. There is something.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention, and is an explanatory view of a lift vehicle with an enlarged main part. FIG. 2 is an explanatory diagram of a remote control device, pipes and the like in the same embodiment. FIG. 3 is an explanatory diagram showing an example of the level sensor. FIG. 4 is a front view showing an example of a lift truck. 1 …… Bucket 2 …… Vehicle body 3 …… Boom 4 …… Carrier 5 …… Posture holding mechanism 6 …… Holding arm 11 …… Leveling means 12 …… Bearing 13 …… Ball screw (screw rod) 14 …… Movable Child S …… Level sensor M3 …… Drive motor

Claims (1)

[Claims] Claim: What is claimed is: 1. A boom mounted on a vehicle body so as to be capable of hoisting, expanding, contracting, and swiveling, a carrier that is moved up and down along the boom, and a luggage, a person, and the like that are pivotally supported on the carrier and are loaded. A bucket; a posture holding mechanism interposed between the carrier and the bucket to variably hold the posture of the bucket; and a horizontal adjusting unit that controls the posture holding mechanism to adjust the bucket to a substantially horizontal posture. The posture maintaining mechanism includes a threaded rod mounted on the carrier with a bearing and screwed with a screw, a mover screwed to the threaded rod, and a gap between the mover and the bucket. And a drive motor mounted on the carrier and connected to the screw rod, the drive motor being of an electric type capable of normal and reverse rotation. , Forward / reverse rotation drive of the drive motor By the movement, the posture of the bucket can be changed through the screw rod that is normally and reversely rotated, the movable element that is moved back and forth, the holding arm that changes the tilt angle, and the like. Is equipped with a level sensor attached to the bucket for detecting the inclination of the bucket from a substantially horizontal attitude, and adjusts the bucket to a substantially horizontal attitude based on the detection result of the level sensor. First, when it is detected that the bucket is in a substantially horizontal posture, the drive circuit of the drive motor is controlled to be cut off so that the drive motor is not driven, and then the bucket is moved to a substantially horizontal position. When it is detected that the drive motor is tilted, the drive circuit of the drive motor is energized and the drive circuit is switched in accordance with the detected tilt direction so that the rotation direction of the drive motor is positive. Then, the drive motor automatically starts driving, and when it is detected that the bucket has returned to the substantially horizontal posture, the drive circuit of the drive motor is controlled to be cut off in accordance with the above. , The drive motor is not driven, and the bucket is adjusted to a substantially horizontal posture by the horizontal adjusting means regardless of the undulation of the boom, and the undulation angle of the boom with respect to a horizontal plane is A lift vehicle characterized in that an angle of the bucket with respect to the boom tilted to substantially coincides with each other.