JPH06191251A - Suspension device for reach type forklift truck - Google Patents
Suspension device for reach type forklift truckInfo
- Publication number
- JPH06191251A JPH06191251A JP35965192A JP35965192A JPH06191251A JP H06191251 A JPH06191251 A JP H06191251A JP 35965192 A JP35965192 A JP 35965192A JP 35965192 A JP35965192 A JP 35965192A JP H06191251 A JPH06191251 A JP H06191251A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- link
- acceleration
- suspension device
- cylinder device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/30—Rigid axle suspensions
- B60G2200/32—Rigid axle suspensions pivoted
- B60G2200/322—Rigid axle suspensions pivoted with a single pivot point and a straight axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/128—Damper mount on vehicle body or chassis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
- B60G2204/46—Means for locking the suspension
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/02—Trucks; Load vehicles
- B60G2300/022—Fork lift trucks, Clark
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/60—Load
- B60G2400/61—Load distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/01—Attitude or posture control
- B60G2800/012—Rolling condition
Landscapes
- Vehicle Body Suspensions (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は，リーチ式フォークリフ
トトラックの後輪のサスペンション装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension device for a rear wheel of a reach type forklift truck.
【０００２】[0002]
【従来技術】リーチ式フォークリフトトラックは，走行
時に後輪タイヤから車体に伝播する振動を低減するため
のショックアブソーバやバネなどを有するサスペンショ
ン装置を設けている。振動低減効果を大きくするために
は，ショックアブソーバやバネを柔軟にすればよいが，
一方，ショックアブソーバやバネを柔軟にすると荷役作
業時や旋回時に車体が不安定になるという問題がある。2. Description of the Related Art A reach type forklift truck is provided with a suspension device having a shock absorber, a spring and the like for reducing vibration propagating from a rear wheel tire to a vehicle body during traveling. In order to increase the vibration reduction effect, it is sufficient to make the shock absorber and the spring flexible,
On the other hand, if the shock absorbers and springs are made flexible, there is the problem that the vehicle body becomes unstable during cargo handling work and turning.
【０００３】そのため，振動低減効果と車体安定性とを
両立させるための様々な提案がなされている。例えば，
図５に示すように，駆動輪５１と補助輪５６とを揺動さ
せるリンク９１１〜９１４の１つのリンク９１１にシリ
ンダ９３を取り付けておく。そしてシリンダ９３の動作
をロック又は解放することにより，リンク９１１〜９１
４の動きを停止させたり，解放したりする。このシリン
ダ９３の動作のロックと解放は，シリンダ９３の作動油
を断続させる切換弁９４によって行う。Therefore, various proposals have been made for achieving both the vibration reduction effect and the vehicle body stability. For example,
As shown in FIG. 5, the cylinder 93 is attached to one of the links 911 to 914 that swings the drive wheel 51 and the auxiliary wheel 56. Then, by locking or releasing the operation of the cylinder 93, the links 911 to 91
Stop or release the movement of 4. The lock and release of the operation of the cylinder 93 is performed by the switching valve 94 that connects and disconnects the hydraulic oil of the cylinder 93.
【０００４】そして，この切換弁９４の操作は，運転者
がブレーキペダル９５を操作することにより行ってお
り，ブレーキをかけたときに，シリンダがロックされ，
サスペンション装置の緩衝機能を停止する。なお，図５
において，符号９６は緩衝スプリング，符号９７はブラ
ケットであり，符号５２は駆動用のモータ，符号５３は
ギヤケースである（実開平２−８５６０７号公報参
照）。The switching valve 94 is operated by the driver operating the brake pedal 95. When the brake is applied, the cylinder is locked,
Stop the cushioning function of the suspension system. Fig. 5
In the figure, reference numeral 96 is a buffer spring, reference numeral 97 is a bracket, reference numeral 52 is a driving motor, and reference numeral 53 is a gear case (see Japanese Utility Model Laid-Open No. 2-85607).
【０００５】また，上記のような運転者が操作するシリ
ンダ９３に代えて，ダンパー機能を有するシリンダ装置
を装着し，運転者が操作しないで自動的に緩衝機能の強
度を変化させる装置も提案されている。このシリンダ装
置は，シリンダの作動油の通路の一部にオリフィス（絞
り）を設けておき，シリンダの速度変化を緩慢にしてダ
ンパー効果を得ようとするものである（上記実開平２−
８５６０７号公報参照）。Also proposed is a device in which a cylinder device having a damper function is mounted in place of the cylinder 93 operated by the driver as described above, and the strength of the buffer function is automatically changed without the driver's operation. ing. In this cylinder device, an orifice (throttle) is provided in a part of the hydraulic fluid passage of the cylinder to slow down the change in the speed of the cylinder to obtain the damper effect (the above-mentioned actual flat opening 2-
(See Japanese Patent No. 85607).
【０００６】[0006]
【解決しようとする課題】しかしながら，従来の上記サ
スペンション装置には次のような問題がある。上記第１
の従来例においては，単にブレーキ操作時にのみ緩衝機
能をロックするようになっているから，ブレーキを操作
しない通常の走行時では，仮に旋回中であっても緩衝機
能を維持するから，車体が揺動して不安定になり危険で
ある。However, the above-mentioned conventional suspension device has the following problems. First above
In the conventional example, the cushioning function is locked only when the brake is operated. Therefore, during normal traveling without operating the brake, the cushioning function is maintained even during turning, so that the vehicle body shakes. It is unstable and dangerous.
【０００７】一方，第２の従来例は，シリンダの急激な
速度変化を抑制するよう一律に緩衝機能を弱めるもので
あるから，直線走行時も旋回走行時も同じように緩衝機
能を減少させる。従って，直線走行時における路面変位
に対しても急旋回時における場合と同様に緩衝機能を減
少させるから，ショックが機台に伝わり乗り心地が悪く
なる。On the other hand, in the second conventional example, the cushioning function is uniformly weakened so as to suppress the rapid speed change of the cylinder. Therefore, the cushioning function is similarly reduced during straight traveling and turning traveling. Therefore, even when the road surface is displaced during straight running, the shock absorbing function is reduced as in the case of a sharp turn, and the shock is transmitted to the machine base, resulting in poor riding comfort.
【０００８】また，車体を強く安定させるためには，緩
衝機能を単に弱くするだけでは充分でなく，完全にそれ
をロックすることが必要であるが，第２の従来例ではそ
のようになっていない。本発明は，かかる従来の問題点
に鑑み，旋回時など車体を傾ける力が働くときには，緩
衝機能を停止させ車体を強く安定させると共に，通常走
行時には緩衝機能を働かせて乗り心地を確保するリーチ
式フォークリフトのサスペンション装置を提供しようと
するものである。Further, in order to strongly stabilize the vehicle body, it is not enough to simply weaken the cushioning function, and it is necessary to completely lock it, which is the case in the second conventional example. Absent. In view of such conventional problems, the present invention is a reach type that secures the ride comfort by stopping the cushioning function to strongly stabilize the vehicle body when the force of tilting the vehicle body such as when turning is exerted and strongly stabilizing the vehicle body during normal running. It is intended to provide a suspension device for a forklift.
【０００９】[0009]
【課題の解決手段】本発明は，駆動輪を有するドライブ
ユニットと補助輪を有するキャスタユニットとを上下に
揺動可能なように車体フレームに懸架するリンク機構を
有するリーチ式フォークリフトトラックのサスペンショ
ン装置であって，上記リンク機構のリンクと車体フレー
ムとの間には，作動流体を断続させる開閉バルブを有す
るシリンダ装置を介設させると共に，車体には車体の傾
転加速度を検出する加速度センサを設けてあり，上記加
速度センサにより傾転加速度を検出して上記シリンダ装
置の開閉バルブを開閉することを特徴とするリーチ式フ
ォークリフトトラックのサスペンション装置にある。The present invention is a suspension device for a reach type forklift truck having a link mechanism that suspends a drive unit having drive wheels and a caster unit having auxiliary wheels on a vehicle body frame so as to be able to swing up and down. Between the link of the link mechanism and the vehicle body frame, a cylinder device having an opening / closing valve for connecting and disconnecting the working fluid is provided, and an acceleration sensor for detecting the tilt acceleration of the vehicle body is provided on the vehicle body. A suspension device for a reach-type forklift truck, characterized in that tilt acceleration is detected by the acceleration sensor to open and close an opening / closing valve of the cylinder device.
【００１０】本発明において最も注目すべきことは，作
動流体を断続させる開閉バルブを有するシリンダ装置
を，サスペンション装置を構成するリンクと車体フレー
ムとの間に介設させたこと，そして上記シリンダ装置の
開閉バルブを車体の傾転加速度を検出して操作するよう
にしたことである。なお，車体の傾転加速度を検出する
加速度センサには，歪ゲージを用いる加速度センサ，作
動トランスを用いてカウンタバランスと均衡させる加速
度センサなどの各種のものがある。What is most noticeable in the present invention is that a cylinder device having an on-off valve for connecting and disconnecting a working fluid is provided between a link constituting a suspension device and a vehicle body frame, and That is, the on-off valve is operated by detecting the tilt acceleration of the vehicle body. Note that there are various types of acceleration sensors that detect the tilting acceleration of the vehicle body, such as an acceleration sensor that uses a strain gauge and an acceleration sensor that balances with counter balance using an operating transformer.
【００１１】[0011]
【作用及び効果】本発明においては，サスペンション装
置を構成するリンクと車体との間に，シリンダ装置を装
着してある。そして，シリンダ装置の作動流体を流通さ
せるときは，シリンダ装置のロッドは自由に動いてリン
ク機構をロックすることなくそのまま作動させる。一
方，シリンダ装置の作動流体を遮断した場合には，シリ
ンダ装置のロッドの運動が抑止されるから，シリンダ装
置と接続されたリンクの運動も停止する。In the present invention, the cylinder device is mounted between the link forming the suspension device and the vehicle body. When the working fluid of the cylinder device is circulated, the rod of the cylinder device moves freely and operates as it is without locking the link mechanism. On the other hand, when the working fluid of the cylinder device is shut off, the movement of the rod of the cylinder device is suppressed, so that the movement of the link connected to the cylinder device also stops.
【００１２】即ち，シリンダ装置の作動流体を流通させ
る，いわゆるシリンダ装置のオン状態では，サスペンシ
ョン装置のショックアブソーバが作動して振動を吸収
し，一方シリンダ装置の作動流体を遮断した，いわゆる
シリンダ装置のオフ状態では，サスペンション装置のリ
ンク機構が固定状態にロックされ，サスペンション装置
は振動吸収機能を行わないかわりに，車体を強く安定さ
せることができる。That is, when the working fluid of the cylinder device is circulated, that is, when the so-called cylinder device is in the ON state, the shock absorber of the suspension device operates to absorb the vibration, while shutting off the working fluid of the cylinder device. In the off state, the link mechanism of the suspension device is locked in a fixed state, and the suspension device does not perform the vibration absorbing function, but can strongly stabilize the vehicle body.
【００１３】そして，シリンダ装置の作動流体は，開閉
バルブによって断続せられるから，開閉バルブの開閉に
よってシリンダ装置はオン・オフ状態に切換えられる。
また，上記開閉バルブは車体の傾転加速度に対応して開
閉させることができる。即ち，車体を傾ける力が働いて
車体が傾く場合には，この加速度を検知して開閉バルブ
を閉じてシリンダ装置をロックし，車体を強く安定化す
ることができ，また上記傾転加速度が小さいときにはシ
リンダ装置をオン状態にしてショックアブソーバを作動
させることができる。Since the working fluid of the cylinder device is interrupted by the open / close valve, the cylinder device is switched to the on / off state by opening / closing the open / close valve.
Further, the opening / closing valve can be opened / closed according to the tilt acceleration of the vehicle body. That is, when the vehicle body tilts due to the force of tilting the vehicle body, the acceleration can be detected, the on-off valve can be closed to lock the cylinder device to strongly stabilize the vehicle body, and the tilting acceleration is small. At times, the shock absorber can be operated by turning on the cylinder device.
【００１４】即ち，車が旋回走行をする場合には旋回の
程度に対応した傾転加速度を生ずるから，その傾転加速
度を検出して車体の安定化を図ることができる。また，
荷役作業時等において車体が急に傾く場合にも傾転加速
度を生ずるから，これを検出して車体を安定化させるこ
とができる。That is, when the vehicle makes a turning movement, a tilt acceleration corresponding to the degree of turning is generated, so that the tilt acceleration can be detected to stabilize the vehicle body. Also,
Even when the vehicle body is suddenly tilted during cargo handling work, tilting acceleration is generated, and this can be detected to stabilize the vehicle body.
【００１５】一方，通常の直線走行時や，通常の荷物運
搬時には大きな傾転加速度は生じないから，シリンダ装
置をオン状態にしてショックアブソーバを作動させて路
面ショック等を吸収し，乗り心地を良好に維持すること
ができる。On the other hand, since a large tilt acceleration does not occur during normal straight running or during normal baggage transportation, the cylinder device is turned on to activate the shock absorber to absorb road shocks and the like, thereby providing a comfortable ride. Can be maintained at.
【００１６】上記のように，本発明によれば，急旋回時
など車体を急速に傾ける力が働くときにのみ，緩衝機能
を停止させ車体を強く安定させると共に，通常走行時に
は緩衝機能を作動させて乗り心地を確保するリーチ式フ
ォークリフトのサスペンション装置を提供することがで
きる。As described above, according to the present invention, the cushioning function is stopped to strongly stabilize the vehicle body only when a force for rapidly inclining the vehicle body is exerted, such as during a sharp turn, and the cushioning function is activated during normal running. Thus, it is possible to provide a suspension device for a reach type forklift that ensures a comfortable ride.
【００１７】[0017]
【実施例】本発明の実施例にかかるサスペンション装置
について，図１〜図４を用いて説明する。本例は，図１
に示すように，駆動輪５１を有するドライブユニット５
０と，補助輪５６を有するキャスタユニット５５とを上
下に揺動可能なように車体フレーム５４に懸架するリン
ク機構３０を有するリーチ式フォークリフトトラックの
サスペンション装置１０である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A suspension device according to an embodiment of the present invention will be described with reference to FIGS. This example is shown in Figure 1.
Drive unit 5 having drive wheels 51 as shown in FIG.
The suspension device 10 of the reach type forklift truck has a link mechanism 30 that suspends 0 and a caster unit 55 having auxiliary wheels 56 up and down so that the caster unit 55 can swing up and down.
【００１８】上記リンク機構３０の第１リンク３１と車
体フレーム５４との間には，作動流体を断続させる開閉
バルブ２５（図２）を有するシリンダ装置２０を介設さ
せてあると共に，車体には車体の傾転加速度を検出する
加速度センサ４０を設けてある。そして上記加速度セン
サ４０により傾転加速度を検出して，シリンダ装置２０
の開閉バルブ２５を開閉する。Between the first link 31 of the link mechanism 30 and the vehicle body frame 54, there is provided a cylinder device 20 having an opening / closing valve 25 (FIG. 2) for connecting and disconnecting the working fluid, and the vehicle body is provided with An acceleration sensor 40 for detecting the tilt acceleration of the vehicle body is provided. Then, the acceleration sensor 40 detects the tilt acceleration, and the cylinder device 20
The open / close valve 25 is opened and closed.
【００１９】以下，それぞれについて詳説する。リーチ
式フォークリフトトラックの後輪部は，図１に示すよう
に，一方にドライブユニット５０を有し，他方に補助輪
５６を有するキャスタユニット５５を有している。ドラ
イブユニット５０は駆動モータ５２と，駆動輪５１と，
駆動モータの動力を伝達するギヤケース５３とを有して
いる。Each of these will be described in detail below. As shown in FIG. 1, the rear wheel portion of the reach type forklift truck has a drive unit 50 on one side and a caster unit 55 having auxiliary wheels 56 on the other side. The drive unit 50 includes a drive motor 52, drive wheels 51,
And a gear case 53 that transmits the power of the drive motor.
【００２０】そして，上記ドライブユニット５０とキャ
スタユニット５５とはリンク機構３０によって車体フレ
ーム５４に懸架されている。リンク機構３０はドライブ
ユニット５０を装着する第１リンク３１と，第１リンク
３１にほぼ平行な第２リンク３２と，第１リンク３１と
第２リンク３２の間を連結する第３リンク３３と，キャ
スタスプリング５５１を介設させて第２リンク３２と連
結され，キャスタユニット５５を取り付ける第４リンク
３４とを有している。The drive unit 50 and the caster unit 55 are suspended on the vehicle body frame 54 by the link mechanism 30. The link mechanism 30 includes a first link 31 to which the drive unit 50 is attached, a second link 32 that is substantially parallel to the first link 31, a third link 33 that connects the first link 31 and the second link 32, and a caster. It has a fourth link 34 which is connected to the second link 32 via a spring 551 and which mounts the caster unit 55.
【００２１】そして，第１リンク３１の片端部３１３を
枢支し，車体フレーム５４に固定された第１固定節点３
１１と，第２リンク３２の一端３２３を枢支し車体フレ
ーム５４に固定された第２固定節点３２１と，第４リン
ク３４の一端を枢支し車体フレーム５４に固定された第
３固定節点３４１とを有している。The one end 313 of the first link 31 is pivotally supported and the first fixed node 3 fixed to the vehicle body frame 54.
11, a second fixed node 321 pivotally supporting one end 323 of the second link 32 and fixed to the vehicle body frame 54, and a third fixed node 341 pivotally supporting one end of the fourth link 34 and fixed to the vehicle body frame 54. And have.
【００２２】また，第１リンク３１の他端部３１４を枢
支する固定されていない第１フリー節点３１２と，第２
リンク３２の他端部３２４と第３リンク３３とを枢支す
る固定されていない第２フリー節点３２２と，第１リン
ク３１と第３リンク３３とを枢支する図示しない第３フ
リー節点とを有している。In addition, the first free node 312 which is not fixed and which pivotally supports the other end 314 of the first link 31, and the second
An unfixed second free node 322 that pivotally supports the other end 324 of the link 32 and the third link 33, and an unillustrated third free node that pivotally supports the first link 31 and the third link 33. Have
【００２３】また，上記第１リンク３１の延長部３１５
と車体フレーム５４との間には，緩衝バネ５８とシリン
ダ装置２０が装着されている。シリンダ装置２０は，図
１，図２に示すように，上端２０１が車体フレーム５４
に下端２０２が第１リンク３１の延長部３１５に取り付
けられている。The extension 315 of the first link 31 is also provided.
A buffer spring 58 and a cylinder device 20 are mounted between the vehicle body frame 54 and the vehicle body frame 54. In the cylinder device 20, as shown in FIGS. 1 and 2, the upper end 201 has a body frame 54.
The lower end 202 is attached to the extension 315 of the first link 31.
【００２４】そして，図２に示すように，シリンダ装置
２０のシリンダ２１の内部には上下動するピストン２２
とロッド２３とが配設さている。また，シリンダ２１の
上室２１１と下室２１２には作動油２６が充填されてお
り，上室２１１と下室２１２を連通させる連通油路２１
３を設けてある。そして，該連通油路２１３には油路を
遮断又は導通させる開閉バルブ２５としての電磁弁が挿
入されている。なお，図２において符号２１４は上側の
ロッドであり，ピストン２２とともに上下動する。Then, as shown in FIG. 2, a vertically moving piston 22 is provided inside the cylinder 21 of the cylinder device 20.
And a rod 23 are provided. Further, the upper chamber 211 and the lower chamber 212 of the cylinder 21 are filled with hydraulic oil 26, and the communication oil passage 21 for communicating the upper chamber 211 and the lower chamber 212 is provided.
3 is provided. An electromagnetic valve serving as an opening / closing valve 25 that cuts off or connects the oil passage is inserted in the communication oil passage 213. In FIG. 2, reference numeral 214 is an upper rod that moves up and down together with the piston 22.
【００２５】そして車体中央部には，図１に示すように
車体の傾転加速度Ｇを検出する加速度センサ４０が取付
けられている。また，上記加速度センサ４０と開閉バル
ブ２５とに接続されたコントローラ（図示せず）を有し
ている。該コントローラは加速度センサ４０から傾転加
速度信号を受信し，以下に述べるフローに従って開閉バ
ルブ２５を制御するバルブ制御装置である。An acceleration sensor 40 for detecting the tilt acceleration G of the vehicle body is attached to the center of the vehicle body as shown in FIG. Further, it has a controller (not shown) connected to the acceleration sensor 40 and the opening / closing valve 25. The controller is a valve control device that receives a tilt acceleration signal from the acceleration sensor 40 and controls the opening / closing valve 25 according to the flow described below.
【００２６】図３に示すように，上記コントローラはま
ずステップ５０１にて加速度センサ４０の信号から傾転
加速度Ｇの値を検出し，次いでステップ５０２にて開閉
バルブ２５が閉じているかどうか，即ちシリンダ装置２
０がロック状態にあるか否かをチェックする。そして，
ステップ５０２で開閉バルブ２５が閉じていない（Ｎ
Ｏ）ならば，次のステップ５０３に進み，上記ステップ
５０１で検出した傾転加速度Ｇが所定値Ｇ１以上か否か
をチェックする。As shown in FIG. 3, the controller first detects the value of the tilt acceleration G from the signal of the acceleration sensor 40 at step 501, and then at step 502 whether the open / close valve 25 is closed, that is, the cylinder. Device 2
Check if 0 is locked. And
The opening / closing valve 25 is not closed in step 502 (N
If it is O), the process proceeds to the next step 503, and it is checked whether or not the tilt acceleration G detected in the above step 501 is a predetermined value G1 or more.
【００２７】そして，傾転加速度Ｇが所定値Ｇ１以上な
らばステップ５０４にて開閉バルブ２５を閉じてシリン
ダ装置２０をロックする。そして，ステップ５０３にお
いて傾転加速度がＧ１より小ならば，ステップ５０５に
て開閉バルブ２５を開いてシリンダ装置２０を作動させ
る。If the tilt acceleration G is equal to or greater than the predetermined value G1, the opening / closing valve 25 is closed and the cylinder device 20 is locked in step 504. If the tilt acceleration is smaller than G1 in step 503, the opening / closing valve 25 is opened in step 505 to operate the cylinder device 20.
【００２８】一方，上記ステップ５０２にて開閉バルブ
２５が閉じている場合（ＹＥＳ）即ちシリンダ２０がロ
ック状態にある場合には，ステップ５０６に進み，上記
ステップ５０１で検出した傾転加速度Ｇが所定値Ｇ２以
下か否かをチェックする。なお，上記Ｇ２は前記Ｇ１よ
りも小である（Ｇ１＞Ｇ２）。On the other hand, if the open / close valve 25 is closed in step 502 (YES), that is, if the cylinder 20 is in the locked state, the routine proceeds to step 506, where the tilt acceleration G detected in step 501 is predetermined. It is checked whether the value is G2 or less. The G2 is smaller than the G1 (G1> G2).
【００２９】ステップ５０６で傾転加速度ＧがＧ２以下
ならば，ステップ５０５に進み，開閉バルブ２５を開い
てシリンダ装置２０を作動させる。そして，ステップ５
０６で傾転加速度がＧ２より大きければ，ステップ５０
４に進み開閉バルブ２５を閉じてシリンダ装置２０をロ
ック状態に保持する。If the tilt acceleration G is G2 or less in step 506, the flow advances to step 505 to open the open / close valve 25 and operate the cylinder device 20. And step 5
If the tilt acceleration is larger than G2 in 06, step 50
4, the on-off valve 25 is closed and the cylinder device 20 is held in the locked state.
【００３０】なお，上記において，開閉バルブ２５が閉
じていてシリンダ装置２０がロック状態にある場合は，
図１に示すように，第１リンク３１がシリンダ装置２０
によって車体フレーム５４に固定されるから，リンク機
構３０及び緩衝バネ５８が作動せず車体は安定状態にあ
るが緩衝機能は働かない。In the above, when the open / close valve 25 is closed and the cylinder device 20 is in the locked state,
As shown in FIG. 1, the first link 31 is connected to the cylinder device 20.
Since it is fixed to the vehicle body frame 54 by the above, the link mechanism 30 and the buffer spring 58 do not operate and the vehicle body is in a stable state, but the buffer function does not work.
【００３１】一方，開閉バルブ２５が開いていてシリン
ダ装置２０が作動する場合には，第１リンク３１は緩衝
バネ５８を介して揺動し，リンク機構３０が作動し，緩
衝機能が働くが，車体の安定性は相対的に低下する。上
記コントローラの動作態様の概要を図示したものが，図
４であり，傾転加速度ＧがＧ１以上のときにシリンダ装
置２０は作動状態からロック状態に切り換わり，傾転加
速度ＧがＧ２以下に低下したとき，シリンダ装置２０が
ロック状態から作動状態に切り換わることを示してい
る。On the other hand, when the opening / closing valve 25 is open and the cylinder device 20 operates, the first link 31 swings through the buffer spring 58, the link mechanism 30 operates, and the buffer function works. The stability of the car body is relatively reduced. FIG. 4 shows the outline of the operation mode of the controller. When the tilt acceleration G is G1 or more, the cylinder device 20 switches from the operating state to the locked state, and the tilt acceleration G decreases to G2 or less. It is shown that the cylinder device 20 is switched from the locked state to the operating state at the time.
【００３２】そして傾転加速度の値ＧがＧ２とＧ１の間
は，コントローラの不感帯を形成しており，このゾーン
ではシリンダ装置２０の状態は変化しない。このよう
な，不感帯（傾転加速度Ｇ＝Ｇ２〜Ｇ１）を設けない
と，コントローラが頻繁に動作してハンチングのような
状態を惹起する恐れがあるからである。When the tilt acceleration value G is between G2 and G1, the dead zone of the controller is formed, and the state of the cylinder device 20 does not change in this zone. This is because unless such a dead zone (tilt acceleration G = G2 to G1) is provided, the controller may frequently operate and cause a state such as hunting.
【００３３】次に本例のサスペンション装置１０の作用
効果について述べる。本例は，車体の傾転加速度Ｇを検
出する加速度センサを設けてあり，車体を傾ける力が働
いて車体が傾く場合には，傾転加速度Ｇを検知してシリ
ンダ装置２０をロックして車体を安定化させる。即ち，
旋回をする場合などには，旋回の程度に応じて傾転加速
度Ｇを生ずるから，その程度に応じてシリンダ装置２０
をロックし車体の安定化を図る。また，荷役作業時にお
いて一定値以上の傾転加速度Ｇを示す場合にもシリンダ
装置２０をロックして車体を安定させる。Next, the function and effect of the suspension device 10 of this example will be described. This example is provided with an acceleration sensor for detecting the tilt acceleration G of the vehicle body. When the force tilting the vehicle body causes the vehicle body to tilt, the tilt acceleration G is detected and the cylinder device 20 is locked to lock the vehicle body. Stabilize. That is,
When the vehicle turns, the tilting acceleration G is generated according to the degree of the turning, so that the cylinder device 20 is rotated according to the degree.
Lock to stabilize the vehicle body. In addition, the cylinder device 20 is locked to stabilize the vehicle body even when the tilting acceleration G of a certain value or more is exhibited during the cargo handling work.
【００３４】一方，通常の直線走行や，ゆるやかな旋回
時等においては傾転加速度Ｇは小さいから，シリンダ装
置２０をロックせず，緩衝機能を保持して乗り心地を良
好にすることができる。上記のように，本例によれば，
急旋回時等車体を急速に傾ける力が働くときにのみ緩衝
機能を停止させ車体を安定させる一方，通常の走行時に
は緩衝機能を作動させて乗り心地を確保するリーチ式フ
ォークリフトのサスペンション装置を提供することがで
きる。On the other hand, since the tilting acceleration G is small during normal straight running or during gentle turning, the cylinder device 20 is not locked and the cushioning function can be maintained to improve the riding comfort. As mentioned above, according to this example,
To provide a suspension device for a reach-type forklift that stops the cushioning function and stabilizes the vehicle body only when a force that rapidly leans the vehicle body such as during a sharp turn is applied to stabilize the vehicle body, while operating the cushioning function during normal driving to ensure a comfortable ride be able to.
【図１】実施例のサスペンション装置の全体説明図。FIG. 1 is an overall explanatory diagram of a suspension device according to an embodiment.
【図２】実施例のサスペンション装置のシリンダ装置の
断面図。FIG. 2 is a sectional view of a cylinder device of a suspension device according to an embodiment.
【図３】実施例のサスペンション装置の制御フロー。FIG. 3 is a control flow of the suspension device according to the embodiment.
【図４】実施例のサスペンション装置の制御動作の概要
説明図。FIG. 4 is a schematic explanatory diagram of a control operation of the suspension device according to the embodiment.
【図５】従来のサスペンション装置の全体説明図。FIG. 5 is an overall explanatory view of a conventional suspension device.
１０．．．サスペンション装置， ２０．．．シリンダ装置， ２５．．．開閉バルブ， ２６．．．作動油， ３０．．．リンク機構， ３１〜３４．．．第１〜第４リンク， ３１１．．．第１固定節点， ３１２．．．第１フリー節点， ３２１．．．第２固定節点， ３２２．．．第２フリー節点， ４０．．．加速度センサ， ５０．．．ドライブユニット， ５４．．．車体フレーム， ５５．．．キャスタユニット， ５８．．．緩衝バネ， 10. ． ． Suspension device, 20. ． ． Cylinder device, 25. ． ． Open / close valve, 26. ． ． Hydraulic oil, 30. ． ． Link mechanism, 31-34. ． ． 1st to 4th links, 311. ． ． First fixed node, 312. ． ． 1st free node, 321. ． ． Second fixed node, 322. ． ． 2nd free node, 40. ． ． Acceleration sensor, 50. ． ． Drive unit, 54. ． ． Body frame, 55. ． ． Caster unit, 58. ． ． Buffer spring,
Claims (1)
輪を有するキャスタユニットとを上下に揺動可能なよう
に車体フレームに懸架する，リンク機構を有するリーチ
式フォークリフトトラックのサスペンション装置であっ
て，上記リンク機構のリンクと車体フレームとの間に
は，作動流体を断続させる開閉バルブを有するシリンダ
装置を介設させると共に，車体には車体の傾転加速度を
検出する加速度センサを設けてあり，上記加速度センサ
により傾転加速度を検出して上記シリンダ装置の開閉バ
ルブを開閉することを特徴とするリーチ式フォークリフ
トトラックのサスペンション装置。1. A suspension device for a reach type forklift truck having a link mechanism for suspending a drive unit having drive wheels and a caster unit having auxiliary wheels on a vehicle body frame so as to be capable of swinging up and down. Between the link of the mechanism and the body frame, a cylinder device having an opening / closing valve for connecting and disconnecting the working fluid is interposed, and the body is provided with an acceleration sensor for detecting a tilt acceleration of the body. A suspension device for a reach-type forklift truck, which detects a tilting acceleration by means of a valve to open and close the opening / closing valve of the cylinder device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04359651A JP3087487B2 (en) | 1992-12-26 | 1992-12-26 | Reach type forklift suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04359651A JP3087487B2 (en) | 1992-12-26 | 1992-12-26 | Reach type forklift suspension system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06191251A true JPH06191251A (en) | 1994-07-12 |
| JP3087487B2 JP3087487B2 (en) | 2000-09-11 |
Family
ID=18465592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04359651A Expired - Lifetime JP3087487B2 (en) | 1992-12-26 | 1992-12-26 | Reach type forklift suspension system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3087487B2 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0891883A1 (en) * | 1997-07-15 | 1999-01-20 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Swing control apparatus for industrial vehicle |
| EP0893289A1 (en) * | 1997-07-23 | 1999-01-27 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting cylinders |
| EP0893290A1 (en) * | 1997-07-23 | 1999-01-27 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Axle pivoting controller and hydraulic cylinder for industrial vehicles |
| EP0909668A1 (en) * | 1997-10-15 | 1999-04-21 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting fluid pressure cylinders used to control pivoting of vehicle axles |
| EP0909905A1 (en) * | 1997-10-16 | 1999-04-21 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting pivot controlling damper |
| EP1150124A2 (en) | 2000-04-25 | 2001-10-31 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Rotation detector in reach cargo vehicle and wheel for reach cargo vehicle |
| SG110989A1 (en) * | 1995-12-30 | 2005-05-30 | Daewoo Heavy Ind Ltd | Vehicle body for reach type forklift trucks |
| JP2009083726A (en) * | 2007-10-01 | 2009-04-23 | Equos Research Co Ltd | Vehicle |
| CN108975226A (en) * | 2018-08-29 | 2018-12-11 | 安徽合力股份有限公司 | A kind of fork truck driving device turning to connecting plate with Z-type |
| CN110255447A (en) * | 2019-07-18 | 2019-09-20 | 杭叉集团股份有限公司 | Reach truck chassis and reach truck |
| EP3766826A1 (en) * | 2019-07-18 | 2021-01-20 | Hangcha Group Co., Ltd. | Reach forklift truck chassis and reach forklift truck |
-
1992
- 1992-12-26 JP JP04359651A patent/JP3087487B2/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SG110989A1 (en) * | 1995-12-30 | 2005-05-30 | Daewoo Heavy Ind Ltd | Vehicle body for reach type forklift trucks |
| EP0891883A1 (en) * | 1997-07-15 | 1999-01-20 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Swing control apparatus for industrial vehicle |
| KR100366470B1 (en) * | 1997-07-23 | 2003-10-11 | 가야바코교 가부시기가이샤 | Axle swing controller and hydraulic cylinder for industrial vehicles |
| EP0893289A1 (en) * | 1997-07-23 | 1999-01-27 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting cylinders |
| EP0893290A1 (en) * | 1997-07-23 | 1999-01-27 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Axle pivoting controller and hydraulic cylinder for industrial vehicles |
| US6206154B1 (en) | 1997-07-23 | 2001-03-27 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Axle pivoting controller and hydraulic cylinder for industrial vehicles |
| US6331010B1 (en) | 1997-07-23 | 2001-12-18 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting cylinders |
| EP0909668A1 (en) * | 1997-10-15 | 1999-04-21 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting fluid pressure cylinders used to control pivoting of vehicle axles |
| US6203027B1 (en) * | 1997-10-15 | 2001-03-20 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting fluid pressure cylinders used to control pivoting of vehicle axles |
| EP0909905A1 (en) * | 1997-10-16 | 1999-04-21 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Structure for supporting pivot controlling damper |
| EP1150124A2 (en) | 2000-04-25 | 2001-10-31 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Rotation detector in reach cargo vehicle and wheel for reach cargo vehicle |
| JP2009083726A (en) * | 2007-10-01 | 2009-04-23 | Equos Research Co Ltd | Vehicle |
| CN108975226A (en) * | 2018-08-29 | 2018-12-11 | 安徽合力股份有限公司 | A kind of fork truck driving device turning to connecting plate with Z-type |
| CN110255447A (en) * | 2019-07-18 | 2019-09-20 | 杭叉集团股份有限公司 | Reach truck chassis and reach truck |
| EP3766826A1 (en) * | 2019-07-18 | 2021-01-20 | Hangcha Group Co., Ltd. | Reach forklift truck chassis and reach forklift truck |
| CN110255447B (en) * | 2019-07-18 | 2023-11-21 | 杭叉集团股份有限公司 | Forward type fork truck chassis and forward type fork truck |
Also Published As
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|---|---|
| JP3087487B2 (en) | 2000-09-11 |
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