JPH033900A - Loading work controller for loading vehicle equipped with push/pull device - Google Patents

Abstract

PURPOSE:To correctly place a load by installing a display means which performs display operation when a car body comes to a previously set position, means which outputs a face shift instruction when the car body retreat-travels and comes to a previously set position and a means for synchronizing the face shift quantity and the car body shift quantity. CONSTITUTION:In stepped piling loading work, a fork hook 9 is raised, and a car body 1 is advanced toward a lower load A. At this time, the distance between the car body 1 and the lower load A is detected by the second detection sensor 23, and inputted into a comparison calculation circuit 32 in succession, and at the position C where the car body 1 or the lower load A coincides with the load A on the hook 9, the acordance with the distance set by a setting device 31 is judged, and a lamp 33 comes ON. Therefore, an operator is informed of the coincidence of the load A on the hook 9 with the lower load A, and then the car body 1 is advance-travelled slightly, and stopped. Then, the car body 1 is travelled rearward by pushing a button 34 again, and when the car body 1 reaches the position C, the circuit 32 outputs a starting signal into a speed control circuit 29, and a face 10 shifts forward, and the hook 9 shifts rearward in synchronization.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is applicable to cargo handling work using a push-pull cargo handling vehicle that is provided with a face equipped with a seat gripper that is movable in the longitudinal direction along a fork pawl that moves up and down. Regarding a control device.

[Conventional technology]

The following types of push-pull cargo handling vehicles are known.

That is, a fork pawl is provided along a mast provided at the front of the vehicle body so that it can be raised and lowered, and a face equipped with a seat gripper is provided along the fork pawl so as to be movable in the front-rear direction.
Move the face forward to the front position farthest from the car body, grip the sheet pallet placed under the load with the sheet gripper, then move the face backwards to the front position closest to the car body while driving forward on the car body to remove the seat. Push: Loading is carried out on a pallet, the seat gripper is used to move the cargo forward to the farthest forward position from the sheet pallet body, the vehicle is then driven backwards, and the cargo is pushed forward along with the fork claws together with the sheet pallet. Heavy duty vehicle with pull.

[Problem to be solved by the invention]

In order to stack and store cargo in such a cargo handling vehicle, it is necessary to accurately place the cargo picked up on the fork claws together with the sheet pallet on top of the unloaded cargo, but in conventional cargo handling vehicles, this is not possible. The picked up load is moved upward together with the fork pawl, and the vehicle body is moved forward.The operator visually determines whether the load on the fork pawl matches the lower load that has already been placed, and then moves the vehicle body forward. Since the operator has to stop the truck and carry out the above-mentioned loading operation, it is difficult to accurately place the load in the fork claw on the lower deck.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a cargo handling control device for a push-pull cargo handling vehicle that can solve the above-mentioned problems.

[Means and effects for solving the problem] A display means that displays when the vehicle body reaches a preset position during stacking and storage work, and when the vehicle body moves backward and the vehicle body returns to the preset position. means for outputting a face movement command;
It consists of means for synchronizing the amount of movement of the face and the amount of movement of the vehicle body, and when the operator or the display means performs a display operation, the vehicle body is moved forward and then backward, and when the vehicle body reaches a preset position, either the face or the vehicle body is moved. It moves forward in synchronization with backward travel and can stack and place the load on the fork claw on top of the lower load without shifting its position.

〔Example〕

As shown in FIG. 1, a vehicle body 1 is provided with drive wheels 2, steering wheels 3, a driver's seat 4, and a control member 5. At the front of the vehicle body 1, a mast 6 is provided with a tilt cylinder 7 that tilts back and forth. A finger board 8 is provided so as to be movable up and down along the mast 6, and the finger hoard 8
A fork claw 9 is attached to the fork claw 9, and a face 10 is provided so as to be movable in the front and rear directions by a moving mechanism 11.
At the bottom of [its face] 0, there is a sheet holder with piece 12 and presser foot J.
A sheet gripper 14 consisting of '+' 1 and 3 is provided, and the load receiver faces the sheet pallet B placed under the load A between the no. A push-pull cargo handling vehicle is constituted by holding a pallet I-B with a sheet support piece 12 and a holding piece 13.

The moving mechanism 11 includes a frame 15, a telescoping link roller, and an electric motor]7, and the telescoping link 16 is extended and contracted by the electric motor 17, but the telescoping link 16 may be extended and contracted by a cylinder, and the frame 15 The face 10 is connected to the tip of the telescopic link 16.

A first detection sensor 20 is provided to detect the distance between the face 10 and the frame 15.

For example, an ultrasonic sensor 21 and a reflecting plate 22 are provided opposite to each other on the upper part of the frame [5] and the upper part of the face [0], and the ultrasonic sensor 21 emits ultrasonic waves toward the reflecting plate 22 from the radiating part of the ultrasonic sensor 21. Then, the reflected ultrasonic waves from the anti-η·j plate 22 are received by the wave receiving part of the ultrasonic sensor 21, and the frame 15 and face 1 are affected by the phase shift between the human-powered ultrasonic waves and the output ultrasonic waves.

It is designed to detect the distance between.

On the side of the vehicle body 1, for example, under the mast 6, there is a vehicle body] and a load A.
A second detection sensor 23 is provided to detect the distance between the two. For example, an ultrasonic sensor 24 that emits ultrasonic waves toward load A is provided, and the ultrasonic sensor 24 emits ultrasonic waves toward load A from its emitting portion, and the reflected ultrasonic waves from load A are received by the receiving portion of the ultrasonic sensor 24. The distance between the vehicle body 1 and the load A is detected based on the phase difference between the input ultrasonic wave and the output ultrasonic wave.

Detection value of the first detection sensor 20 and second detection sensor 23
The detected value is manually input to a controller 25 installed in the vehicle body, and the controller 25 includes a first control circuit 26 and a second control circuit 27 as shown in FIG.

The first control circuit 26 includes a first calculation circuit 27 that calculates the amount of vehicle movement based on the detection value of the first detection sensor 20, and a second calculation circuit 28 that calculates the amount of vehicle body movement based on the detection value of the second detection sensor 23. and a comparison calculation circuit 30 that outputs a control signal to two speed control circuits of the electric motor 17 according to the deviation between the face movement amount and the vehicle body movement amount, and the electric motor 17 according to the deviation between the face movement amount and the vehicle body movement amount. The face movement speed is controlled so that the face movement amount and the vehicle body movement amount are synchronized.

The second control circuit 27 includes a setting device 31 and a comparison calculation circuit 3.
2, the setting value 31 is set to the distance between the load A and the vehicle body that is optimal during stacking and storage work, and the comparison calculation circuit 32 determines the distance between the vehicle body and the vehicle body according to the detected value of the second detection sensor 2B. and when the distance matches the set distance, the display means, for example, the lamp 33, is turned on, and when a signal is input from the button 34, the comparison calculation circuit 32 is cleared and the distance remains constant. After a period of time has elapsed, the comparison calculation is performed again, and when the distance between the vehicle body 1 and the load A matches the set distance, a start signal is output to the two speed control circuits.

Next, the operation will be explained.

During the stacking work, the fork pawl 9 is raised to move the vehicle body 1 forward toward the load A, as shown in FIG. 3(a).

At this time, the distance between the vehicle body 1 and the load A is determined by the second detection sensor 2B.
is detected and sequentially input manually to the comparison calculation circuit 32, and as shown in FIG.
When the distance between the vehicle body and the load A matches the set distance, the lamp 33 lights up.

As a result, the operator senses that the load A on the fork pawl 9 has coincided with the load A below, and then moves the vehicle body forward a little and then stops as shown in FIG. 3(b).

Once the vehicle body 1 has stopped, the operator presses the button 34 to cause the vehicle body 1 to travel backwards again.

When the vehicle body 1 reaches the above-mentioned position C, the comparison calculation circuit 32 determines that it has reached the cargo storage position, and the speed control circuit 29
Outputs a start signal to.

As a result, instead of the face] O moving forward and pushing out the load A forward along the fork pawl 9, the fork pawl 9 and the vehicle body 1 move backward in synchronization with the face 10, pushing the load A down. The cargo can be placed accurately on the second side of cargo A without misalignment.

The above operation is shown in flowchart 1 as shown in FIG.

In the above embodiment, the setting value 3] to the vehicle body] and the lower load A
You can set the distance in advance when the vehicle body 1 reaches position C, or you can start moving the face 0 forward when loading the unloaded cargo A. The second detection sensor 23 may detect the distance between the load A on the fork pawl 9 and the vehicle body 1 when the distance is set in the setting device 3].

〔Effect of the invention〕

When the vehicle body 1 is driven forward during stacking and loading work until the vehicle body 1 travels forward until the vehicle body 1 reaches a predetermined position, that is, the lower load A matches the load A on the fork claw, the display means operates to display. This allows the operator to sense that the vehicle has reached the above-mentioned position, thereby allowing the operator to stop the vehicle body 1 after traveling forward a little further and to cause the vehicle body 1 to travel backwards.

If the distance detected by the detection means matches the set distance, the face 10 is moved forward and the load A is pushed out.At the same time, the amount of movement of the face 10 and the amount of backward movement of the vehicle body are synchronized, so that the fork claw It is possible to accurately stack and place the load A on the top 9 without positioning it on top of the load A below.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIG. 1 is an iE side view of a cargo handling vehicle with a bush pull, FIG. 2 is a control circuit diagram, and FIG.
a) and (b) are explanatory diagrams of the stacking and loading work, and FIG. 4 is an operation flowchart 1. ] is the vehicle body, 9 is the fork claw, ] 0 is the face, 1-4 are the seat grippers, A is the load, and B is the cart pallet.

Claims (1)

[Scope of Claims] A face 10 is provided so as to be movable back and forth between a front position and a front position along a fork pawl 9 that can be raised and lowered relative to the vehicle body 1, and a face 10 is placed under a load A. A push-pull cargo handling vehicle equipped with a sheet gripper 14 for gripping and releasing a loaded sheet pallet B includes a first means for detecting the amount of movement of the face 10 with respect to the vehicle body 1, and a first means for detecting the amount of movement of the vehicle body 1 with respect to the load A. and a control means for synchronizing the amount of movement of the face 10 and the amount of movement of the vehicle body 1 based on the detected values of the first means and the second means, and a control means for synchronizing the amount of movement of the face 10 and the amount of movement of the vehicle body 1 during stacking and loading work. a detection means for detecting the distance between the vehicle body 1 and the load A; a display means for displaying when the distance detected by the detection means matches a preset distance between the vehicle body 1 and the load A; and the display means A cargo handling operation control device for a cargo handling vehicle with a push-pull device, characterized in that means is provided for outputting a reverse command for the face 10 when the set distance and the detected distance match again after the display operation.