JPH06104560B2 - Cargo handling control device for cargo handling vehicle with push-pull - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a cargo handling control device for a cargo handling vehicle with a push-pull in which a face provided with a seat gripper is provided so as to be movable in the front-rear direction along a fork claw that moves up and down. Regarding

[Conventional technology]

The following are known as cargo handling vehicles with push-pull.

That is, a fork claw is provided so as to be able to move up and down along a mast provided at the front of the vehicle body, and a face provided with a seat gripper is provided along the fork claw so as to be movable in the front-rear direction.
Move the face forward to the frontmost position farthest from the vehicle body, grip the sheet pallet laid under the load with the sheet gripper, and move the face forward while moving backwards to the front position closest to the vehicle body and seat. Pulling the load together with the pallet onto the fork claws for unloading work, and while the grip of the sheet pallet by the sheet gripper is released, the face is moved to the front position farthest from the vehicle body while the vehicle is running backwards to the fork claws. A cargo handling vehicle with a push-pull that pushes the load forward along with the sheet pallet along with the load to perform load placement work.

[Problems to be Solved by the Invention]

In order to perform stacked loading operation in such a cargo handling vehicle, it is necessary to accurately load the cargo loaded on the fork claws together with the sheet pallet so that it is correctly overlapped on the unloading cargo. The load is moved upward together with the fork claw, and the operator visually judges whether the load on the fork claw matches the already-loaded undercarriage while the vehicle is moving forward, and then the vehicle is stopped to stop the load. Since the operator carries out such a load placing work as described above, it is difficult to accurately place the load on the fork claw on the unloader.

Therefore, an object of the present invention is to provide a cargo handling work control device for a cargo handling vehicle with a push-pull capable of solving the above-mentioned problems.

[Means and Actions for Solving the Problems]

[Means] In a cargo handling work control device for a cargo handling vehicle with push-pull according to the present invention, a face 10 is provided along a fork claw 9 that can be raised and lowered with respect to a vehicle body 1 so as to be movable forward and backward between a front position and a front position. A push-pull cargo handling vehicle having a face 10 provided with a sheet gripper 14 for gripping and releasing a sheet pallet B laid under a load A, wherein the movement amount of the face 10 with respect to the vehicle body 1 is detected.
And 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 movement amount of the face 10 and the movement amount of the vehicle body 1 by the detection values of the first means and the second means. Between the vehicle body 1 and the unloading load A when the unloading load A and the load on the fork claw 9 match, and the setting distance. Display means for performing a display operation when the detection distance from the detection means coincides, and means for outputting a forward command of the face 10 when the display distance again coincides with the set distance after the display operation. Is.

[Action]

When the vehicle body 1 travels forward during stacking work, the display means operates to display when the vehicle body 1 travels forward until the vehicle body 1 travels forward until a predetermined position, that is, the underload A and the load A on the fork claw match. As a result, the operator can detect that the vehicle is in the above-described position, and when the vehicle travels a little further forward, the vehicle body 1 can be stopped and the vehicle body 1 can be operated to travel backward.

When the distance detected by the detecting means and the set distance match, the face 10 is moved forward to push out the load A, and at the same time, the movement amount of the face 10 and the backward movement amount of the vehicle body are synchronized.

As a result, the operator shifts the load A on the fork claw 9 onto the lower load A by a simple operation of visually observing the display operation of the display means, slightly moving forward, stopping the vehicle, and then moving backward. Accurate stacking and loading work is possible.

〔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 steering member 5, and a mast 6 is tilted forward and backward by a tilt cylinder 7 at the front of the vehicle body 1. The fingerboard 8 is freely provided, and the fingerboard 8 can be moved up and down along the mast 6.
A fork claw 9 is attached to the fork, and a face 10 is movably provided in the front-rear direction by a moving mechanism 11. A seat gripper 14 including a sheet receiving piece 12 and a pressing piece 13 is provided below the face 10. , The sheet pallet B laid under the load A is faced between the sheet receiving piece 12 and the pressing piece 13, and the pressing piece 13 is moved by a cylinder or the like to move the sheet pallet B to the sheet receiving piece 12 and the pressing piece 13. The cargo handling vehicle with push-pull is configured to be gripped by and.

The moving mechanism 11 includes a frame 15, a telescopic link 16 and an electric motor 17, and the telescopic link 16 is extended and retracted by the electric motor 17, but the telescopic link 16 may be extended and retracted by a cylinder. It is attached to the finger board 8, and the face 10 is connected to the tip of the expansion link 16.

A first detection sensor 20 for detecting the distance between the face 10 and the frame 15 is provided. For example, the ultrasonic sensor 21 and the reflection plate 22 are provided on the upper part of the frame 15 and the upper part of the face 10 so as to face each other, and the ultrasonic wave is emitted from the emission part of the ultrasonic sensor 21 toward the reflection plate 22, The reflected ultrasonic wave from the reflection plate 22 is received by the wave receiving portion of the ultrasonic sensor 21, and the distance between the frame 15 and the face 10 is detected by the phase shift between the input ultrasonic wave and the output ultrasonic wave. is there.

On the side of the vehicle body 1, for example, below the mast 6, the vehicle body 1 and the load A
A second detection sensor 23 is provided to detect the distance between and. For example, an ultrasonic sensor that emits ultrasonic waves toward the load A
24 is provided, the ultrasonic wave is radiated from the radiating section toward the load A, the reflected ultrasonic wave from the load A is received by the wave receiving section of the ultrasonic sensor 24, and the phase of the input ultrasonic wave and the output ultrasonic wave is The distance between the vehicle body 1 and the load A is detected by the shift.

The detection value of the first detection sensor 20 and the detection value of the second detection sensor 23 are input to the controller 25 provided in the vehicle body 1, and the controller 25 controls the first control circuit 26 and the second control circuit as shown in FIG. And a circuit 27.

The first control circuit 26 includes a first arithmetic circuit 27 that calculates a face movement amount based on a detection value of the first detection sensor 20, and a second arithmetic circuit 28 that calculates a vehicle body movement amount based on a detection value of the second detection sensor 23. A comparison calculation circuit 30 that outputs a control signal to the speed control circuit 29 of the electric motor 17 according to the deviation between the face movement amount and the vehicle body movement amount is provided, and the speed of the electric motor 17 is changed according to the deviation between the face movement amount and the vehicle body movement amount. Is controlled to synchronize the face movement speed with the face movement amount and the body movement amount.

The second control circuit 27 includes a setter 31 and a comparison operation circuit 32. The setter 31 sets the optimum distance between the load A and the vehicle body 1 during the stacked loading operation. Is the second
The distance between the vehicle body 1 and the load A is calculated by the detection value of the detection sensor 23, and when the distance is equal to the set distance, the display means, for example, the lamp 33 is turned on, and then the button 34 is pressed.
When a signal is input, the comparison calculation circuit 32 is cleared, and after a certain time elapses, comparison calculation is performed again and the speed control circuit 29 is started when the distance between the vehicle body 1 and the load A again matches the set distance. It is designed to output a signal.

Next, the operation will be described.

At the time of stacking load placing work, as shown in FIG. 3 (a), the fork claw 9 is lifted to move the vehicle body 1 forward toward the unloading load A.

At this time, the distance between the vehicle body 1 and the unloading load A is detected by the second detection sensor 23 and sequentially input to the comparison calculation circuit 32. As shown in FIG. Top load A
When the position C is matched with, the lamp 33 is turned on when the distance between the vehicle body 1 and the unloading load A matches the set distance.

As a result, the operator senses that the load A on the fork claw 9 matches the underload A, and then the vehicle body 1 travels slightly forward and stops as shown in FIG. 3 (b).

When the vehicle body 1 is stopped, the operator pushes the button 34 to make the vehicle body 1 travel backward again.

Then, when the vehicle body 1 reaches the above-mentioned position C, it is determined that the comparison calculation circuit 32 has reached the loading position, and a start signal is output to the speed control circuit 29.

As a result, the face 10 moves forward to move the fork claw 9
While the load A is being pushed forward along the fork claw 9, the fork claw 9 is moved rearward together with the vehicle body 1 in synchronization with the face 10 so that the load A can be accurately placed on the lower load A without displacement.

The above operation is shown in a flowchart of FIG.

In the above embodiment, as a method of setting the distance between the vehicle body 1 and the unloading load A to the setting device 31, the distance when the preliminary vehicle body 1 reaches the C position may be set. The second detection sensor 23 detects the distance between the load A on the fork claw 9 and the vehicle body 1 when the face 10 starts moving forward when the load A is placed on the load.
It may be detected by and set in the setting device 31.

〔The invention's effect〕

When the vehicle body 1 travels forward during stacking work, the display means operates to display when the vehicle body 1 travels forward until the vehicle body 1 travels forward until a predetermined position, that is, the underload A and the load A on the fork claw match. As a result, when the operator senses that the vehicle is in the above-mentioned position, the vehicle body 1 can be stopped and the vehicle body 1 can be moved backward when the vehicle travels slightly forward.

Then, when the vehicle body 1 travels backward and the distance detected by the detecting means matches the set distance, the face 10 is automatically moved forward to push out the load A, and at the same time, the movement amount of the face 10 and the backward movement of the vehicle body. The quantities are synchronized.

Therefore, the operator does not shift the load A on the fork claw 9 onto the unloading load A by a simple operation of visually observing the display operation of the display means, slightly moving forward, stopping the vehicle, and then moving backward. Accurate stacking and loading work is possible.

In addition, when the load A on the fork claw 9 is stacked and placed on the lower load A, the movement amount of the face 10 and the reverse movement amount of the vehicle body are synchronized, so that the vehicle body may be continuously moved backward. The stacking and loading work can be carried out efficiently in a short time.

[Brief description of drawings]

The drawings show an embodiment of the present invention, FIG. 1 is a front view of a cargo handling vehicle with push-pull, FIG. 2 is a control circuit diagram, and FIGS. FIG. 4 is an operation flowchart. 1 is a vehicle body, 9 is a fork claw, 10 is a face, 14 is a sheet gripper, A is a load, and B is a sheet pallet.

Claims (1)

[Claims] 1. A face 10 is provided along a fork claw 9 which can be raised and lowered with respect to a vehicle body 1 so as to be able to move back and forth between a front position and a front position, and the face 10 is laid under a load A on the face 10. Sheet gripper 14 for gripping and releasing sheet pallet B 14
A push-pull cargo handling vehicle provided with a first detection unit for detecting the movement amount of the face 10 with respect to the vehicle body 1.
And 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 movement amount of the face 10 and the movement amount of the vehicle body 1 by the detection values of the first means and the second means. Between the vehicle body 1 and the unloading load A when the unloading load A and the load on the fork claw 9 match, and the setting distance. Display means for performing a display operation when the detection distance from the detection means matches, and means for outputting a forward command of the face 10 when the display distance again coincides with the set distance after the display operation A cargo handling work control device for a cargo handling vehicle with push-pull.