JPH0632949Y2 - Cargo handling control device for cargo handling vehicle with push-pull - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a loading / unloading control device for a loading / unloading 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 with 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 in the front part 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 front position, hold the sheet pallet laid under the load with the sheet gripper, and move the face backward while moving the face backward to pull the load together with the sheet pallet onto the fork claw. During the unloading work, while the grip of the sheet pallet by the sheet gripper is released, the face is moved forward while the face is moved forward and the car body is moved backwards and the load is pushed forward along with the sheet pallet along the fork claws to place the load. Cargo handling vehicle with push-pull.

[Problems to be solved by the device]

In such a cargo handling vehicle, the vehicle body travels forward during the unloading work, and the vehicle body travels backward during the unloading work. , The reverse running is switched by manual operation, but the face is moved backward during the unloading work, and the face is moved forward during the laying down work, so it is easy for the operator to make a mistake in the switching operation between the forward and backward running of the vehicle body. At times, the vehicle body may be moved backwards, or the vehicle body may be moved forwards during loading work.

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]

Judgment whether it is a unloading work or a laying down work, a forward running command is output during the unloading work, and a backward running command is output during the laying down work, and forward / backward running is switched based on the forward / backward running command. This is a cargo handling work control device for a cargo handling vehicle with a push-pull, which is provided with a circuit so that it can run forward during a unloading work and run backward during a laying down work.

〔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 telescopic link mechanism 11. A sheet gripper 14 including a sheet receiving piece 12 and a pressing piece 13 is provided below the face 10. The
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 to hold the sheet pallet B by the sheet receiving piece 12 and the pressing piece 13. Thus, the cargo handling vehicle with push-pull is configured.

As shown in FIG. 2, the pressing piece 13 is moved by the cylinder 15 between the gripping position and the releasing position, and the sheet gripper 14 is provided with a sheet pallet presence confirmation sensor 16 and a gripper state confirmation sensor 17. The sheet pallet presence / absence confirming sensor 16 is provided with a light emitting device and a light receiving device facing the sheet receiving piece 12 below the face 10, and when the sheet receiving piece 12 is irradiated with light and the reflected light is received by the light receiving device, it is determined that there is no sheet. When the sheet pallet B on the sheet receiving piece 12 is irradiated with light and the reflected light is received by the light receiver, it is determined that the sheet is present. The gripper state confirmation sensor 17 is a proximity switch. When the pressing piece 13 is separated from the sheet receiving piece 12 and is in the release state, a release signal, for example, an ON signal, is detected when the pressing piece 13 approaches the sheet receiving piece 12. Gripping signal when conditions such OF
The F signal is output.

The expandable link mechanism 11 includes a frame 18, a link 19 and an electric motor (not shown), and the link 19 is expanded and contracted by the electric motor.
9 may be expanded and contracted, and its frame 18 is attached to the fingerboard 8 and the face 1 is attached to the tip of the link 19.
0s are connected.

A face position confirmation sensor 20 is provided on the frame 18, and the face position confirmation sensor 20 is, for example,
It becomes an ultrasonic sensor that oscillates an ultrasonic wave toward the face 10 and measures the distance between the frame 18 and the face 10 by the reflected ultrasonic wave. The face 10 is in a front position close to the frame 18 or a front position far away from the frame 18. The position is determined and a signal is output.

As shown in FIG. 3, the vehicle body 1 is provided with a cargo handling control circuit 21 and a drive control circuit 22, and the signals of the respective sensors are sent to the cargo handling control circuit 21 as shown in FIG.
Outputs a drive control signal to the drive control circuit 22 based on the input signal, outputs a forward / backward traveling switching signal to the transmission 23 based on the signal, and outputs a face forward / backward signal to the face drive means 24, for example, the electric motor. Output to the operation valve of the motor or cylinder.

For example, as shown in FIG. 4, when the sheet pallet presence / absence confirming sensor 16 has a sheet, the gripper state confirming sensor 17 is gripping, and the face position confirming sensor 20 is at the face front position, it is determined to be a unloading operation, and a forward traveling command is issued. A face backward command is output to drive the vehicle body 1 forward and backward, and at the same time, the face 10 is moved backward.

Further, when the sheet pallet presence / absence confirmation switch 16 has a sheet, the gripper state confirmation switch 17 is released, and the face position confirmation switch 20 is in the front position of the face, it is determined that the work is a load placement work, and a backward traveling command and a face backward command are output. The vehicle 10 travels backward and the face 10 moves forward at the same time.

Further, in cases other than the above, the cargo handling control circuit 21 does not output any command.

Then, as shown in FIG. 1, the vehicle body 1 is brought closer to the load A, the face 10 is set to the front position, and the sheet pallet B is faced between the sheet receiving piece 12 and the pressing piece 13.
When 3 is moved and the sheet pallet B is gripped, the sheet pallet presence / absence confirmation sensor 16 is present, the gripper state confirmation sensor 17 is grasped, and the face position confirmation sensor 20 is at the face front position. It is determined that the work is performed, and the forward traveling command and the face backward command are output, and at the same time when the vehicle body 1 travels forward, the face 10 moves backward and pulls the load A together with the sheet pallet B onto the fork claw A to automatically perform the unloading work. it can.

When the unloading operation is completed, the face 10 comes to the front position, and therefore the cargo handling control circuit 21 cancels the above-mentioned command and the vehicle body 1 and the face 10 stop.

When the vehicle body 1 is moved to the loading position and the pressing piece 13 is moved upward to release the sheet pallet B after the unloading work in this way, the cargo handling control circuit 21 determines that it is the loading work, and issues a backward travel command. And the face forward command is output and the vehicle body 1
Can automatically move backwards, and at the same time, the face 10 can be automatically moved forward to automatically place a load.

In the above operation, the forward / backward traveling speed of the vehicle body 1 and the face 1
It is desirable that the reverse and forward movement speeds of 0 be the same.

For example, the forward and backward movement speeds of the vehicle body 1 and the backward and forward movement speeds of the face 10 are respectively detected, and when the respective speeds are compared, if there is a difference, the movement speed of the face 10 is controlled to be the same. To do.

In the above embodiment, the face 10 is moved backward and forward at the same time when the vehicle body 1 is switched between forward and backward traveling. However, the face 10 may be moved backward and forward by manual operation.

As a sensor for determining whether the face 10 is at the front position or the front position, expansion / contraction of the link 9 is detected by a mechanical switch, rotation of an electric motor is detected, or expansion / contraction of a cylinder is detected. You may make a judgment.

[Effect of device]

Judging whether the work is picking up or placing the load based on the signals from each sensor, the vehicle body 1 can be automatically switched between forward traveling and backward traveling, and the operator need not manually switch between forward and backward traveling. Therefore, it is possible to prevent the vehicle from traveling backward during the unloading work and traveling forward during the laying work.

[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 an enlarged explanatory view of a seat gripper portion, Fig. 3 is a control circuit diagram, and Fig. 4 is an operation flowchart. is there. 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)

[Scope of utility model registration request] 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 forward and backward between a front position and a front position, and a face 10 is laid under a load A. In a push-pull vehicle provided with a sheet gripper 14 for gripping and releasing the sheet pallet B, a sensor for determining the presence or absence of the sheet pallet B in the sheet gripper 14, and a determination for grasping and releasing the sheet pallet B in the sheet gripper 14 are determined. A sensor and a sensor for determining a front position and a front position of the face 10 are provided, and a signal of each of the sensors is used to determine whether the work is to be loaded or unloaded, and a forward travel command is output during the loading operation, and a reverse travel is performed during the loading operation. A control circuit that outputs a traveling command and a control circuit that switches between forward traveling and backward traveling based on the forward / backward traveling instruction are provided. Cargo handling controller of the push-pull with cargo handling vehicle, characterized in that the.