JPH0649497U - Push-pull device with side shift mechanism for cargo handling vehicles - Google Patents

Abstract

(57) [Summary] [Structure] An elevating body 3 is provided on a mast 2 at the front of the vehicle body 1, and a frame body 4 is provided at the front part of the elevating body 3 so as to be movable left and right.
A fork claw 6 is provided on the front part of the frame body 4, and
A link mechanism section 9 that can be expanded and contracted in the front and rear direction is provided, a face plate 14 is provided in the front part of the link mechanism section 9, and a holding section 15 is provided under the face plate 14.
A position sensor 17 for detecting a left and right mounting position of the load N placed on the fork claw 6 and a distance sensor 18 for detecting a distance between the face plate 14 and an object in the left and right direction are provided. The frame body 4 based on the data from the position sensor 17 and the distance sensor 18
The controller 20 is provided inside the vehicle body so that the luggage N placed on the fork claw 6 or the face plate 14 is moved to the position having a predetermined distance from the object in the left-right direction. [Effect] It is possible to prevent the load or face plate placed on the fork claw from colliding with an object in the left-right direction during cargo handling work, and prevent damage to the load or the like.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention provides a push-pull device in a cargo-handling vehicle such as a forklift truck, in which a face plate that is movable back and forth is provided above a fork claw, and a holding portion that holds a sheet pallet on which a load is placed is held by the face plate. Regarding

[0002]

[Prior art]

 2. Description of the Related Art Conventionally, as a push-pull device for a cargo-handling vehicle, as shown in FIG. 7, a pair of left and right masts 41 standing upright on a front portion of a vehicle body 40 is provided with an elevating body 42 so as to be vertically movable. A link mechanism section 44 is provided which is expandable and contractible in the front-rear direction. The link mechanism section 44 includes a pair of left and right guide sections 45 fixed vertically to the front section of the elevating body 42, and the guide section 45. It is composed of a pair of left and right vertical X-shaped rear link parts 46 connected to the front part of the front part and a pair of left and right vertical X-shaped front link parts 47 connected to the front part of the rear link part 46. Further, in the link mechanism section 44, a link cylinder 48 is provided so as to straddle the tip of the rear link section 46 and the tip of the front link section 47, and the rear link section 46 is provided by the link cylinder 48. And the front link portion 47 is adapted to perform a telescopic movement. A face plate 49 is provided in the front part of the link mechanism part 44, and a holding part 50 composed of a vertically moving gripper 50a and an L-shaped jaw 50b facing the gripper 50a is provided in the lower part of the face plate 49. The holding section 50 holds the sheet pallet S laid under the baggage N. Further, a pair of left and right fork pawls 51 are attached to the lower front part of the elevating body 42 so as to be positioned below the link mechanism part 44 and the face plate 49.

In the push-pull device configured as described above, as a cargo handling operation, the link mechanism portion 44 is extended, the face plate 49 is moved forward to the forward position, and the holding portion 50 pulls it under the luggage N. The sheet pallet S is clamped, the link mechanism 44 is contracted, the face plate 49 is moved backward to the front position, and the vehicle body 40 is moved forward to pull the luggage N together with the sheet pallet S onto the fork claws 51 for unloading. Perform Further, the holding of the sheet pallet S by the holding portion 50 is released, the link mechanism portion 44 is extended, the face plate 49 is moved forward to the front position, the vehicle body 40 is moved backward, and the load N on the fork claw 51 is moved. Push forward to load the cargo.

[0004]

[Problems to be solved by the device]

 In a conventional push-pull device for a cargo handling vehicle, an elevator, a link mechanism and a face plate are provided at the front part of the vehicle body. Since it is blocked by the link mechanism and the face plate, it is difficult to carry out cargo handling work.Especially when loading work near a wall in a warehouse or near the inner wall of a container, the distance between the wall and the luggage or face plate is measured. Therefore, if the operator's line-of-sight is interrupted, the luggage or face plate may collide with the wall and damage the luggage, face plate, or wall, which places a heavy burden on the operator. It was The present invention aims to solve this problem.

[0005]

[Means for Solving the Problems]

 According to the present invention, an elevating body is movably provided on a mast standing on the front of a vehicle body, a frame body is movably provided on the front portion of the elevating body, and a fork claw is provided on the front portion of the frame body. The front part of the frame body is provided with a rear part of a link mechanism part that can be expanded and contracted back and forth, a face plate is provided in the front part of the link mechanism part, and a gripping part is provided in a lower part of the face plate, and the face plate is provided. A position sensor for detecting the left and right mounting position of a load placed on the fork claw is provided, and a distance sensor for detecting a distance between the face plate and an object in the left and right direction is provided. The frame or face plate placed on the fork pawl or the face plate is positioned so that it has a predetermined distance from the object in the left-right direction based on the data from A configuration in which a control means for horizontally moving.

[0006]

[Action]

 According to the present invention, the position sensor detects the left-right mounting position of the load placed on the fork claw, and the distance sensor detects the distance between the face plate and the object in the left-right direction. The frame means is moved left and right by the control means based on the data from the sensor and the distance sensor so that the load or face plate placed on the fork pawl does not collide with the object in the left and right direction.

[0007]

【Example】

 An embodiment of a push-pull device with a side shift mechanism of a cargo handling vehicle according to the present invention will be described. As shown in FIGS. 1 and 2, a pair of left and right masts 2 standing on the front of the vehicle body 1 is provided with an elevating body 3 so as to be vertically movable. The elevating body 3 is mounted on the mast 2 via a roller 3a. It consists of a pair of left and right vertical members 3b that move up and down, and upper and lower horizontal members 3c that are fixed horizontally and horizontally across the left and right vertical members 3b. The upper and lower horizontal members 3c are attached to the front part of the lifting body 3. A frame body 4 is provided along which the frame body 4 can be moved in the left-right direction.

At the front portion of the frame body 4, a pair of left and right fork pawls 6 are provided on the lower side, and a link mechanism portion 9 is provided on the upper side so as to be extendable in the front-rear direction. The link mechanism portion 9 includes a pair of left and right guide portions 10 fixed vertically to the front portion of the elevating body 3, and a lower end portion of the guide portion 10 having a proximal end portion in the longitudinal direction pivotally attached to the upper front side. A pair of left and right first arms 11a and a longitudinal base end of the guide portion 10 so as to be vertically movable, and a pair of left and right second arms 11b facing forward and downward are axially connected at their intermediate portions. A pair of left and right vertical X-shaped rear link parts 11 and a pair of left and right third arms 12a that pivots a longitudinal base end to the tip end of the first arm 11a and moves forward and downward. A base end portion in the longitudinal direction is provided at the tip end portion of the two arms 11b. And a pair of left and right fourth arms 12b, which are pivotally attached to each other and are directed forward and upward, are axially connected to each other at their intermediate portions to form a pair of left and right vertical X-shaped front link portions 12. Further, the base end portions of a pair of left and right link cylinders 13 which are substantially parallel to the third arm 12b are swingably attached to the tip end portion of the first arm 11a of the link mechanism portion 9.

A face plate 14 is provided on the front part of the link mechanism 9, and the tip of the third arm 12a of the link mechanism 9 is pivotally attached to the lower part of the face plate 14 and the link mechanism is provided. The tip portion of the fourth arm 12b of the portion 9 is pivotally attached to the face plate 14 so as to be vertically movable. A gripping portion 15 is provided below the face plate 14, and the gripping portion 15 is composed of a gripper 15a which is vertically movable and an L-shaped jaw 15b facing the gripper 15a. A holding cylinder 16 provided inside the face plate 14 can move up and down.

A front position sensor 17 is provided on the lower front surface of the face plate 14 to detect the left / right mounting position of the load N placed on the fork claw 6, and the position sensor 17 is provided. Are the first sensor 17a, the second sensor 17b, and the third sensor 17c that are provided in the vicinity of the outside on the left side from the outside in the left-right direction, and are provided from the outside in the vicinity of the outside of the right side in the left-right direction. It is composed of a fourth sensor 17d, a fifth sensor 17e, and a sixth sensor 17f. Each sensor is a light reflection type sensor and detects whether or not the luggage N is located in front of each sensor. Further, on the lower side surface portion of the face plate 14, there are provided distance sensors 18 that move to the left and right in order to detect the distance to an object in the left-right direction. The distance sensors 18 include a left sensor 18a provided on the left side and a right sensor 18a. The right sensor 18b is provided on the surface, and both sensors detect the distance from the object based on the amount of light reflected by the light reflection type sensor.

A cable 19 is connected to each of the first sensor 17a, the second sensor 17b, the third sensor 17c, the fourth sensor 17d, the fifth sensor 17e, the sixth sensor 17f, the left sensor 18a, and the right sensor 18b. Each cable 19 is connected to the controller 20 provided inside the vehicle body 1 along the third arm 12a, the first arm 11a, the mast 2, and the like.

Then, in the controller 20, as shown in FIG. 3, each cable 19 is connected to a CPU 22 via an interface 21 inside the controller 20, and the CPU 22 has a memory section 23. The CPU 22 is connected to an alarm device 24 provided on the vehicle body 1 via the interface 21, and the alarm device 24 has a buzzer 24a and a lamp 24b. Further, the CPU 22 is connected via the interface 21 to a switching valve 25 that operates the moving cylinder 5 fixed to the lifting body 3, and switches the switching valve 25 to operate the moving cylinder 5. The frame body 4 is moving left and right.

The switching valve 25 has a pump port a, a tank port b, a bottom port c, and a load port d. The pump port a is connected to the tank 27 via the pump 26, the tank port d is connected to the tank 27, The bottom port c is connected to the bottom 5a of the moving cylinder 5 and the rod port d is connected to the rod 5b of the moving cylinder 5 via pipelines. At the middle position B, the pump port a and the tank are connected. The port b is connected and the bottom port c and the rod port d are cut off. In the upper position A, the pump port a is connected to the bottom port c, the rod port d is connected to the tank port b, and in the lower position C, the pump port is connected. a from the rod port d to the bottom port c from the tank port b, respectively. A signal from 0 switches to an upper position A, a middle position B, and a lower position C.

Next, in the push-pull device with the side shift mechanism of the cargo handling vehicle configured as described above, the operation at the time of the work of placing the cargo in the container will be described. Usually, in the cargo handling work in the container, the cargo N to be cargoed always has a predetermined size, and the width of the cargo N and the width of the face plate 14 are substantially the same.

First, the first sensor 17a, the second sensor 17b, the third sensor 17c, the fourth sensor 17d, the fifth sensor 17e, and the sixth sensor 17f of the position sensor 17 provided on the face plate 14 By detecting whether or not the load N is located in front, it is detected what position the load N placed on the fork claw 6 is placed in the left-right direction with respect to the face plate 14. The controller 20 inputs data. As shown in FIG. 4, when the controller 20 detects that the load N is located at substantially the same position in the left-right direction with respect to the face plate 14, the left sensor 18a of the interval sensors 18 causes the face sensor 14 to fail. The distance La between the side surface of the plate 14 and the inner wall of the container is detected, this data is input to the controller 20, and the controller 20 sends a signal to the switching valve 25 to switch the switching valve 25 to move. The cylinder 5 is operated to move the frame body 4 to the left, and the distance La between the side surface of the face plate 14 and the inner wall of the container detected by the left sensor 18a is stored in the memory unit 23 of the controller 20 in advance. When the predetermined distance Lb between the side surface of the face plate 14 and the inner wall of the container is reached, the controller 20 causes the switching valve 25 to operate. No. is sent, the switching valve 25 is switched, the operation of the moving cylinder 5 is stopped, the left movement of the frame body 4 is stopped, and the load N is pushed out from above the fork claw 6 to load the load. N is placed near the inner wall of the container with a predetermined gap Lb.

Further, as shown in FIG. 5, when the controller 20 detects that the position of the load N is shifted to the left side with respect to the face plate 14, the shift amount Lc of the load N to the face plate 14 is left. Is detected by the fourth sensor 17d, the fifth sensor 17e, and the sixth sensor 17f provided on the right side of the face plate 14. Since the width dimension of the load N and the width dimension of the face plate 14 are substantially the same, the left shift amount Lc of the load N with respect to the face plate 14 is the fourth sensor 17d, the fifth sensor 17e, and the sixth sensor. The fourth sensor 17d does not detect the luggage N, but the fifth sensor 17e and the sixth sensor 17f detect the luggage N. Therefore, the fifth sensor 17e from the right side of the face plate 14 can detect the luggage N. The distance to the position where is provided is the left shift amount Lc. The left sensor 18a of the distance sensor 18 detects the distance La between the side surface of the face plate 14 and the inner wall of the container, and the controller 20 inputs this data, and the controller 20 sends a signal to the switching valve 25. Sending, switching the switching valve 25 to operate the moving cylinder 5 to move the frame body 4 to the left, and the distance between the side surface of the face plate 14 detected by the left sensor 18a and the inner wall of the container. When La becomes a value (Lb + Lc) obtained by adding a predetermined distance Lb between the side surface of the face plate 14 and the inner wall of the container, which is stored in advance in the memory unit 23 of the controller 20, and the left shift amount Lc of the load N 1 with respect to the face plate 14. A signal is sent from the controller 20 to the switching valve 25, and the switching valve 25 is switched to move the moving series valve. And it stops the operation of da 5 stops leftward movement of the frame body 4 performs placed load baggage N extruded from upper branch pawl 6, placing the luggage N near the inner wall of the container with a predetermined gap Lb.

Further, when the controller 20 detects that the position of the load N is shifted to the right side with respect to the face plate 14, as shown in FIG. 6, the shift amount Ld of the load N to the face plate 14 to the right is Ld. Is detected by the first sensor 17a, the second sensor 17b, and the third sensor 17c provided on the left side of the face plate 14. Then, the left sensor 18a of the distance sensor 18 detects the distance La between the side surface of the face plate 14 and the inner wall of the container, and the controller 20 inputs this data, and the controller 20 sends a signal to the switching valve 25. , The switching valve 25 is switched to operate the moving cylinder 5 to move the frame body 4 to the left, and the side surface of the face plate 14 detected by the left sensor 18a and the inner wall of the container When the distance La reaches the limit distance Le between the side surface of the face plate 14 and the inner wall of the container stored in advance in the memory unit 23 of the controller 20, the controller 20 sends a signal to the switching valve 25 to switch the switching valve 25. The movement cylinder 5 is stopped and the left movement of the frame body 4 is stopped. Push out to load and place the load N near the inner wall of the container. At this time, when the movement of the frame body 4 is stopped, a signal is output from the controller 20 to the alarm device 24, the buzzer 24a of the alarm device 24 is sounded, and the lamp 24b is turned on to inform the operator of the frame body. It is designed to inform that 4 is at the limit.

With this configuration, in the work of placing a load near the inner wall of the container, even if the operator's forward line of sight is blocked by the lifting body 3, the link mechanism section 9, and the face plate 14, the operator does not The position sensor 17 detects the left-right position of the load N placed on the fork claw 6, and the distance sensor 18 detects the distance between the face plate 14 and the object in the left-right direction. By moving the frame body 4 from side to side by the controller 20 based on the data from the sensor 17 for the space and the sensor 18 for the space, the load N or the face plate 14 placed on the fork claw 6 becomes the inner wall of the container. It is possible to prevent the cargo N from colliding with the wall and prevent the cargo N from colliding with the wall and damaging the wall or the cargo N.

[0019]

[Effect of device]

 The present invention can detect the lateral placement position of the load placed on the fork claws by the position sensor in the cargo handling work, particularly in the work of placing the load near the inner wall of the warehouse or inside the container. At the same time, the distance sensor detects the distance between the face plate and the object in the left-right direction, and based on the data from the position sensor and the distance sensor, the control means controls the load or the load placed on the fork claw. By moving the frame body to the left and right so that the base plate has a predetermined distance from the object in the left and right direction, it is possible to prevent the load or face plate placed on the fork claw from colliding with the wall. The load can be placed near the wall while preventing the load from colliding with the wall and damaging the wall or the load. It is possible to reduce the collateral.

[Brief description of drawings]

FIG. 1 is a side view of a push-pull device with a side shift mechanism of a cargo handling vehicle according to the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a schematic circuit diagram of a controller in a push-pull device with a side shift mechanism of a cargo handling vehicle according to the present invention.

FIG. 4 is a diagram for explaining the operation during the load placing work in the present invention.

FIG. 5 is a diagram for explaining the operation during the load placing work in the present invention.

FIG. 6 is a diagram for explaining the operation during the load placing work in the present invention.

FIG. 7 is a side view of a conventional push-pull device for a cargo handling vehicle.

[Explanation of symbols]

1 ... Car body, 2 ... Mast, 3 ... Lifting body, 3a ... Roller, 3
b ... Vertical member, 3c ... Horizontal member, 4 ... Frame body, 5 ... Movement cylinder, 5a ... Bottom, 5b ... Rod, 6 ... Fork claw, 9 ... Link mechanism part, 10 ... Guide part, 11 ... Rear link part , 11a ... first arm, 11b ... second arm,
12 ... Front link part, 12a ... Third arm, 12b ... Fourth arm, 13 ... Link cylinder, 14 ... Face plate, 15 ... Clamping part, 15a ... Gripper, 15b ...
Jaw, 16 ... Clamping cylinder, 17 ... Position sensor, 17a ... First sensor, 17b ... Second sensor, 1
7c ... third sensor, 17d ... fourth sensor, 17e ...
Fifth sensor, 17f ... Sixth sensor, 18 ... Interval sensor, 18a ... Left sensor, 18b ... Right sensor, 1
9 ... Cable, 20 ... Controller, 21 ... Interface, 22 ... CPU, 23 ... Memory part, 24 ... Alarm device, 24a ... Buzzer, 24b ... Lamp, 25 ... Switching valve,
26 ... Pump, 27 ... Tank, 40 ... Car body, 41 ... Mast, 42 ... Elevating body, 43 ... Frame body, 44 ... Link mechanism part, 45 ... Guide part, 46 ... Rear link part, 47 ... Front link part, 48 ... Link cylinder, 49 ... Face plate, 50 ... Holding part, 50a ... Gripper, 50b
… Joe, 51… Fork claw.

Claims (1)

[Scope of utility model registration request] 1. A mast 2 standing upright on a front part of a vehicle body 1 is provided with an elevating body 3 so as to be movable up and down, and a frame body 4 is provided at a front part of the elevating body 3 so as to be movable left and right. A fork claw 6 is provided below the portion, a rear portion of a link mechanism portion 9 that can be expanded and contracted back and forth is provided at a front portion of the frame body 4, and a face plate 14 is provided at a front portion of the link mechanism portion 9. A holding portion 15 is provided in the lower part of 14, and a position sensor 17 for detecting the left and right mounting position of the load N placed on the fork claw 6 is provided on the face plate 14 and the face plate 14 and the left and right sides. The distance sensor 18 for detecting the distance to the object in the direction is provided, and the load N or the face plate placed on the fork claw 6 based on the data from the position sensor 17 and the distance sensor 18. A push-pull device with a side shift mechanism for a cargo-handling vehicle, comprising control means for moving the frame body 4 left and right so that 14 is located at a position having a predetermined distance from an object in the left-right direction.