JP2000062517A - Cargo handling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lower the uppermost height of a container by moving a hook arm back into its service position without problem before the tip of the hook arm reaches the uppermost position in association with the forward rotation of a lift arm even when the hook arm is moved toward the housed position by its position adjustment at the time of loading a container into a cargo handling vehicle. SOLUTION: In the case of starting loading work of a container Ct, when the tip of a hook arm 5 is locked to the container Ct on the basis of the movement of the hook arm 5 from the service position 5S3 onto the housed position 5S5 side corresponding to operation input to an optional operating means, a lift arm 4 is automatically stopped before the tip of the hook arm 5 reaches the uppermost position in association with the forward rotation of the lift arm 4 after this locking, and during this stop, the hook arm 5 is moved back into the service position 5S3 on demand on the basis of operation input to the optional operating means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling vehicle, in particular, a cargo handling frame mounted on a chassis, a dump arm whose base is pivotally supported by a rear portion of the cargo handling frame, and a tip end of the dump arm. Lift arm, a hook arm that is attached to the front end of the lift arm and can lock the container at the tip thereof in a detachable manner, lift drive means that can forcibly rotate the lift arm, and the hook arm to the lift arm. On the other hand, a hook drive means capable of forcibly moving between a predetermined storage position and a use position closer to the dump arm than the storage position is provided, and the lift arm has predetermined front rotation position and rear rotation position with respect to the dump arm. The container can be loaded and unloaded between the cargo handling frame and the ground by rotating the container and the dumper arm together with the container. That relates to a vehicle which was to the container on both arms can dump.

[0002]

2. Description of the Related Art The above-mentioned cargo handling vehicle is disclosed in, for example, Japanese Patent Laid-Open No. 57-2.
As disclosed in Japanese Patent No. 2931, the conventionally known cargo handling vehicle is integrated with the lift arm when loading and unloading a container between the cargo handling frame and the ground by independently rotating the lift arm. In order to minimize the maximum rising height of the tip of the rotating hook arm (hence, the container), the lift arm is rotated back and forth while the hook arm is held in the above-mentioned use position.

[0003]

However, in the above-mentioned conventional apparatus, when the loading operation of the container is started with the lift arm in the backward pivoting position, for example, as shown in FIG. 22, the vehicle C is moved to the container Ct side. Due to the fact that the backward movement of is restricted due to the car stop St, etc., the tip of the hook arm 5 may not reach the container Ct.

In such a case, the hook arm 5 is moved from the use position 5S ₃ (chain line position in FIG. 22) to the storage position 5S ₅
The arm 5 may be locked to the container Ct by appropriately moving backward as shown by the arrow toward the (solid line position in FIG. 22) side.
When the lift arm 4 is rotated forward while the container is biased to the storage position 5S ₅ side to load a container, the tip of the hook arm that interlocks with the forward rotation (hence the container)
Therefore, there is a problem that the working place is subject to some restrictions, or the position of the center of gravity during the loading operation of the container is high and the work becomes unstable.

In order to solve such a problem, for example, when the tip of the hook arm is locked to the container based on the movement of the hook arm toward the storage position, the lift arm is rotated forward after the locking. Along with this, it is conceivable to provide automatic return control means that automatically moves and returns the hook arm to the use position before the end of the hook arm reaches the highest position. In this way, the return movement of the hook arm to the use position is automated. Then, when the container is displaced relative to the vehicle (that is, when the vertical centerline of the container crosses the vertical centerline of the vehicle at a relatively large angle), the hook arm There is a possibility that the bottom of the container may collide with a part of the vehicle body, for example, a rear end corner portion or the like, and may be damaged or the container and the hook arm may be disengaged while the container is returning to the original position.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a cargo handling vehicle that can solve the above problems all at once.

[0007]

In order to achieve the above object, the invention according to claim 1 is directed to a cargo handling frame mounted on a chassis, a dump arm whose base is pivotally supported by a rear portion of the cargo handling frame, and the dump truck. A lift arm pivotally supported at the front end of the arm, a hook arm attached to the front end of the lift arm to lock the container to the tip of the lift arm in a detachable manner, and a lift drive means capable of forcibly rotating the lift arm. And a hook drive means for forcibly moving the hook arm between the lift arm between a predetermined storage position and a use position closer to the dump arm than the storage position. The container can be loaded and unloaded between the cargo handling frame and the ground by independently rotating between the rotating position and the rearward rotating position, and the lift arm is used as the dump arm. In a cargo-handling vehicle in which the containers on both arms can be dumped by rotating the body, the operation of the hook driving means is arbitrarily controlled to move the hook arm between the storage position and the use position. When the container loading operation is started by placing the optional operation means and the lift arm in the backward rotation position, the hook arm is moved from the use position to the storage position side according to the operation input to the arbitrary operation means. Based on this, when the tip of the hook arm is approached and locked to the container, the lift arm is moved to a predetermined intermediate turning position before the tip of the hook arm reaches the maximum lift position due to the forward rotation of the lift arm after the locking. And a lift arm stop control means for controlling the lift drive means so as to automatically stop the lift arm by the lift arm stop control means. While stopping the turned position, it is characterized in that so as to move back to any time until the use position a hook arm on the basis of the operation input to any operating means.

In addition to the features of the invention of claim 1, the invention of claim 2 further comprises a sensor for detecting that the lift arm has reached a predetermined throw start position immediately before the rearward rotation position, and a sensor for detecting this. By controlling the lift drive means based on the detection signal, the rotation speed of the lift arm during the backward rotation from the throw start position to the backward rotation position is slower than the previous rotation speed. And a lift arm slow-down control means for determining the timing at which the lift arm stop control means automatically stops the forward rotation of the lift arm at the intermediate rotation position based on the detection signal of the sensor. To do.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be specifically described below based on the embodiments of the present invention illustrated in the accompanying drawings.

FIGS. 1 to 23 show a first embodiment, and FIG. 1 shows when a container is completely mounted on a chassis (during traveling).
2 is a side view of the cargo handling vehicle showing the state of FIG. 2, FIG. 2 is a side view of the cargo handling vehicle showing the state of starting the backward movement of the container (at the start of unloading), and FIG. 6 is a side view of the cargo handling vehicle showing the state, FIG. 4 is a side view of the cargo handling vehicle showing the grounding completion state of the container, FIG. 5 is a side view of the cargo handling vehicle showing the state when the container is dumped, and FIG.
Is an enlarged side view of a main part of the cargo handling vehicle, and FIG.
8 is a plan view taken along the line, FIG. 8 is a front view of the hook arm taken along line 8 of FIG. 6, and FIG. 9 is an enlarged view of a portion taken along line 9 of FIG.
6 is an enlarged view of a portion indicated by an arrow 10 in FIG. 6, and FIG.
1 is a schematic view of the first switch portion taken along line -11, and FIG. 12 is a schematic view of the second switch portion taken along line 12-12 of FIG.
3 is a schematic view of a fourth switch section taken along line 13-13 of FIG. 6, FIG. 14 is a schematic view of third and fifth switch sections taken along line 14-14 of FIG. 6, and FIG. 15 is a hook cylinder. And FIG. 16 is a hydraulic circuit diagram of the lift cylinder, FIG. 16 is an operation control block diagram of cargo handling work, FIG. 17 is a flowchart of container unloading work, and FIG. 18 is a flowchart of hook arm position adjustment work prior to container loading, and FIG.
21 is a flowchart of container loading work, FIG. 20 is a flowchart of container dumping work, and FIG.
Figure 2 is a flowchart of the container dumping work.
FIG. 23 is a view corresponding to FIG. 4, showing a state where the hook arm does not reach the container at the time of starting the loading of the container.
FIG. 7 is an explanatory view schematically showing a procedure of visually returning the hook arm to the use position when the vehicle and the container are misaligned during the loading process of the container. 24 to 26 show a second embodiment, FIG. 24 is a view corresponding to FIG. 1, FIG. 25 is a view corresponding to FIG. 2, and FIG.
FIG.

1 to 8, a cargo handling frame 1 is integrally mounted on a chassis F of a cargo handling vehicle V. The cargo handling frame 1 is formed in a rectangular frame shape with left and right vertical girders and a plurality of horizontal girders, and left and right guide rollers 2 and 2 are rotatably mounted on the left and right rear ends thereof. A container Ct described later, which rolls on the guide rollers 2 and 2, is mounted on the cargo handling frame 1. A dump arm 3 is provided on the rear half of the cargo handling frame 1 so as to be tiltable rearward. The dump arm 3 has a horizontal girder integrally formed at the rear ends of the left and right longitudinal girders and is formed into a fork in plan view with the front end opened, and the rear end thereof has the same axis as the rotation axis of the left and right guide rollers 2, 2. It is pivotally supported so that it can be tilted back and forth. The rear end, that is, the base end of the lift arm 4 is rotatably pivoted in the front-rear direction on the left and right sides of the intermediate portion near the front end of the dump arm 3 via brackets 3 ₁ , 3 ₁ . As shown in FIG. 7, the lift arm 4 is formed in a narrow rectangular frame shape that is narrower than the dump arm 3 in the front-rear direction, and its rear part is overlapped in the front-rear direction so as to be housed inside the dump arm 3. However, most of them are extended to the front of the dump arm 3, and the upper surface of the container Ct is higher than the dump arm 3 when it is lying down, and the container Ct mounted on the chassis F is It is supported by the upper surface of the lift arm 4 and the left and right guide rollers 2, 2. Between the front part of the chassis F and the intermediate part of the lift arm 4, a lift cylinder 7 composed of a returning hydraulic cylinder as a lift driving means is connected, and the extension operation of the lift cylinder 7 causes the lift cylinder 7 to move. , 4, as shown in
The lift arm 4 can be turned up and down and turned.

The lower end of the hook arm 5 is connected to the front end of the lift arm 4 via a bracket so as to be rotatable in the front-rear direction. As shown in FIGS. 6 and 8, the hook arm 5 has an L-shape when viewed from the side and is formed in an inverted V-shape when viewed from the front, and the hook 6 is integrally provided at the tip, that is, the upper end. . This hook 6 is a container Ct
It can be freely engaged and disengaged with the engaging portion 17 provided on the front upper part of the. The lower part of the hook arm 5 is connected to the front part of the lift arm 4 so as to be rotatable forward and backward so as to straddle the front part of the lift arm 4.

The front part of the lift arm 4 and the hook arm 5
A hook cylinder 8 composed of a returning hydraulic cylinder as a hook driving means is connected between the hook cylinder 8 and the intermediate portion of
By the expansion and contraction operation of the hook cylinder 8, the hook arm 5 can be rotated back and forth of the chassis F as shown in FIG. 2, whereby the container Ct can be moved backward on the cargo handling frame 1.

As shown in FIGS. 6 to 10, on the left and right sides of the lift arm 4, the hook arm 5, and the dump arm 3, the lift arm 4 and the dump arm 3 are straddled.
A pair of left and right lashing mechanisms L are provided that linearly lash and fasten the halves together in the front-rear direction and release the lashing. Each lashing mechanism L is rotatably supported on one side of the rear portion of the lift arm 4 and a lashing hook 10 provided on one side of the front end of the dump arm 3 so that the lashing hook 10 can be detached. It comprises a locking pin 11 which can be engaged, and a rod 12 whose length can be adjusted to connect the intermediate portion of the fastening hook 10 and the base end of the hook arm 5 with each other. As shown, when the hook arm 5 is in the storage position 5S ₅ (FIG. 10, solid line position) that is substantially orthogonal to the lift arm 4 and is farthest from the dump arm 3, the rod 12
Is pushed backward (FIG. 10, right direction), the fastening hook 10 is rotated in the fastening direction and is locked by the locking pin 11, whereby the lift arm 4 and the dump arm 3 are linear in the front-back direction. It is tied together in a shape. Further, by the extension operation of the hook cylinder 8, the hook arm 5 is tilted by a predetermined angle toward the dump arm 3 as shown by a chain line in FIG.
When swinging back to S ₃ , the rod 12 moves forward (see FIG. 10,
When the lashing hook 10 is pulled in the leftward direction, the lashing hook 10 is rotated in the lashing releasing direction (clockwise direction in FIG. 10) and separated from the locking pin 11, whereby the lashing of the lift arm 4 and the dump arm 3 is prevented. The arms 4 and 3 are released and are allowed to rotate separately.

As shown in FIGS. 1 to 5, an outrigger 15 is provided at the rear of the chassis F.
Is operated to stabilize the cargo handling vehicle V when loading or unloading the container Ct.

On the other hand, the container Ct mounted on the chassis F of the cargo handling vehicle V is formed in a box shape with a lid, the open rear surface of which is closed by the rear gate 16, and the hook on the upper part of the front wall thereof. An engaging portion 17 that can be engaged with and disengaged from the hook 6 of the arm 5 is provided, and a plurality of running wheels 18 made of casters are pivotally supported at the front and rear of the bottom portion thereof.

Next, a process of loading and unloading the container Ct between the chassis F and the ground G and a process of dumping the container Ct on the chassis F will be described with reference to FIGS.

FIG. 1 shows a state in which the container Ct is mounted on the chassis F of the cargo handling vehicle V, that is, the traveling state of the vehicle.

As shown in FIG. 2, the hook cylinder 8
When the hook arm 5 is tilted rearward from the retracted position 5S ₅ to the use position 5S ₃ by the extension operation of the container Ct, the container Ct is pushed backward on the left and right guide rollers 2 and 2 by the hook arm 5 and moves rearward. Since the center of gravity CG of this container Ct is still on the chassis F, the container Ct does not tilt. Further, as the hook arm 5 tilts backward, the hooks 10 and the locking pins 11 of the fastening mechanism L are unlocked as described above, and the fastening between the lift arm 4 and the dump arm 3 is released. Therefore, the lift arm 4 can freely rotate with respect to the dump arm 3.

As shown in FIG. 3, the lift cylinder 7
When the extension operation is performed, the lift arm 4 moves to the forward rotation position 4
The rearward rotation is performed together with the hook arm 5 from F to the rearward rotation position 4R. As a result, the container Ct is guided by the left and right guide rollers 2 and 2 to move rearward on the chassis F, and when the center of gravity CG thereof moves rearward from the chassis F, the container Ct moves to the left and right guide rails 2 and 2. It tilts backward with the center of rotation as a fulcrum, and the lower edge of the rear part thereof lands on the ground G.

As shown in FIG. 4, when the lift cylinder 7 continues to extend and reaches the maximum extension, the hook arm 5 faces downward, and the container Ct is completely lowered to the ground G. Here, the hook 6 at the tip of the hook arm 5 is attached to the engaging portion 1
If the container Ct is removed from the container Ct, the container Ct is separated from the cargo handling vehicle V, and the loading work and the like in the container Ct are performed.

In order to mount the container Ct of the ground G on the cargo handling frame 1, the above-mentioned steps 1 to 3 may be reversed.

Next, the lift cylinder 7 is moved from the state where the container Ct is mounted on the cargo handling frame 1 shown in FIG. 1, that is, the state where the hook arm 5 is at the storage position 5S _5.
5 is extended, the hook 10 and the locking pin 11 of the fastening mechanism L are kept locked with each other to secure the dump arm 3 and the lift arm 4 together as shown in FIG. In addition, the two arms 3 and 4 can be tilted backward together to dump the container Ct, and the contents in the container Ct can be discharged to the outside. Further, when the lift cylinder 7 is contracted, the container Ct can be dumped and lowered onto the cargo handling frame 1.

In the loading and unloading work of the container Ct and the dumping work, if the operating speed of the lift cylinder 7 is increased in order to speed up the work, (1) the container Ct is unloaded, (2) When the tilted container Ct is mounted on the cargo handling frame 1, when its front end is grounded on the ground G, (3)
When the dumped container Ct is placed on the cargo handling frame 1, the container Ct and the chassis F of the cargo handling vehicle V are
A large impact is applied to the cargo handling frame 1 and noise is generated due to this, or the container Ct, chassis F,
Alternatively, the cargo handling frame 1 or the like may be deformed or damaged, but in this embodiment, the impact is reduced as much as possible to eliminate the fear.

As shown in FIG. 6 and FIGS. 11 to 14, the first to fifth sensors S, which are proximity switches for detecting the operating position of the lift arm 4 or the hook arm 5, are provided at appropriate positions of the cargo handling vehicle V. _{1 to} S ₅ are provided.

As shown in FIG. 11, the first sensor S ₁ is provided on the rear upper surface of the dump arm 3. This first sensor S
₁ is operated by the lift arm 4. When the lift arm 4 is rotated rearward, that is, when the container Ct is unloaded, the lift arm 4 is rotated backwardly.
When the first throw start position 4S ₁ immediately before R is reached, the lift arm 4 is operated to switch the first and second switching valves V ₁ and V ₂ described later to the slow side. Note that the first sensor S ₁ may be provided on the cargo handling frame 1 side or the lift arm 4 side instead of being provided on the dump arm 3.

As shown in FIG. 12, the second sensor S ₂ is provided on the chassis F side, that is, on the cross girder of the cargo handling frame 1, and when the lift arm 4 is rotated forward, that is, when the container Ct is loaded, the lift arm is lifted. 4 is the forward rotation position 4
When the second throw start position 4S ₂ just before F is reached, the lift arm 4 operates to move the second throw start position 4S ₂ .
The switching valves V ₂ and V ₃ are switched to the slow side. The second sensor S ₂ may be provided on the dump arm 3 side or the lift arm 4 side.

As shown in FIG. 14, the third sensor S ₃ is provided at the front portion of the lift arm 4 and the hook arm 5 is provided.
Swings rearward from the retracted position 5S ₅ and reaches the use position 5S ₃ near the lift arm 4, the hook arm 5
Is operated by. The third sensor S ₃ may be provided on the hook arm 5 side.

As shown in FIG. 13, the fourth sensor S ₄ is provided on the chassis F side, that is, in the front part of the cargo handling frame 1, and when the lift arm 4 is stored in the forward rotation position 4F, the lift arm 4 is stored. 4 is operated. The fourth sensor S ₄ may be provided on the lift arm 4 side.

As shown in FIG. 14, the fifth sensor S ₅ is provided at the front part of the lift arm 4 and is operated by the hook arm 5 when the hook arm 5 is stored. The fifth sensor S ₅ may be provided on the hook arm 5 side.

Next, the hydraulic circuit for operating the lift cylinder 7 and the hook cylinder 8 will be described with reference to FIG.
A control valve unit UV is connected to a hydraulic oil passage 20 that connects between a hydraulic pump P driven via the oil reservoir T and an oil reservoir T. In this control valve unit UV, first, second and third switching valves V ₁ ,
V ₂ and V ₃ are provided, an inlet port of the first switching valve V ₁ is connected to the hydraulic oil passage 20, and an outlet port thereof is connected to the hook cylinder 8 via an oil passage 22 to which a pilot check valve 21 is connected. And the inlet ports of the second and third switching valves V ₂ and V ₃ are connected in parallel to the hydraulic oil passage 20, and the second switching valve V ₂ has outlet ports A and B with throttles and It is a three-position switching solenoid valve of the inlet port R connection type, and fixed throttles 23 and 24 are connected to the pressure oil side oil passages at the left and right positions thereof, respectively. The outlet port of the second switching valve V ₂ is connected to the lift cylinder 7 via an oil passage 26 to which the counter balance valve 25 is connected. The third switching valve V ₃ is a closed center type three-position switching solenoid valve, the outlet port of which is the counter balance valve 25.
Is connected to the lift cylinder 7 via an oil passage 27 connected to.

The expansion / contraction control of the hook cylinder 8 is performed by the switching control of the first switching valve V ₁ . That is, after driving the hydraulic pump P, if the first switching valve V ₁ is switched to the right position, the hook cylinder 8 is extended and the hook arm 5 moves.
Can be tilted rearward, and if the first switching valve V ₁ is switched to the left position, the hook cylinder 8 is contracted and the hook arm 5 can be tilted forward and stored.

The expansion / contraction control of the lift cylinder 7 is performed by the switching control of the second and third switching valves V ₂ and V ₃ . When the second and third switching valves V ₂ and V ₃ are simultaneously switched to the left position or the right position, fixed throttles 23 and 24 are provided in the pressure oil side oil passages at the left and right positions of the second switching valve. As a result, most of the pressure oil flowing through the hydraulic oil passage 20 is supplied from the third switching valve V _{3 having} a low resistance to the lift cylinder 7 via the counter balance valve 25.
Can be expanded and contracted at a relatively high speed, and the lift arm 4 can be swung forward and backward quickly.

By the way, when the third switching valve V ₃ is switched to the neutral position while the second switching valve V ₂ is located at either the left or right position, the pressure oil in the hydraulic oil passage 20 is changed to the second switching valve V 2. _Although it is supplied to the lift cylinder 7 through the counter balance valve 25 only through ₂ , the fixed throttles 23 and 24 are provided in the pressure oil side oil passages at the left and right positions of the second switching valve at this time. The amount of oil supplied to the lift cylinder 7 per unit time is limited, and the lift cylinder 7 is slowly expanded and contracted, whereby the lift cylinder 7 is also slowly rotated back and forth.

The lift cylinder 7 is raised as described above.
When operating at high speed, the second and third switching valves V₂, V₃At the same time
The reason for switching to
Valve V ₂Is left neutral and the third switching valve V₃Switch
And the third switching valve V₃The pressure oil from the second switching valve V₂Through
Because of the inconvenience of returning to the oil reservoir T,
In order to eliminate this inconvenience, the second switching valve V₂All neutral positions
It may be a block, but if this is done, the third switching valve
V₃Inertia of the lift cylinder 7 when is returned to the neutral position.
Even if the oil tries to return to the oil sump T by the force, the second switching valve becomes neutral.
The block at the position makes it impossible to return to the oil reservoir T
Risk of damaging or damaging the hydraulic circuit due to abnormally high pressure in the road
Occurs. Therefore, the second switching valve V₂As mentioned above
The open center type is adopted in.

FIG. 16 is a block diagram of the operation control of the cargo handling work by the cargo handling vehicle V. The cargo handling operation input section M is provided on the input side of the control means C having a control program built therein.
However, the control valve unit UV (switching valve V
_{1 to} V ₃ ) are respectively connected. And the cargo handling work is
Based on the operation input to the cargo handling operation input section M by the worker and the control program built in the control means C, the control means C outputs an operation signal to each of the switching valves V _{1 to} V ₃ to drive the drive means D.
(That is, the hook cylinder 8 as the hook driving means and the lift cylinder 7 as the lift driving means) are operated and controlled.

The cargo handling operation input section M is provided on an operation switch panel installed in a proper position of the vehicle body of the vehicle V. The operation of loading and unloading the container Ct (loading / discharging), the dumping operation, and the position of the hook arm. lowering a selecting switch SW _S for arbitrarily selecting and adjusting work, and raising the switch SW _U for operating raising the container for the selection switch SW _S each work mode selected by the same container for each work mode Down switch SW for operating
_{It has D} and. For example, when the "desorption" is selected by the selection switch SW _S , turning on the raising switch SW _U starts the container loading work, and the lowering switch SW
_{When D} is turned ON, the container unloading work can be executed respectively, and when "Dump" is selected by the selection switch SW _S , when the raising switch SW _U is turned ON, the container is dumped upward and the lowering switch SW _D
When is turned on, the container can be dumped downward. Further, when the "travel / adjustment" is selected by the selection switch SW _S and the raising switch SW _U is turned on, the hook arm 5 is rotated to the retracted position 5S ₅ side (rear in FIG. 22) and the lowering switch SW is also turned on. _{When D} is turned on, the arm 5 is rotated to the use position 5S ₃ side (front in FIG. 22),
Further, when both the raising and lowering switches SW _D are turned off, the vehicle can run.

Thus, the control means C includes the respective switches.
SW_S, SW_U, SW_DBased on the output signal of
The cylinder 8 and lift cylinder 7 to perform a predetermined sequential operation.
It includes a sequential operation control means for
The operation control means is the lift arm slow control means of the present invention.
And the function of the lift arm stop control means.
It In addition, the selection switch SW_S, Raising switch SW_U
And lowering switch SW _DThe cargo handling operation input section M including
It constitutes a clear arbitrary operation means.

Next, the operation of this embodiment will be described with reference to the flow charts of FIGS. [Unloading work of container Ct] (see FIG. 17) This is the work of unloading the container Ct mounted on the cargo handling frame 1 of the chassis F to the ground G. Now, the selection switch SW _S of the operation switch board is "removed. , And the lower switch SW _D is turned on, the hook cylinder 8
There are extended operation, the hook arm 5 in a retracted position 5S ₅
Swings backward (see FIGS. 1 and 2). The depending to move hook arm 5 until use position 5S ₃ 3 sensor S ₃
Is detected (see FIG. 14), the rearward swing of the hook arm 5 is stopped, the lift cylinder 7 starts extending, and the lift arm 4 is rotated rearward from the front rotation position 4F. Container C connected to this lift arm 4
While t moves backward, it tilts backward, and finally the rear end of the container Ct reaches the ground as shown in FIG.

Immediately before the front end of the container Ct comes into contact with the ground by further continuing the rearward movement of the lift arm 4 (that is, when the lift arm 4 reaches the first throw start position 4S ₁ ), the lift arm 4 causes the first One sensor S ₁ is detected (see FIG. 11). According to this detection signal, the third switching valve V ₃ is switched to the neutral position. As a result, as described above, the lift cylinder 7 has the second switching valve V ₂
The hydraulic oil is supplied through the lift arm 4 and the rearward rotation of the lift arm 4 becomes slow, and as a result, the container Ct is grounded (see FIG. 4).
Is performed bufferingly to reduce the impact applied to the container Ct, the chassis F of the cargo handling vehicle V, the cargo handling frame 1 and the like at the time of its grounding, and prevent their deformation and damage. Can be significantly reduced. After confirming the completion of grounding of the container Ct by operator's eyes, the work of lowering the container Ct to the ground G is completed, the selection switch SW _S is switched to “run / adjust”, and the lowering switch SW _D is turned off. To be done. The position of the lift arm 4 at this time is the rearward rotation position 4R.

Instead of completing the unloading work of the container Ct to the ground by the operator's visual inspection, the unloading work may be completed by the full stroke of the lift cylinder 7. In this case, it is confirmed that the container Ct has been grounded, the lift arm 4 is stopped at the rearmost rotation position by the full stroke of the lift cylinder 7, and the operation of lowering the container Ct to the ground G is completed.
W _S is switched to “run / adjust” and the lowering switch SW _D is turned off. In this case, the rearmost rotation position is the rearward rotation position 4R of the lift arm 4. [Hook arm position adjustment work prior to container loading]
(Refer to FIG. 18) When starting the work of loading the container Ct waiting on the ground G on the chassis F of the cargo handling vehicle, first, the container C is loaded.
Although it is necessary to lock the tip of the hook arm 5 to t, even if the vehicle V is retracted to the front of the container Ct, there is still a positional deviation between the engaging portion 17 of the container Ct and the hook 6 at the tip of the hook arm 5. In some cases, hook arm 5
Swing to adjust the position. This adjustment work may be performed by appropriately turning on / off the raising switch SW _U or the lowering switch SW _D while holding the selection switch SW _S in “travel / adjustment”. At this time, the lift arm 4 moves to the first throw start position 4S ₁ If it is on the rear side (that is, if the first sensor S ₁ is in the detection state), the hook arm 5 can be arbitrarily adjusted to the storage position 5S ₅ side or the use position 5S ₃ side.

For example, as shown by a chain line in FIG. 22, a vehicle V
When the hook 6 at the tip of the hook arm 5 does not reach the engaging portion 17 of the container Ct due to the fact that the backward approaching movement of the container Ct side is restricted due to the wheel stopper St, etc., the hook arm 5 The arm 6 is swung to the retracted position 5S ₅ side (that is, rearward side), whereby the hook 6 of the arm 5 is moved.
Can be engaged with the engaging portion 17 of the container Ct. [Loading Work of Container Ct] (See FIGS. 19 and 22) Prior to loading the container Ct onto the chassis F, the vehicle V is appropriately retracted to the container Ct side or the position of the hook arm 5 is adjusted as described above. The hook 6 at the tip of the hook arm 5 can be locked by the engaging portion 17 of the container Ct. Then, select switch S on the operation switch panel
The W _S along with the switch to the "desorption", up switch SW _U
When is turned on, the lift arm 4 which has been in the rearward turning position 4R is turned forward and the loading of the container Ct onto the chassis F is started.

Then, when the first sensor S ₁ detects that the lift arm 4 has reached the throw start position 4S ₁ , if the hook arm 5 is in the use position 5S ₃ (that is, the third sensor S ₃ detects it). The forward rotation of the lift arm 4 is continued as it is. On the other hand, when the lift arm 4 reaches the first throw start position 4S ₁ , if the hook arm 5 is closer to the storage position 5S ₅ than the use position 5S ₃ (that is, the third sensor S ₃ is in the detection state). For example, the forward rotation of the lift arm 4 is temporarily stopped, and the worker operates the cargo handling operation input section M while using the hook arm 5 while monitoring the positional relationship between the vehicle V and the container Ct in this temporarily stopped state. Swing to return to position 5S ₃ .

The return swinging process of the hook arm 5 by the operation input to the cargo handling operation input section M will be specifically described with reference to FIG. That is, while the forward rotation of the lift arm 4 is temporarily stopped as described above, the selection switch SW _S
Switch to "Run / Adjust" and lower switch SW _D
When turned on, the hook arm 5 can be swung downward toward the use position 5S ₃ . During this downward swing, the worker constantly monitors the positional deviation between the vehicle V and the container Ct by visual observation, and as shown in [1] of FIG. 23, the bottom corner portion of the container Ct is caused by the positional deviation. When a collision is about to occur near the rear corner of the vehicle body, the lowering switch SW _D is turned off to stop the downward swing of the hook arm 5. Then, as shown in FIG. 23 [2], the vehicle V is moved slightly forward to correct the positional deviation from the container Ct (that is, the vertical centerlines of both containers are aligned on the same line), and then [3] in FIG. 23. Turn down switch SW _D to O again as shown in
N to restart the downward swing of the hook arm 5 and thus avoid the collision and use position 5 of the hook arm 5.
The return operation to S ₃ can be performed without any trouble.

When the third sensor S ₃ detects that the hook arm 5 has reached the use position 5S ₃ , the downward swing of the hook arm 5 is automatically stopped. Therefore, the selection switch SW _S is switched to “detachment” again and the raising switch SW _U is turned on to restart the forward rotation of the lift arm 4.

As the lift arm 4 continues to rotate forward, just before the lift arm 4 is stored, the second sensor S ₂ is detected by the lift arm 4 (see FIG. 12). According to this detection signal, the third switching valve V ₃ is switched to the neutral position, the pressure oil is supplied to the lift cylinder 7 only through the second switching valve V ₂ , and the lift arm 4 is stored just before being stored. The rotation becomes slow, and as a result, the container Ct is slowly installed on the cargo handling frame 1 on the chassis F as a buffer, and the impact applied to the container Ct, the chassis F, the cargo handling frame 1 and the like at the time of the installation is mitigated. At the same time, they can be prevented from being deformed or damaged, and the generation of noise can be significantly reduced.

When the container Ct is installed on the chassis F and the lift arm 4 returns to the storage position, the fourth sensor S ₄ (see FIG.
3 reference) is detected, the rotation of the front of the lift arm 4 is stopped, then when the hook arm 5 hooks cylinder 8 is contracted actuated Itare the retracted position 5S ₅ swings forwardly,
The fifth sensor S ₅ (see FIG. 14) is detected, the forward swing of the hook arm 5 is stopped, the loading operation of the container Ct is completed, and the selection switch SW _S is set to “run / adjust”.
And the raising switch SW _U is turned off.

In this way, at the time of starting the loading operation of the container Ct, the hook arm 5 is locked by the above-mentioned position adjustment so that the hook arm 5 and the container Ct are locked to the use position 5.
Even when the lift arm 4 is moved forward from S ₃ to the retracted position 5 S ₅ side in the process of rotating the lift arm 4 forward after locking, the lift arm 4 is moved before the lift arm 4 reaches the highest position due to the forward rotation. 4 is automatically stopped at a predetermined intermediate rotation position (first throw start position 4S _{1 in} the illustrated example), and during that stop, the hook arm 5 is moved to the use position 5S based on the operation input to the cargo handling operation input section M. _Since it is possible to move and return up to ₃ at any time, the maximum return height of the tip of the hook arm 5 (and therefore the container Ct) in the forward rotation process of the lift arm 4 can be minimized by the return to the movement, and the container Ct can be stacked. Stabilization of the unloading operation is achieved, and restrictions on the work place for container unloading are reduced. Moreover, such work of moving and returning the hook arm 5 to the use position 5S ₃ is performed at any time based on the operation input to the cargo handling operation input section M while the operator visually checks the relative positional relationship between the container Ct and the vehicle V. Because it can be done, the container C is in the middle of the movement return
When the bottom of t is about to collide with a part of the vehicle body, the movement returning operation of the hook arm 5 is temporarily stopped to correct the positional deviation between the container Ct and the vehicle V, and then the movement returning operation of the hook arm 5 is restarted. Since it is possible to effectively avoid the collision, it is effective in preventing damage to the vehicle body or the like due to the collision, and there is also no risk of the container Ct accidentally coming off the hook arm 5.

Further, in this embodiment, the timing for automatically stopping the forward rotation of the lift arm 4 is set as follows.
For the time of backward rotation is to be determined based on the first detection signal of the sensor S ₁ for detecting the first slow start position 4S _1, simplifies the correspondingly control configuration, cost savings can be achieved.

[Dump work for container Ct] (Fig. 2
0) This is a work to dump the container Ct on the chassis F.
So, the lift arm 4 and the dump arm 3 are integrated.
Is tilted backwards. Container Ct installed on chassis F
The lift cylinder 7 and the hook cylinder 8
When all of them are stored, select the operation switch board.
Select switch SW_SSwitch to “Dump” and lift
Switch SW_UWhen turned on, the hook arm 5 retracts
Position 5S _FiveSince it remains as it is,
Integrated with the pump arm 3 by the lashing operation of the lashing mechanism L.
The lift cylinder 7 is extended and the
The lift arm 4 and the dump arm 3 are lifted together to
The tenor Ct tilts rearward around the shaft fulcrum of the dump arm 3.
It Then, by the most extension of the lift cylinder 7, the container C
t is fully dumped (see FIG. 5). And select switch
Ji SW_SIs switched to “Run / Adjust” and
Switch SW_UIs turned off and the container Ct is in the dump position
Is stopped.

In this case, the second and third switching valves are operated at the same time all the time, and the pressure oil is mainly the third switching valve V _{3 having} a small resistance.
The lift arm 4 is supplied to the lift cylinder 7, and the lift arm 4 is not operated slowly.

[Dump work for container Ct] (Fig. 2
(Refer to 1) In the work of lowering these fully dumped containers Ct and installing them on the chassis F, if the selection switch SW _S of the operation switch panel is switched to “dump” and the lowering switch SW _D is turned ON. By the contraction operation of the lift arm 4, the lift arm 4 and the dump arm 3 descend as they are. The second sensor S ₂ (see FIG. 12) is detected by the lift arm 4 immediately before the container Ct is laid down on the cargo handling frame 1 on the chassis F. As a result, the third switching valve V ₃ is switched to the neutral position, and the pressure oil is supplied to the lift cylinder 7 through only the second switching valve,
The container Ct slowly descends and the cargo handling frame 1 of the chassis F is
Stored on top. As a result, the container Ct descends slowly onto the cargo handling frame 1 on the chassis F as a buffer, and the impact applied to the container Ct, chassis F, cargo handling frame 1 and the like during the descending is alleviated and their deformation and damage are caused. And the generation of noise can be significantly reduced. When the lift arm 4 is stored together with the dump arm 3, the lift arm 4 detects the fourth switch (see FIG. 13), the descent of the lift arm 4 is completed, and the selection switch SW _S is set to “travel / adjustment”. At the same time, the lowering switch SW _D is turned off.

Next, a second embodiment of the present invention will be described with reference to FIGS. In this embodiment, the base of the hook arm 5 is supported on the front end of the lift arm 4 so as to be slidable back and forth, and a hook is provided between the retracted limit storage position 5S ₅ and the retracted limit use position 5S _3. The arm 5 is adapted to be capable of reciprocating movement, and the dump arm 3 is provided with a first locking claw 11 ', and the container Ct is provided with a second locking claw 11'.
When the hooks 5 are in the retracted position 5S ₅ , the locking claws 10 'are fixed to each other, and both locking members 10', 1
1'becomes in a locked state with each other, and the lift arm 4 rotates integrally with the dump arm 3 so that both arms 3, 4
While allowing dump container Ct above, Ryokakaritome member 10 when the hook arm 5 is in the use position 5S ₃ ', 11' containers by a single rotation of the lift arm 4 is mutually disengaged state Ct can be loaded and unloaded between the cargo handling frame 1 and the ground G. Since the structure of the second embodiment is conventionally known and the other structures are basically the same as those of the first embodiment, the same reference numerals as those of the first embodiment are attached to the respective constituent members. The detailed structural description will be omitted.

Thus, also in the second embodiment, the same operational effect as that of the first embodiment can be obtained. For example, when loading the container Ct on the chassis, the hook arm 5
Even if the hook arm 5 is slid from the use position 5S ₃ to the storage position 5S ₅ side by the position adjustment (see FIG. 26) similar to that of the first embodiment in order to lock the container Ct and the container Ct, after the locking. In the process of rotating the lift arm 4 forward, the hook arm 5 is moved to a predetermined intermediate rotation position (the illustrated example) before the tip of the hook arm 5 reaches the uppermost position as the lift arm 4 rotates forward. Then, it can be automatically stopped at the first throw start position 4S ₁ ), and during that stop, the hook arm 5 can be slid back to the use position 5S ₃ at any time based on the operation input to the cargo handling operation input section M. it can.

Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments and various embodiments can be made within the scope of the present invention. For example, in the above embodiment, the proximity switch was used as the sensor,
Instead of this, a conventionally known switch having the same effect such as a limit switch may be used. Further, the hook provided at the tip of the hook arm 5 may be rotatable relative to the hook arm 5 by a cylinder or the like. Further, in the above embodiment, when the tip of the hook arm 5 is locked to the container Ct based on the movement of the hook arm 5 to the storage position 5S ₅ side, the same operation is performed in the forward rotation process of the lift arm 4 after the locking. The intermediate rotation position at which the arm 4 is automatically stopped coincides with the first throw start position 4S _1. However, in the present invention, the intermediate rotation position is set to the front side or the rear side of the first throw start position 4S _1. Of course, in this case, it is necessary to provide a sensor corresponding to the intermediate rotation position for detecting the same position.

[0056]

As described above, according to the invention of claim 1,
If the tip of the hook arm does not reach the container due to restrictions such as the backward movement of the vehicle when starting the loading operation of the container, the hook arm is moved from the use position to the storage position side based on the operation input to the arbitrary operation means. (That is, the rear side of the vehicle)
It is possible to approach and lock the end of the arm to the container by moving the arm arbitrarily.

When the hook arm tip is locked to the container based on such movement of the hook arm to the storage position side, the hook arm tip is moved up as the lift arm is rotated forward after locking. Before the position is reached, the lift arm is automatically stopped at the predetermined intermediate rotation position, and during the stop, the hook arm is moved and returned to the use position at any time based on the operation input to the arbitrary operation means. By the movement return, the maximum lift height of the hook arm tip (and thus the container) in the forward rotation process of the lift arm can be made as low as possible, so that the loading / unloading operation of the container can be stabilized as much as possible. In addition, restrictions on the loading / unloading workshop can be reduced as much as possible.
Moreover, such a movement return operation of the hook arm can be performed at any time by appropriately operating an arbitrary operation means while the operator visually checks the relative positional relationship between the container and the vehicle.
If the bottom of the container is about to collide with a part of the vehicle body during the movement return, it is possible to stop the hook arm once to correct the positional deviation between the container and the vehicle, and then restart the movement return operation of the hook arm. Therefore, since the collision can be effectively avoided, it is effective in preventing damage to the vehicle body or the like due to the collision, and the locked state between the container and the hook arm can always be accurately maintained.

Further, in particular, according to the invention of claim 2, a sensor for detecting that the lift arm has reached a predetermined throw start position immediately before the backward rotation position, and the lift drive means based on the detection signal of this sensor. When the lift arm is rotated backward, the lift arm slow control means for slowing the rotation speed of the lift arm from the throw start position to the rear rotation position than the previous rotation speed is provided. When unloading a container, immediately before the container is grounded, that is, immediately before the sensor detects the throw start position, the lift arm can be relatively swung rearward to speed up the work. Also, when the sensor detects the throw start position immediately before the container is grounded, the rotation speed of the lift arm is slowed to slow down the container movement. The impact at the time of the grounding of can be significantly reduced. In addition, since the lift arm stop control means determines the timing for automatically stopping the lift arm based on the detection signal of the sensor, the control structure can be simplified and the cost can be reduced.

[Brief description of drawings]

FIG. 1 is a side view showing a state of a cargo handling vehicle according to a first embodiment when a container is completely mounted (at the time of traveling).

FIG. 2 is a side view of the cargo handling vehicle showing a state at the time of starting the backward movement of the container (at the time of starting the unloading).

FIG. 3 is a side view of the cargo handling vehicle showing a state when the container is in contact with the ground (when the container is maximally tilted).

FIG. 4 is a side view of the cargo handling vehicle showing a grounded state of the container.

FIG. 5 is a side view of the cargo handling vehicle showing a state at the time of dumping the container.

FIG. 6 is a side view of the cargo handling frame.

FIG. 7 is a plan view of the cargo handling frame.

8 is a sectional view taken along line 8-8 of FIG.

FIG. 9 is an enlarged view of a portion indicated by an arrow 9 in FIG.

FIG. 10 is an enlarged view of a portion indicated by an arrow 10 in FIG.

11 is a schematic view taken along line 11-11 of FIG.

12 is a schematic view taken along line 12-12 of FIG.

13 is a schematic view taken along line 13-13 of FIG.

FIG. 14 is a schematic view taken along line 14-14 of FIG.

FIG. 15 is a hydraulic circuit diagram of a hook cylinder and a lift cylinder.

FIG. 16 is an operation control block diagram of cargo handling work.

FIG. 17: Flow chart of container unloading work

FIG. 18 is a flowchart of the hook arm position adjustment work prior to loading the container.

FIG. 19: Flow chart of container loading work

FIG. 20: Flow chart of dumping work of container

FIG. 21: Flow chart of container dumping work

FIG. 22 is a view corresponding to FIG. 4, showing a state where the hook arm does not reach the container at the time of starting loading the container.

FIG. 23 is an explanatory view schematically showing the procedure for visually returning the hook arm to the use position when the vehicle and the container are misaligned during the container loading process.

FIG. 24 is a diagram corresponding to FIG. 1 of the cargo handling vehicle of the second embodiment.

FIG. 25 is a view of the cargo handling vehicle of the second embodiment corresponding to FIG.

FIG. 26 is a view of the cargo handling vehicle of the second embodiment corresponding to FIG. 22.

[Explanation of symbols]

1 --- Cargo handling frame 3 --- Dump arm 4 --- Lift arm 4F --- Lift arm forward rotation position 4R --- · Rearward rotation position of lift arm 4S ₁ ··· Throw start position 5 as a predetermined intermediate rotation position ··· · Hook arm 5S ₃ ··· Hook arm use position 5S ₅ ...... Hook arm storage position 7 ...... Lift cylinder as lift drive means 8 ...... Hook cylinder C as hook drive means ...... Lift arm Control means Ct as slow control means and lift arm stop control means ... Container F ..... Chassis M ..... Cargo handling operation input section S ₁ as arbitrary operation means ... The first sensor as a sensor

Claims (2)

[Claims] 1. A cargo handling frame (1) mounted on a chassis (F), a dump arm (3) having a base portion pivotally supported at a rear portion of the cargo handling frame (1), and the dump arm (3).
A lift arm (4) pivotally supported at the tip of the hook, and a hook arm (5) attached to the tip of the lift arm (4) and capable of detachably locking the container (Ct) at the tip. Lift drive means (7) capable of forcibly rotating the lift arm (4), a hook arm (5) at a predetermined storage position (5S ₅ ) with respect to the lift arm (4), and the storage position (5S ₅ ).
Also a dump arm (3) toward the use position the hook drive means (8) capable of forcing movement between (5S ₃₎ from,
By independently rotating the lift arm (4) with respect to the dump arm (3) between a predetermined front rotation position (4F) and a predetermined rear rotation position (4R), the container (Ct) is moved to the cargo handling frame (1). And the ground (G) can be loaded and unloaded, and the lift arm (4) is integrally rotated with the dump arm (3) to dump the containers (Ct) on both arms (3, 4). In the cargo handling vehicle that is capable of controlling the operation of the hook driving means (8) arbitrarily, the hook arm (5) is stored at the storage position (5S ₅ ) and the use position (5S ₃ ).
Arbitrary operation means (M) for arbitrarily moving between and
When the lift arm (4) is placed at the rearward rotation position (4R) and the loading operation of the container (Ct) is started, the hook arm (5) corresponding to the operation input to the arbitrary operation means (M).
Of the hook arm (5) from the use position (5S ₃ ) to the storage position (5S ₅ ) side of the container (C).
When the lift arm (4) is approached and locked to t), the lift arm (4) is moved to a predetermined position before the tip of the hook arm (5) reaches the maximum lift position as the lift arm (4) rotates forward after locking. A lift arm stop control means (C) for controlling the lift drive means (7) so as to automatically stop at the intermediate rotation position (4S ₁ ) is provided, and the lift arm (4) is controlled by the lift arm stop control means (C). While stopping at the intermediate rotation position (4S ₁ ), the hook arm (5) is moved and returned to the use position (5S ₃ ) at any time based on the operation input to the arbitrary operation means (M). A cargo handling vehicle characterized by the above. 2. A lift arm (4) is provided with a rear pivot position (4).
R) A sensor (S ₁ ) for detecting that the predetermined slow start position (4S ₁ ) immediately before has been reached, and the lift drive means (7) is controlled based on the detection signal of this sensor (S ₁ ). The lift arm (4), when the lift arm (4) is rotated rearward, makes the rotation speed thereof slower than the previous rotation speed from the throw start position (4S ₁ ) to the rear rotation position (4R). The lift arm stop control means (C) includes a slow control means (C), and the lift arm stop control means (C) automatically determines a timing at which the forward rotation of the lift arm (5) is automatically stopped at the intermediate rotation position (4S ₁ ). The cargo handling vehicle according to claim 1, wherein the cargo handling vehicle is determined based on the detection signal of ₁ ).