JP2003250203A - Running vehicle having cargo work function - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle which can prevent an ascending speed of a spreader device from dropping extremely and also is excellent in drive efficiency and has a cargo work function easy of control, in the case of performing the running by running wheels and the cargo work by the spreader device. <P>SOLUTION: The main body of the vehicle is equipped with an electric motor 10 for running which drives the running wheel 9, an inverter 29 for running which drives the electric motor 10 for running, an electric motor 15 for cargo work which lifts up and down the spreader device, an inverter device 30 for cargo work which drives the electric motor 15 for cargo work, a generator 32 which generates power to be supplied to each electric motor 10 and 15, an engine 33 which drives the generator 32, and a controller 34 which controls upper limit value of the power to be supplied from the generator 32 to the electric motor 10 for running. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle having a cargo handling function, which is used for unloading and transporting containers and the like.

[0002]

2. Description of the Related Art Conventionally, as a traveling vehicle having a cargo handling function of this kind, for example, as shown in FIGS. 12 and 13, when a large container 70 is lifted for transportation, transfer or stacking. The container carrier vehicle 71 used is mentioned. Vehicle body 72 of this container carrier vehicle 71
A pair of left and right traveling wheels 73 are provided in a lower portion of the vehicle. Of these, one of the front and rear traveling wheels 73 located on the left and right sides and the front and rear traveling wheels 73 located on the left and right other sides are respectively rotationally driven by the traveling electric motor 74.

Further, the vehicle main body 72 includes a container 7
Spreader device 7 for lifting and lowering 0
5 is suspended from a plurality of chains 76. The spreader device 75 is lifted and lowered by a plurality of cargo handling hydraulic cylinder devices 77 provided in the vehicle body 72. That is, the lower end of the folded portion 76a of each chain 76 meshes with the sprocket 78 provided at the tip of the piston rod 77a of the loading hydraulic cylinder device 77, and when the piston rod 77a is shortened downward, the folded portion 76
When the lower end of a is pulled down and the spreader device 75 rises, and the piston rod 77a extends upward,
The lower end of the folded portion 76a is pulled up and the spreader device 75 is lowered. In addition, the spreader device 75 has a twist lock (not shown) that is detachable from the container 70.
Is provided, and the spreader device 7 is provided by a twist lock.
5 and the container 70 are connected / disconnected.

Further, in a driver's cab 79 provided in the vehicle main body 72, a steering wheel 80 for turning the traveling wheels 73 left and right, an accelerator pedal 81 for changing the torque of the traveling electric motor 74, and a spreader device. A cargo handling lever 82 for raising and lowering 75 is provided.

FIG. 13 is a block diagram of the traveling and cargo handling drive system of the vehicle 71. In the vehicle body 72, the traveling inverters 83 for driving the traveling electric motors 74 and the cargo handling hydraulic cylinder device, respectively. Hydraulic pump 84 for cargo handling that supplies hydraulic oil to 77, and piston rod 77
A switching valve 90 for switching the expansion / contraction operation of a, a generator 85 for generating electric power supplied to the traveling electric motor 74 and the traveling inverter 83, and a diesel engine for driving the generator 85 and the cargo handling hydraulic pump 84. 86
And a control device 87.

The generator 85 and the hydraulic pump 8 for cargo handling
Each shaft of 4 is connected in series to the rotating shaft of the diesel engine 86. When the diesel engine 86 is driven, electric power is generated in the generator 85, and hydraulic oil is supplied to the hydraulic cylinder device 77 for cargo handling by the hydraulic pump 84 for cargo handling. The diesel engine 33 is maintained at a constant rotation speed by a governor (not shown).

In the generator 85, the field current is controlled by a generator voltage regulator (AVR) 88 so that the generated voltage becomes constant, and the electric power generated by the generator 85 is used for traveling. It is supplied to the traveling inverter 83 and the traveling electric motor 74 via the conductor 89.

According to this, when the operator in the driver's cab 79 performs a starting operation, the control device 87 causes the engine 8 to operate.
When a start signal is output to 6 and a control start signal is output to AVR 88, engine 86 is rotated at a constant rotation speed (for example, 1800 rpm), whereby power generation is started in generator 85 and cargo handling is performed. The hydraulic pump 84 for use is driven. At this time, the AVR 88 controls the generated voltage to be constant.

In this initial state, when the operator depresses the accelerator pedal 81, the control device 87 obtains a motor torque corresponding to the depression amount of the accelerator pedal 81, and outputs the motor torque to the traveling inverter 83. Each traveling inverter 83 controls the torque of the traveling electric motor 74 so as to obtain the torque signal input from the control device 87, and the traveling speed of the vehicle 71 is controlled.
At this time, the necessary electric power is obtained by adjusting the field current by the AVR 88 and supplied from the generator 85.
In this way, the traveling speed of the vehicle 71 is controlled by controlling the torque of the traveling electric motor 74 by controlling the amount of depression of the accelerator pedal 81 while keeping the rotation speed of the engine 86 constant.

Further, when the operator operates the cargo handling lever 82 to the upward side, a switching signal is output from the control device 87 to the switching valve 90, and hydraulic oil is transferred from the cargo handling hydraulic pump 84 to the cargo handling hydraulic cylinder device 77. It is supplied to the rod side, and the piston rod 77a is shortened downward. As a result, the spreader device 75 moves up. On the contrary, by operating the cargo handling lever 82 to the lower side, hydraulic oil is supplied from the cargo handling hydraulic pump 84 to the tail side of the cargo handling hydraulic cylinder device 77, and the piston rod 77a extends upward. As a result, the spreader device 75 moves down. Therefore, the container 70 can be moved up and down together with the spreader device 75 by moving the spreader device 75 up and down as described above while the spreader device 75 and the container 70 are connected by a twist lock (not shown).

The reason why the rotation speed of the engine 86 is constant is that the frequency of electricity generated from the generator 85 is constant.

[0012]

However, in the above-mentioned conventional type, when the work of running the vehicle 71 and the work of raising the spreader device 75 to raise the container 70 are performed at the same time, the output of the engine 86 is the generator. 85
Power required to drive the cargo and the hydraulic pump 84 for cargo handling
And the power required to drive them.

Since a large load is applied when the vehicle 71 is started from a stopped state, the traveling electric motor 74 needs to rotate the traveling wheels 73 with a large torque. Therefore, the generator 85 is used for traveling. The generated power output to the inverter 83 increases. Therefore, most of the output of the engine 86 is consumed as the power of the generator 85, and the power of the cargo handling hydraulic pump 84 becomes insufficient accordingly, and the rising speed (driving speed) of the spreader device 75 is extremely slow. There was a problem such as becoming.

Further, in the above-mentioned conventional type, in order to move the spreader device 75 up and down, the cargo handling hydraulic cylinder device 77 is used.
And the hydraulic pump 84 for cargo handling are used, but generally, the hydraulic cylinder device 77 for cargo handling and the hydraulic pump 8 for cargo handling are used.
The driving efficiency of No. 4 is low (the driving loss is large), and a large amount of power is required to drive the cargo handling hydraulic cylinder device 77 and the cargo handling hydraulic pump 84. Therefore, when the traveling of the vehicle 71 and the raising and lowering of the spreader device 75 are performed at the same time, there arises a problem that the power of the cargo handling hydraulic pump 84 and the generator 85 tends to be insufficient.

Further, in the above conventional type, the engine 8 is used.
Since the rotation speed of 6 is constant, the cargo handling hydraulic pump 8
4 is a load applied to the spreader device 75 (container 7
A variable displacement pump whose discharge amount can be changed according to the weight (0) is used. However, the variable displacement pump has a problem that it is generally difficult to control hydraulic pressure.

According to the present invention, when the traveling by the traveling device (for example, traveling wheels) and the cargo by the cargo handling device (for example, the spreader device) are simultaneously performed, it is possible to prevent the driving speed of the cargo handling device from being extremely lowered, and It is an object of the present invention to provide a traveling vehicle having a cargo handling function that has good driving efficiency and is easy to control.

[0017]

In order to achieve the above object, a traveling vehicle having a cargo handling function according to the first aspect of the present invention is provided.
A traveling electric motor for driving a traveling device, a traveling inverter for driving the traveling electric motor, a cargo handling electric motor for driving the cargo handling device, and a cargo handling inverter for driving the cargo handling electric motor in the vehicle body. A generator for generating electric power supplied to each of the electric motors and the inverters, and an engine for driving the generator,
And a controller for controlling an upper limit value of electric power supplied from the generator to the electric motor for traveling through the inverter for traveling, wherein the controller causes the vehicle body to travel with the cargo handling device stopped. , If the upper limit of the electric power supplied to the electric motor for traveling is made equal to the rated output of the generator and the vehicle body is traveling while driving the cargo handling device under a load, supply to the electric motor for traveling. The upper limit of the electric power supplied to the electric motor for traveling when the upper limit of the electric power that is generated is limited to A% of the rated output of the generator and the vehicle body is traveling while the cargo handling device is being driven in the unloaded state. Is limited to B% of the rated output of the generator and the cargo handling device is driven with the vehicle main body stopped, the electric power supplied to the traveling electric motor is set to 0, and the values of A and B are set to 0. % <A <Are those set in the B% <100% of the relationship.

According to this, by starting the engine, the generator is driven, and electric power is supplied from the generator to the traveling electric motor and the cargo handling electric motor through the traveling inverter and the cargo handling inverter. . As a result, the traveling device is driven to drive the vehicle body, and the cargo handling device is driven to move the load. At this time, if the load is small, the electric power generated from the generator is also small, and as the load increases,
The generated power also increases.

In the traveling and cargo handling work as described above,
The control device performs the following controls. When the vehicle body travels with the cargo handling device stopped, the control device sets the upper limit value of the electric power supplied to the traveling electric motor to be equal to the rated output of the generator. As a result, all the generated electric power output from the generator is supplied to the traveling electric motor, so that the power of the traveling electric motor is sufficiently secured.

When the vehicle body is run while driving the cargo handling device under a load, the control device limits the upper limit of the electric power supplied to the running electric motor to A% of the rated output of the generator. To do. As a result, even when electric power corresponding to the rated output is generated from the generator, only electric power corresponding to A% of the rated output is supplied to the traveling electric motor, and the remaining electric power (of the rated output (100
Electric power) corresponding to −A%) is supplied to the electric motor for cargo handling. As a result, all the generated electric power is not supplied to the electric motor for traveling, and a large amount of electric power required to drive the cargo handling apparatus in a loaded state is reliably ensured. It is possible to prevent the driving speed from extremely decreasing.

When the vehicle body is run while driving the cargo handling device with no load, the control device limits the upper limit value of the electric power supplied to the running electric motor to B% of the rated output of the generator. . As a result, even when electric power corresponding to the rated output is generated from the generator, only electric power corresponding to B% of the rated output is supplied to the traveling electric motor, and the remaining electric power (of the rated output (100-B%)
Power corresponding to the electric power) is supplied to the electric motor for cargo handling. As a result, all the generated electric power is not supplied to the traveling electric motor, and only the small amount of electric power required to drive the cargo handling device in the unloaded state is reliably ensured. It can also use considerable power. In the unloaded state, the power required to drive the cargo handling device is smaller than that in the loaded state, so that A% <B% is set.

When the cargo handling device is driven with the vehicle body stopped, the control device sets the electric power supplied to the traveling electric motor to zero. As a result, all the generated electric power output from the generator is supplied to the cargo handling electric motor, so that the power of the cargo handling electric motor is sufficiently secured.

Further, since the cargo handling electric motor and the generator are used to drive the cargo handling apparatus, the driving efficiency is improved as compared with the case where the conventional cargo handling hydraulic pump and cargo handling hydraulic cylinder device are used. Therefore, the load on the engine is reduced.

Further, by using the electric motor for cargo handling instead of the conventional hydraulic cylinder device for cargo handling, the conventional variable displacement type hydraulic pump for cargo handling is not required and the control can be easily performed.

In the traveling vehicle having the cargo handling function according to the second aspect of the present invention, wheels are provided as a traveling device, and the cargo handling device is configured to be movable up and down to raise and lower the load. A detachable engagement device is provided, and traveling operation means for changing the torque of the traveling electric motor, elevating operation means for elevating and lowering the cargo handling device, an engagement position for engaging the engagement device with a load, and a load Switching operation means for switching to a separation position for separation is provided, and when the traveling operation means is operated, the control device determines that the vehicle body is traveling, and the elevating operation means operates to the ascending side. If the cargo handling device is moving upward, it is determined that the cargo handling device is moving downward when the elevating operation means is operated to the lower side, and the switching operation means is moved to the engaging side. Negative if operated There and determines, when the switching operation means is operated in the detachable side, in which it is determined that the no-load.

According to this, by starting the engine, the generator is driven, and electric power is supplied from the generator to the traveling electric motor and the cargo handling electric motor through the traveling inverter and the cargo handling inverter. .

At this time, when the operator operates the traveling operation means, the traveling electric motor is driven to rotate the wheels and the vehicle body travels. Further, when the operator operates the raising / lowering operation means to the ascending side, the cargo handling electric motor is driven, and the cargo handling apparatus is raised. Further, when the elevating operation means is operated to the descending side, the cargo handling device descends. Further, when the operator operates the switching operation means to the engagement side, the engagement device is switched to the engagement position to engage the load, and the cargo handling device is connected to the load to hold the load. When the switching operation means is operated to the disengagement side, the engagement device is switched to the disengagement position to disengage from the load, and the cargo handling device is disconnected from the load. as mentioned above,
The load is lifted and lowered by raising and lowering the cargo handling device while the cargo handling device and the load are connected by the engagement device.

In the traveling and cargo handling work as described above,
The control device performs the following controls. When traveling the vehicle body with the cargo handling device stopped, the operator operates the traveling operation means. As a result, the control device determines that the vehicle body is traveling, and makes the upper limit value of the electric power supplied to the traveling electric motor equal to the rated output of the generator.

As a result, all the electric power generated from the generator is supplied to the electric motor for traveling, so that the power of the electric motor for traveling is sufficiently secured. When the load is held by the cargo handling device and the vehicle body is caused to travel while the cargo handling device is being raised, the operator operates the switching operation means to the engagement side and the lifting operation means to the elevation side to change the travel operation means. Manipulate. As a result, the control device determines that the vehicle body is traveling while the cargo handling device is moving upward while the load is present (that is, the load is connected to the cargo handling device), and is supplied to the traveling electric motor. Limit the upper limit of electric power to A% of the rated output of the generator.

As a result, even when electric power corresponding to the rated output is generated from the generator, only electric power corresponding to A% of the rated output is supplied to the traveling electric motor, and the remaining electric power ( Electric power corresponding to (100-A%) of the rated output is supplied to the cargo handling electric motor. As a result, all the generated electric power is not supplied to the electric motor for traveling, and the electric power necessary to raise the cargo handling device in the loaded state (that is, the state in which the load is connected) is ensured. Since this is ensured, it is possible to prevent the ascending speed of the cargo handling device from extremely decreasing.

When traveling the vehicle body while raising the cargo handling device in an empty state without holding a load, the operator operates the switching operation means to the detaching side and the elevating operation means to the ascending side to perform the traveling operation. Operate the means. As a result, the control device determines that the vehicle body is traveling while the empty cargo handling device is moving upward in the unloaded state (that is, the state in which the load is not connected to the cargo handling device), and the electric motor for traveling is selected. The upper limit of the supplied power is limited to B% of the rated output of the generator.

As a result, even when electric power corresponding to the rated output is generated from the generator, only electric power corresponding to B% of the rated output is supplied to the traveling electric motor, and the remaining electric power ( Electric power corresponding to (100-B%) of the rated output is supplied to the electric motor for cargo handling. As a result, all the generated electric power is not supplied to the traveling electric motor, and the electric power required to raise the cargo handling apparatus in the no-load state is reliably ensured, so that the rising speed of the cargo handling apparatus is increased. It can be prevented from being extremely lowered. It should be noted that in the unloaded state, the power required to raise the cargo handling device is smaller than that in the loaded state described above, so A% <B% is set.

When raising and lowering the cargo handling apparatus with the vehicle body stopped, the operator operates the raising and lowering operation means to the upside or downside. As a result, the control device determines that the cargo handling device is moving up and down, and sets the electric power supplied to the traveling electric motor to zero. As a result, all the generated power output from the generator is supplied to the cargo handling electric motor,
Sufficient power is secured for the cargo handling electric motor.

[0034]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. As shown in FIGS. 5 to 7, 1 is a container carrier vehicle (an example of a traveling vehicle)
In addition, a large container 2 (an example of a load) is hoisted, transported, transferred and stacked, and is mainly used in a container yard such as a wharf.

The vehicle body 3 of the container carrier vehicle 1 is
A pair of left and right lower frames 4, a pair of front and rear struts 5 standing upright on both lower frames 4, an upper horizontal frame 6 provided between the upper ends of the left and right struts 5, and an upper end of the front and rear struts 5. And a space for accommodating the container 2 in the center.

On each of the lower frames 4, a plurality of front and rear traveling wheels 9 (an example of a traveling device) and one of the plurality of front and rear traveling wheels 9 located on one side of the left and right sides and on the other side of the left and right sides are disposed. A traveling electric motor 10 that rotationally drives one of the front and rear traveling wheels 9 is provided.

In addition, a spreader device 12 (an example of a cargo handling device) for raising and lowering the container 2 is suspended from a plurality of wires 13 on the vehicle body 3. One lower frame 4 is provided with four (plural) drums 14 for winding the wire 13. Two of these drums 14 are connected to a cargo handling electric motor 15 with a brake 15a.

By driving the electric motor 15 for cargo handling, the wire 13 is wound around each drum 14, and the spreader device 12 is raised. By operating the brake 15a of the cargo handling electric motor 15, the rotation of the drum 14 is stopped and the spreader device 12 is locked in the vertical direction. Further, by releasing the brake 15a of the cargo handling electric motor 15, the drum 14 idles and the spreader device 12 naturally descends due to its own weight.

As shown in FIGS. 8 and 9, at the four corners of the spreader device 12, a plurality of twist locks 17 (an example of an engagement device) which can be engaged with and disengaged from the container 2 are provided. That is, the engaging holes 18 having elongated holes are formed at the four corners of the upper portion of the container 2, and the twist locks 1
The twist lock 17 engages with the container 2 by inserting 90 into each engagement hole 18 and rotating 90 degrees from the disengagement position Pa (phantom line in FIG. 9) to the engagement position Pb (dotted line in FIG. 9). The spreader device 12 is connected to the container 2. Further, by rotating each twist lock 17 by 90 ° from the engagement position Pb to the disengagement position Pa, the twist lock 1
7 can be disengaged (disengaged) above each engagement hole 18, and the connection between the spreader device 12 and the container 2 is released.
The rotation of each twist lock 17 in the range between the disengaged position Pa and the engagement position Pb is performed by the hydraulic cylinder device 19 (see FIG. 6) provided in the spreader device 12.

In the cab 20 provided on the upper horizontal frame 6, as shown in FIGS.
A steering wheel 21 for turning the vehicle right and left, an accelerator pedal 22 (an example of a traveling operation means) for changing the torque of the traveling electric motor 10, a cargo handling lever 23 (an example of an elevation operation means) for raising and lowering the spreader device 12, and the above-mentioned. A changeover switch 24 (an example of a switching operation means) for switching each twist lock 17 between a disengagement position Pa and an engagement position Pb is provided.

As shown in FIG. 2, the accelerator pedal 2
By stepping on 2, the traveling electric motors 10 are driven and the vehicle 1 travels. At this time, the depression angle of the accelerator pedal 22 is detected by the angle detector 26.

Further, as shown in FIG. 3, the cargo handling lever 23
Is switched to three positions of an ascending position A (ascending side), a descending position B (descending side), and a stopping position C, and is returned to the stopping position C by a biasing device such as a spring. When the cargo handling lever 23 is switched to the raised position A, the brake 1
5a is released, the electric motor 15 for both cargo handling is driven,
The wire 13 is wound around the drum 14, and the spreader device 12 is raised. When the lower position B is switched, the brake 15a is released, the drum 14 idles, and the spreader device 12 descends. Furthermore, when switching to the stop position C, the brake 15a operates and the drum 1
4 is locked, and the lifting and lowering of the spreader device 12 is stopped. The switching position of the cargo handling lever 23 is detected by the first position detector 27.

Further, as shown in FIG. 4, the changeover switch 24 is switched between two positions, that is, a lock position D (engagement side) and a lock release position E (disengagement side). When the lock 17 is switched to the engagement position Pb and then to the lock release position E, the twist lock 17 is switched to the disengagement position Pa. The switching position of the changeover switch 24 is detected by the second position detector 28.

FIG. 1 is a block diagram of a traveling and cargo handling drive system of the vehicle 1. In the vehicle body 3, a traveling inverter 29 for driving the traveling electric motors 10 is respectively provided.
A cargo handling inverter 30 for driving the cargo handling electric motor 15; a hydraulic pump 31 for supplying hydraulic oil to the hydraulic cylinder device 19 and a steering cylinder device (not shown); and a piston for the hydraulic cylinder device 19. A switching valve 44 for switching the expansion / contraction operation of the rod, the electric motors 10, 15 and the inverters 29, 3
A generator 32 for generating electric power supplied to 0, a diesel engine 33 for driving the generator 32 and the hydraulic pump 31, and a controller 34 are provided.

The shafts of the generator 32 and the hydraulic pump 31 are connected in series to the rotary shaft of the diesel engine 33. When the diesel engine 33 is driven, electric power is generated in the generator 32, and hydraulic oil is supplied from the hydraulic pump 31 to the hydraulic cylinder device 19 and the steering cylinder device (not shown). The diesel engine 33 is maintained at a constant rotation speed (for example, 1800 rpm) by a governor (not shown).

In the generator 32, the field current is controlled by the generator voltage regulator (AVR) 35 so that the generated voltage becomes constant, and the electric power generated by the generator 32 is used for traveling. It is supplied to the traveling inverter 29 and the traveling electric motor 10 through the conductor 36, and also through the cargo handling conductor 37.
0 and the electric motor 15 for cargo handling are supplied.

The rated output of the generator 32 (rated power, that is, maximum generated power) is T. For example, T = 30
It is set to 0 kVA × 0.8 (power factor) = 240 kW or the like. Further, if the load is small, the electric power generated from the generator 32 is also small, and the generated electric power also increases as the load increases. Further, 38 is a battery for starting the engine 33, the generator 32, and the control device 34.

The traveling inverter 29 is connected to a first braking resistor 39 which consumes the regenerative braking energy of the traveling electric motor 10, and the cargo handling inverter 30 is regeneratively braked by the cargo handling electric motor 15. A second braking resistor 40, which consumes energy, is connected. Further, the traveling electric motor 10 is provided with a traveling rotation speed detector 41 for detecting the rotation speed of the motor 10.
The cargo handling electric motor 15 is provided with a cargo handling rotation speed detector 42 for detecting the rotation speed of the motor 15.

The control device 34 controls the upper limit value of the electric power supplied from the generator 32 to the traveling electric motor 10 through the traveling inverter 29 according to the contents of the following operations. The vehicle body 3 is run with the spreader device 12 stopped moving up and down. In a state in which the container 2 is connected to the spreader device 12 (a state with a load), the vehicle body 3 is run while the container 2 and the spreader device 12 are raised. In the empty state (no-load state) in which the container 2 is not connected to the spreader device 12, the vehicle body 3 is run while only the spreader device 12 is being raised. The vehicle main body 3 is caused to travel while the spreader device 12 is lowered (at this time, the container 2 may be connected to the spreader device 12 or it may be empty without being connected). The spreader device 12 is moved up and down while the vehicle body 3 is stopped. The traveling of the vehicle body 3 and the lifting and lowering of the spreader device 12 are both stopped.

The controller 34 determines the contents of the above operations 1 to 3 as follows. ● To execute the above operation, the operator in the cab 20 switches the cargo handling lever 23 to the stop position C,
Depress the accelerator pedal 22. At this time, switching of the cargo handling lever 23 to the stop position C is detected by the first position detector 27 and input to the control device 34, and the depression angle of the accelerator pedal 22 is detected by the angle detector 26 and controlled. Since it is input to the device 34, the control device 34
Judge that the operation content of is being executed.

When executing the above operation contents, the operator inserts the twist lock 17 into the engagement hole 18 of the container 2, switches the changeover switch 24 from the unlocked position E to the locked position D, and further, Cargo handling lever 2
3 to the raised position A and the accelerator pedal 22
Step on. At this time, switching of the changeover switch 24 to the lock position D is detected by the second position detector 28 and input to the control device 34, and further switching of the cargo handling lever 23 to the raised position A is performed by the first position detector 27. Detected by the accelerator pedal 22 and input to the control device 34.
Since the stepping angle of is detected by the angle detector 26 and input to the control device 34, the control device 34 determines that the operation content of is being executed.

When executing the above operation contents, the operator sets the changeover switch 24 to the unlocked position E.
, The cargo handling lever 23 is switched to the raised position A, and the accelerator pedal 22 is depressed. At this time, switching of the changeover switch 24 to the unlocked position E is detected by the second position detector 28 and input to the control device 34, and further switching of the cargo handling lever 23 to the raised position A is performed by the first position detector. Since the angle of depression of the accelerator pedal 22 is detected by the angle detector 26 and input to the control device 34 while being detected by 27 and input to the control device 34, the operation content of the control device 34 is executed. To judge.

When carrying out the above operation contents, the operator switches the cargo handling lever 23 to the lowered position B and depresses the accelerator pedal 22. At this time, switching of the cargo handling lever 23 to the lowered position B is performed by the first position detector 2
7 is input to the control device 34, and the depression angle of the accelerator pedal 22 is detected by the angle detector 26.
Is detected and input to the control device 34, the control device 34 determines that the operation content of is being executed.
At this time, the changeover position of the changeover switch 24 may be either the lock position D or the lock release position E.

When executing the above operation contents, the operator releases the accelerator pedal 22 to set the depression amount to 0, and further moves the cargo handling lever 23 to the raised position A.
Or, switch to the lowered position B. At this time, the accelerator pedal 2
The stepping angle of 2 is not detected by the angle detector 26 (non-detection), and switching of the cargo handling lever 23 to the raised position A or the lowered position B is detected by the first position detector 27 and input to the control device 34. Therefore, the control device 34 determines that the operation content of is being executed. At this time, the changeover position of the changeover switch 24 may be either the lock position D or the lock release position E.

When executing the above-mentioned operation contents, the operator releases the accelerator pedal 22 to set the depression amount to 0, and further sets the cargo handling lever 23 to the stop position C.
Switch to. At this time, the depression angle of the accelerator pedal 22 is not detected (not detected) by the angle detector 26, and
Since the switching of the cargo handling lever 23 to the stop position C is detected by the first position detector 27 and input to the control device 34, the control device 34 determines that the operation content of is being executed.

The traveling and cargo handling work of the container carrier vehicle 1 based on the control by the control unit 34 will be described below with reference to the flowchart of FIG. ◎ As shown in the above operation contents, the spreader device 1
When the vehicle body 3 is run with the lifting and lowering of No. 2 being stopped, the depression angle of the accelerator pedal 22 is the angle detector 26.
Detected by and input to the controller 34 (step-
1), neither switching of the cargo handling lever 23 between the raised position A and the lowered position B is detected by the first position detector 27 (steps-2 and 3). Since the switching of the cargo handling lever 23 to the raised position A and the lowered position B is not detected in this way, the control device 34 detects that the cargo handling lever 23 has been switched to the stop position C, and the operation of It is judged that the contents are executed (step-4). Based on the above determination, the control device 34 actuates the brake 15a of the cargo handling electric motor 15, and the upper limit value of the electric power supplied to the traveling electric motors 10 is equal to the rated output T of the generator 32. Then, the two traveling inverters 29 are controlled (step-5).

As a result, the lifting and lowering of the spreader device 12 is stopped, and the electric power generated from the generator 32 is not supplied to the cargo handling electric motor 15, but is supplied to both traveling electric motors 10. The power of both traveling electric motors 10 is sufficiently secured, the traveling wheels 9 rotate, and the vehicle body 3 travels. In this case, the traveling inverter 29 travels based on the graph GA showing the relationship (rotational speed-torque characteristic) between the rotational speed (rotational speed) of the traveling electric motor 10 and the torque limit value shown in FIG. 11. Electric motor 1
Control 0.

As shown in the above operation contents, when the vehicle main body 3 is run while the container 2 and the spreader device 12 are raised while the container 2 is connected to the spreader device 12, the above (step-2 ), The switching of the cargo handling lever 23 to the raised position A is detected by the first position detector 27, and the switching of the changeover switch 24 to the lock position D is detected by the second position detector 28 (step-6). ). As a result, the control device 34
It is determined that the operation content of is executed (Step-
7) Release the brake 15a of the electric motor 15 for cargo handling, and the upper limit of the electric power supplied to the electric motors 10 for traveling is 30% (an example of A%) of the rated output T of the generator 32. Both inverters 29 for traveling are controlled so as to be limited (step-8).

As a result, even when the power corresponding to the rated output T is generated from the generator 32, only the power corresponding to 30% (= T × 30%) of the rated output T is used for both traveling. The electric power supplied to the electric motor 10 and the remaining electric power (= electric power corresponding to 70% of the rated output T) are supplied to the electric motor 15 for cargo handling. As a result, all the generated electric power is not supplied to the traveling electric motor 10, and the electric power required to raise the spreader device 12 holding the container 2 is reliably ensured. Therefore, the spreader device 12 It is possible to prevent the ascending speed of C from extremely decreasing. In this case, the traveling inverter 29 is
The rotation speed-torque characteristic shown in FIG. 11 is switched to the graph GB, and the traveling electric motor 10 is controlled based on the graph GB.

As shown in the above operation contents, when the vehicle main body 3 is run while only the spreader device 12 is raised in the empty state where the container 2 is not connected to the spreader device 12, the above-mentioned (step- In 6), the switching of the changeover switch 24 to the lock position D is not detected by the second position detector 28. Thereby, the control device 3
4 detects that the changeover switch 24 has been switched to the unlocked position E, and judges that the operation content of is being executed (step -9). Based on the above determination, the control device 34 controls the brake 15 of the double-handed electric motor 15
a is released, and the upper limit of the electric power supplied to both traveling electric motors 10 is 70% of the rated output T of the generator 32 (B
%), So that the two inverters 2 for running
9 is controlled (step-10).

As a result, even when the power corresponding to the rated output T is generated from the generator 32, only the power corresponding to 70% (= T × 70%) of the rated output T is used for both traveling. The electric power is supplied to the electric motor 10, and the remaining electric power (that is, the electric power corresponding to (30% of the rated output T)) is supplied to the electric motor 15 for cargo handling. As a result, all the generated electric power is not supplied to the traveling electric motor 10, and the empty spreader device 12 that does not hold the container 2 is used.
To ensure that the power required to raise
It is possible to prevent the rising speed of the spreader device 12 from extremely decreasing. In this case, the traveling inverter 29 switches the rotation speed-torque characteristic shown in FIG. 11 to the graph GC, and controls the traveling electric motor 10 based on the graph GC. In addition, in the state in which the container 2 is not held, the power required to raise the spreader device 12 is smaller than the state in which the container 2 is held in the above because there is no load, so that A (= 3)
It is set to 0)% <B (= 70)%.

As shown in the above operation contents, when the vehicle body 3 is run while lowering the spreader device 12, the cargo handling lever 23 is moved in the above (step-3).
The switch to the lowering position B is detected by the first position detector 27. As a result, the control device 34 determines that the operation content of is being executed (step-11), releases the brake 15a of the electric motor 15 for cargo handling, and is supplied to the electric motor 10 for traveling. The both traveling inverters 29 are controlled so that the upper limit value of the electric power becomes equal to the rated output T of the generator 32 (step-12).

As a result, the spreader device 12 naturally descends due to its own weight. Further, since the generated electric power output from the generator 32 is not supplied to the cargo handling electric motor 15 but is supplied to the both traveling electric motors 10, all the traveling electric motors 10 have sufficient power, The traveling wheels 9 rotate and the vehicle body 3 travels. In this case, the traveling inverter 29 switches the rotation speed-torque characteristic shown in FIG. 11 to the graph GA, and controls the traveling electric motor 10 based on the graph GA.

As shown in the above operation contents, when the spreader device 12 is moved up and down while the vehicle body 3 is stopped, in step (1) above, the depression angle of the accelerator pedal 22 is detected as an angle. It is not detected by the device 26, and further, the switching of the cargo handling lever 23 to the stop position C is not detected by the first position detector 27 (step -13). In this way, since the depression angle of the accelerator pedal 22 and the switching of the cargo handling lever 23 to the stop position C are both undetected, the control device 34 indicates that the accelerator pedal 22 is not depressed and that the cargo handling lever 23 is not depressed. Is detected to have been switched to either the ascending position A or the descending position B, and it is judged that the operation content of is being executed (step -14). Based on the above judgment, the control device 3
4 controls both traveling inverters 29 so that the electric power supplied to both traveling electric motors 10 becomes 0 (step -15). As a result, all the generated electric power output from the generator 32 is supplied to the double-handed electric motor 15 for cargo handling, so that the power of the second-hand cargo electric motor 15 is sufficiently secured.

As shown in the above operation contents, when stopping the traveling of the vehicle body 3 and the raising and lowering of the spreader device 12 together, in the above (step -13), the cargo handling lever 23 is switched to the stop position C. Is the first position detector 27
Detected by. As a result, the control device 34 determines that the above operation content is being executed (step-
16), the brake 15a of the electric motor 15 for both cargo handling is operated, and the traveling inverter 29 and the cargo handling inverter are set so that the electric power supplied to the traveling electric motor 10 and the cargo handling electric motor 15 becomes zero. And 30 (step -17). As a result, the traveling of the vehicle body 3 and the lifting and lowering of the spreader device 12 are stopped.

Further, as described above, the spreader device 12
Electric motor 15 for cargo handling and generator 32 for raising and lowering
Since, and, the conventional hydraulic pump 84 for cargo handling (see FIG.
(See FIG. 13) and the cargo handling hydraulic cylinder device 77 (see FIG. 13) are used, the drive efficiency is improved, and thus the load on the engine 33 is reduced.

Furthermore, the conventional hydraulic cylinder device for cargo handling 7
By using the cargo handling electric motor 15 in place of No. 7 (see FIG. 13), the conventional variable displacement type cargo handling hydraulic pump 84 (see FIG. 13) is not required, and control can be easily performed.

As shown in FIG. 1, the hydraulic pump 31 driven by the output of the engine 33 is for driving the hydraulic cylinder device 19 for switching the direction of the twist lock 17, and the hydraulic pump 31 described above is used. Since the power required to drive the engine is a minute value with respect to the output of the engine 33, the loss of the engine output by the hydraulic pump 31 can be almost ignored.

In the above embodiment, the values of A and B are set to 30% and 70%, respectively, but the values are not limited to 30% and 70%, and may be changed depending on the size of the vehicle 1 and the output of the engine 33. Is set to the optimum value.

In the above embodiment, the container carrier vehicle 1 is given as an example of a traveling vehicle having a cargo handling function, but other types of vehicles such as forklift trucks and wheel loaders may be used. In the case of a forklift truck, a vertically movable fork corresponds to a cargo handling device, and in a wheel loader, a vertically movable bucket corresponds to a cargo handling device.

In the above embodiment, the left and right wheels of the plurality of traveling wheels 9 are driven to rotate by the traveling electric motor 10, but a plurality of wheels more than that are rotated by the traveling electric motor 10. It may be driven, or
Only a single wheel may be rotationally driven by the traveling electric motor 10.

In the above embodiment, the container 2 is given as an example of the load, but the container is not limited to the container 2 and may be, for example, earth and sand or a pallet on which articles are placed.

In the above embodiment, the traveling wheels 9 are used as an example of the traveling device, but the traveling system is not limited to the wheel system, and for example, a crawler device (crawler system) may be used.

Although the diesel engine 33 is used as the engine in the above embodiment, a gasoline engine may be used.

[0075]

As described above, according to the present invention, when the vehicle body is run with the cargo handling device stopped, all the generated power output from the generator is supplied to the running electric motor, so The power of the electric motor for use is sufficiently secured.

When the vehicle body is run while driving the cargo handling apparatus with a load applied, all the generated electric power is not supplied to the traveling electric motor, and the cargo handling apparatus in a loaded state is used. Since a large amount of electric power required for driving is reliably ensured, it is possible to prevent the driving speed of the cargo handling device from extremely decreasing.

When the vehicle body is run while driving the cargo handling apparatus in the unloaded state, all the generated electric power is not supplied to the traveling electric motor, and the cargo handling apparatus in the unloaded state is driven. Since only a small amount of electric power required for the vehicle is reliably secured, a considerable amount of electric power can be used also for the electric motor for traveling.

When the cargo handling device is driven with the vehicle body stopped, all the generated electric power output from the generator is supplied to the cargo handling electric motor, so that the power of the cargo handling electric motor is sufficiently secured.

Further, since the electric motor for cargo handling and the generator are used to drive the cargo handling equipment, the driving efficiency is improved as compared with the case where the conventional hydraulic pump for cargo handling and the hydraulic cylinder device for cargo handling are used. Therefore, the load on the engine is reduced.

Furthermore, by using the electric motor for cargo handling instead of the conventional hydraulic cylinder device for cargo handling, the conventional variable displacement type hydraulic pump for cargo handling becomes unnecessary and the control can be easily performed.

[Brief description of drawings]

FIG. 1 is a block diagram of a traveling and cargo handling drive system of a container carrier vehicle according to an embodiment of the present invention.

FIG. 2 is a diagram of an accelerator pedal of the container carrier vehicle of the same.

FIG. 3 is a diagram of a cargo handling lever of the container carrier vehicle of the same.

FIG. 4 is a diagram of a changeover switch of the container carrier vehicle of the same.

FIG. 5 is a side view of the container carrier vehicle of the same.

FIG. 6 is a front view of the container carrier vehicle.

FIG. 7 is an enlarged view of the front left portion of the container carrier vehicle.

FIG. 8 is a plan view of a container handled by the container carrier vehicle of the same.

FIG. 9 is a plan view showing the relationship between the twist lock of the container carrier vehicle and the engagement hole of the container.

FIG. 10 is a flowchart of the traveling and cargo handling work of the container carrier vehicle.

FIG. 11 is a graph showing a rotation speed-torque characteristic of a traveling electric motor of a container carrier vehicle.

FIG. 12 is a perspective view of a conventional container carrier vehicle.

FIG. 13 is a block diagram of a traveling and cargo handling drive system of the container carrier vehicle.

[Explanation of symbols]

1 Container carrier vehicle (running vehicle) 2 containers 3 vehicle body 9 Travel wheels (travel device) 10 Electric motor for traveling 12 Spreader device (cargo handling device) 15 Electric motor for cargo handling 17 Twist lock (engagement device) 22 Accelerator pedal (travel operation means) 23 Cargo handling lever (elevating operation means) 24 Changeover switch (changeover operation means) 29 Drive inverter 30 cargo handling inverter 32 generator 33 diesel engine 34 Control device A Ascending position (ascending side) B Down position (down side) D Lock position (engagement side) E Lock release position (release side) Pa release position Pb engagement position

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60K 6/04 ZHV B66C 13/22 B B66C 13/22 B60K 6/04 ZHV (72) Inventor Hironori Takenaka 1-15-10 Kyomachibori, Nishi-ku, Osaka City, Osaka Prefecture F-Term (reference) within TCM Co., Ltd. (reference) 3F204 AA01 BA04 CA07 GA03 5H115 PA11 PG04 PG10 PI16 PI23 PU01 PU08 PU24 PV09 QN06 TO04 TO14

Claims (2)

[Claims] 1. A vehicle body comprising a traveling electric motor for driving a traveling device, a traveling inverter for driving the traveling electric motor, a cargo handling electric motor for driving a cargo handling device, and the cargo handling electric motor. An inverter for cargo handling to be driven, a generator for generating electric power supplied to each of the electric motors and the inverters, an engine for driving the generators, and an electric motor for traveling from the generator via the traveling inverter. A control device for controlling the upper limit value of the supplied electric power is provided, and the control device sets the upper limit value of the electric power supplied to the traveling electric motor when the vehicle body is caused to travel with the cargo handling device stopped. When the vehicle output is set to the rated output of the generator and the load handling device is driven while the vehicle body is running, the power supplied to the running electric motor is The upper limit of the electric power supplied to the electric motor for traveling is limited when the vehicle main body is driven while the cargo handling device is being driven in an unloaded state by limiting the upper limit of the generator to A% of the rated output of the generator. When the cargo handling device is driven while the vehicle body is stopped, the electric power supplied to the traveling electric motor is set to 0, and the values of A and B are set to 0% <A A traveling vehicle having a cargo handling function, characterized in that the relationship of% <B% <100% is set. 2. A wheel is provided as a traveling device, and the cargo handling device is configured to be able to move up and down to raise and lower a load. The cargo handling device is provided with an engagement device that can be engaged and disengaged from the load. Traveling operation means for changing the torque of the motor, elevating operation means for elevating and lowering the cargo handling apparatus, and switching operation means for switching the engagement device between an engaging position for engaging the load and a disengaging position for disengaging from the load are provided. The control device determines that the vehicle body is traveling when the traveling operation means is operated, and that the cargo handling device is elevated when the elevating operation means is operated to the ascending side. If the lifting operation means is operated to the down side, it is determined that the cargo handling device is down, and if the switching operation means is operated to the engagement side, it is determined that there is a load, and The switching operation means is operated to the release side The traveling vehicle having the cargo handling function according to claim 1, wherein it is determined that the vehicle is unloaded.