JP2009269692A - Cargo-handling vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve working efficiency by automatically moving a cabin to an appropriate position in which a favorable field of view can be obtained. <P>SOLUTION: A reach stacker having, on a self-propelled vehicle body (11), a cargo-handling device (13) capable of holding and stacking a container using a spreader (19) installed at a tip of a freely tiltable and extensible boom (16) and the cabin (14) accommodating a cab seat for operating the cargo-handling device (13) is provided with a cabin moving device (21) capable of moving the cabin (14) and a cabin position control device which includes cargo position detectors (34), (35) capable of detecting positions of the cargo holder (19) and a cabin position operation section for operating the cabin moving device (21) based on detection signals from the cargo position detectors (34), (35) to move the cabin (14) to the appropriate position where the favorable field of view can be secured. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention provides a good field of view in which the load holding device and the load held by the load holding device can be aligned with respect to the load or the load loading position when holding the load or loading the load by the cargo handling device. The present invention relates to a large cargo handling vehicle such as a reach stacker that can automatically move a cabin to an appropriate position.

For example, the cab slide device of Patent Document 1 is configured such that a cabin is installed on a slide base which is guided and moved by a pair of rails laid in the front-rear direction on a vehicle body, and is slid by a belt disposed in parallel to the rails. The cabin can be adjusted in the front-rear direction by moving the base.
JP 2005-96683 A

  The conventional cab slide device has a problem that it takes time to hold and load the load because the operator has to manually operate the operation lever to move the cabin to a position where good visibility can be secured. there were.

  An object of the present invention is to solve the above-mentioned problems and to provide a cargo handling vehicle capable of automatically moving a cabin to an appropriate position where a good field of view can be obtained and improving work efficiency.

  According to the first aspect of the present invention, there is provided a cargo handling device (13) capable of holding and loading a load on a self-propelled vehicle main body (11) via a cargo holder (19), and the cargo handling device (13). In the cabin device of a cargo handling vehicle having a cabin (14) having a cockpit to be operated, a cabin moving device (21) capable of moving the cabin (14) is provided, and the position of the load holding tool (19) can be detected. And the cabin moving device (21) based on the detection signals of the load position detecting devices (34) and (35) and the load position detecting devices (34) and (35), and A cabin position control device (33) having a cabin position operating section (31b) for moving (14) is provided.

  The invention according to claim 2 is the configuration according to claim 1, wherein the cabin moving device (21) is capable of moving the cabin (14) in the front-rear direction of the vehicle body (11), and the cargo handling device (13) is A boom (16) that extends forward from the rear portion of the vehicle body (11) and can be swung up and down in a vertical direction, and a load holding tool (19) supported by the tip of the boom (16). The load position detecting device has a boom angle detector (34) capable of detecting the tilt angle of the boom (16) and a boom length detector (35) capable of detecting the length of the boom (16). The cabin (14) is set in the controller (31) provided with the cabin position operation unit (31b) based on the inclination angle (θ) of the boom (16) and the length (L) of the boom (16). The cabin position data table (31c) having the appropriate position (Hi, M, Lo) data is provided.

  In addition, the code | symbol in a parenthesis shows the code | symbol corresponding to the structural member of embodiment.

  According to the first aspect of the present invention, the cabin position control device drives the cabin moving device by the controller based on the position of the load holding tool detected by the load position detection device, and allows the operator to ensure good visibility. The cabin can be moved automatically to the position. Accordingly, since an appropriate field of view can always be quickly secured without manual operation by the operator, the time required for load holding work and load loading work by the load holding tool can be shortened to improve work efficiency. This can reduce operator fatigue.

  According to the second aspect of the present invention, a cabin position data table is provided in the controller, and a good field of view can be ensured corresponding to the position of the load holding tool obtained in advance from the tilt angle of the boom and the length of the boom. The appropriate position of the cabin is converted into data, and the appropriate position of the cabin is determined from the appropriate position data in the cabin position data table by the cabin position operation unit based on the detected value of the boom angle detector and the detected value of the boom length detector. The cabin can be quickly moved to an appropriate position by selecting with high accuracy.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a reach stacker which is a large cargo handling apparatus according to the present invention will be described with reference to the drawings.
[Embodiment 1]
As shown in FIGS. 1 and 2, the reach stacker is configured to be a self-propelled type in which a vehicle body 11 is provided with a pair of left and right front wheels 12F and a pair of left and right rear wheels 12R. The vehicle body 11 is capable of holding and loading containers (loads) by means of a spreader 19 that is a load holding tool provided at the distal end of a boom 16 that is swingable in the vertical direction and that is telescopic. A device 13 and a cabin 14 in which a cockpit for operating the cargo handling device 13 is accommodated are provided.

  The cargo handling device 13 is supported by a boom support portion 15 provided at the rear portion of the vehicle body 11 such that a telescopic boom 16 extending forward is swingable in a vertical direction via a support shaft 15a that is horizontal in the vehicle width direction. ing. A pair of left and right tilt cylinders 17 are connected between the vehicle body 11 and the boom 16, and the boom 16 is swung up and down by the tilt cylinders 17. Further, the top boom 16a fitted inside the tip of the boom 16 so as to be freely withdrawn / retracted is driven out / withdrawn by the built-in telescopic cylinder 18 so that the boom 16 is expanded / contracted.

  The suspending member 16b attached to the top boom 16a is provided with a spreader 19 via a posture adjusting mechanism 20 capable of tilting back and forth, turning, and side shifting. The spreader 19 includes a main body portion 19a, holding members 19c that can be retracted from both left and right sides of the main body portion 19a via slide booms 19b, and engaging claws disposed at front and rear positions of the left and right holding members 19c. A twist lock device 19e that can hold the container by engaging with the engagement holes at the four corners of the container is provided. The main body 19a is provided with a positioning cylinder (not shown) through which the slide boom 19b can be withdrawn / retracted, and the holding member 19c is withdrawn / retracted through the slide boom 19b by the positioning cylinder so that the position of the twist lock device 19e is Can be adjusted according to the size of the container.

  The cabin 14 is installed on the vehicle body 11 via a cabin moving device 21 so as to be movable in the front-rear direction. The cabin moving device 21 includes a pair of left and right guide rails 21a laid on the vehicle body 11, a guide roller 21b provided at the four corners of the base 14 of the cabin 14 and guided by the guide rail 21a, and the guide rail 21a. A wrapping movement mechanism 22 in which a chain (or timing belt) 22c having a predetermined portion connected to the cabin 14 is wound around the front and rear sprockets 22a, 22b, and the cabin 14 via the chain 22c connected to the rear sprocket 22a. It is comprised with the cabin moving motor 23 with a hydraulic reduction gear which moves.

  As shown in FIG. 3, the cargo handling drive hydraulic device 24 includes a hydraulic pump 26 driven by an engine 25, a tilt control valve 27 that sends hydraulic oil discharged from the hydraulic pump 26 to the tilt cylinder 17, and a hydraulic pump 26. An expansion / contraction control valve 28 that sends hydraulic oil discharged from the hydraulic pump 26 to the expansion cylinder 18 and a cabin movement control valve 29 that sends hydraulic oil discharged from the hydraulic pump 26 to the cabin movement motor 23 are provided. A controller 31 that operates the cargo handling device 13 is provided with a cargo handling operation unit 31a that is operated by an operating device 32 provided in the cockpit. The cargo handling operation unit 31a is connected via the valve output units 1 and 2 to each other. An operation signal is output to each control valve 27, 28.

  The stacker crane is provided with a cabin position control device 33 that automatically moves the cabin 14 to an appropriate position where a good field of view can be secured in accordance with the container loading position held by the spreader 19. The cabin position control device 33 includes a boom angle detector (load position detection device) 34 including a potentiometer that detects the tilt angle: θ of the boom 16, and a boom length including a potentiometer that detects the length of the boom 16: L. Based on the detection signals of the detector (load position detection device) 35 and the boom angle detector 34 and the boom length detector 35 provided in the controller 31, the cabin movement motor 23 of the cabin movement device 21 is operated, and the cabin The appropriate position of the cabin 14 is determined by the cabin position operating unit 31b from the cabin position operating unit 31b that moves the vehicle 14 to the appropriate position and the appropriate position data of the cabin 14 that is provided in the controller 31 and obtained from the boom angle and boom length. And a cabin position data table 31c to be selected.

  As shown in FIG. 4, the cabin position data table 31c has a plurality of patterns, for example, the appropriate positions Hi, M, and the like from the rear position of the vehicle main body 11 to the front. Set Lo. For example, the proper position Hi is a case where the length of the boom 16: L is long to intermediate, the inclination angle: θ is large, and the holding surface of the spreader 19 is located between a and b. The appropriate position M is a case where the length of the boom 16 is medium to short, the inclination angle is θ is medium to large, and the holding surface of the spreader 19 is located between bc. Furthermore, the appropriate position Lo is a case where the length of the boom 16 is long to short, the inclination angle θ is small, and the holding surface of the spreader 19 is located between cd.

  Further, an intersection of an axis passing through the support shaft 15a and parallel to the boom 16 and a vertical line passing through the center of the spreader 19 is defined as a top point: T, and the top point: distance to the holding surface of the T-spreader 19: A, Assuming that the height of the support shaft 15a is B, the height: H of the holding surface of the spreader 19 is obtained by the equation H = L × sin θ + B−A (1). And by assigning this height: H to ab, bc, and cd, the position of the cabin 14 is changed to an appropriate position Hi corresponding to ab, an appropriate position M corresponding to bc, The appropriate position of the cabin 14 can also be selected as the appropriate position Lo corresponding to cd. In the cabin position data table 31c, appropriate position data of the cabin 14 in which the appropriate positions Hi, M, and Lo can be selected from the length 16 of the boom 16 and the inclination angle θ are created in advance, and the cabin position operation unit 31b Based on the detection values input from the boom angle detector 34 and the boom length detector 35, one of the three appropriate positions Hi, M, and Lo is selected from the data in the cabin position data table 31c. Of course, the proper position of the cabin 14 may be determined by calculating the expression (1) by the cabin position operation unit 31b and assigning the three appropriate positions Hi, M, Lo.

The cabin moving device 21 is provided with a cabin position detector 36 (for example, a potentiometer) that detects the position of the cabin 14.
The cockpit is provided with a cabin position control changeover switch 37 for operating automatic / manual and a cabin manual operation switch 38 for operating the position of the cabin 14 during manual operation.

  In the above configuration, when the boom 16 is swung in the vertical direction by the tilt cylinder 17, the tilt angle: θ is detected by the boom angle detector 34, and when the boom 16 is expanded and contracted by the telescopic cylinder 18, the boom length is increased. The boom length: L is detected by the detector 35. Further, the position of the cabin 14 is detected by a cabin position detector 36. These three detection data are respectively input to the cabin position operation unit 31b of the controller 31.

  Here, when the automatic is selected by the cabin position control changeover switch 37 or when switching from manual to automatic, as shown in FIG. 5, the cabin position operation unit 31b detects the boom angle detector 34 and the boom length detection. The appropriate position Hi, M, Lo of the cabin 14 is selected from the detection data of the vessel 35 with reference to the appropriate position data in the cabin position data table 31c, and the cabin is moved from the cabin position operating unit 31b via the valve output unit 3. An operation signal is output to the control valve 29. Then, hydraulic fluid is supplied from the cabin movement control valve 29 to the cabin movement motor 23 and driven to move the cabin 14 to a target position. At this time, the position of the cabin 14 detected by the cabin position detector 36 is fed back to the cabin position operation unit 31b and moved until the cabin 14 reaches the selected appropriate positions Hi, M, Lo.

  According to the above embodiment, in the reach stacker, the boom angle detector 34 and the boom length detector 35 detect the tilt angle θ of the boom 16 and the length L of the boom 16 to detect the position of the spreader 19. The cabin 14 can be automatically moved to an appropriate position by which the good view of the spreader 19 and the container can be secured by the cabin position operation unit 31b of the controller 31. Accordingly, the operator can always quickly obtain a good field of view without manual operation of the cabin moving device 21, and the time required for the container holding operation and container loading operation by the cargo handling device 13 can be shortened. Cargo handling work can be performed efficiently, and operator fatigue can be reduced.

  Further, the load height: H obtained in advance from the inclination angle: θ of the boom 16 and the length of the boom 16: L, and the cabin 14 capable of ensuring an appropriate field of view based on the load height: H. Since the cabin position data table 31c in which the proper positions Hi, M, and Lo are converted into data is provided in the controller 31, the cabin position operation unit 31b uses the detected values of the boom angle detector 34 and the boom length detector 35 to determine the cabin position. With reference to the proper position data of the cabin 14 in the data table 31c, the proper position of the cabin 14 can be selected and the cabin 14 can be quickly moved to the proper position.

  The present invention can be used for a large cargo handling vehicle having a cabin in which good visibility is difficult to ensure depending on the working state.

It is a side view which shows embodiment of the reach stacker which concerns on this invention. It is a perspective view explaining the structure of a cabin position control apparatus. It is a block diagram which shows a cabin position control apparatus. It is a side view of the reach stacker explaining a cabin position control device. It is a block diagram which shows operation | movement of a cabin position control apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Vehicle main body 13 Cargo handling device 14 Cabin 15 Boom support part 15a Support shaft 16 Boom 16a Top boom 17 Tilt cylinder 18 Telescopic cylinder 19 Spreader 20 Attitude adjustment mechanism 21 Cabin movement device 23 Cabin movement motor 29 Cabin movement control valve 31 Controller 31a Carrying operation Unit 31b Cabin position operation unit 31c Cabin position data table 32 Controller 33 Cabin position control device 34 Boom angle detector (load position detection device)
35 Boom length detector (load position detector)
36 Cabin position detector 37 Cabin position control switch 38 Cabin manual operation switch

Claims (2)

In a cargo handling vehicle comprising a cargo handling device capable of holding and stacking a load on a self-propelled vehicle body via a cargo holder, and a cabin having a cockpit for operating the cargo handling device.
Provide a cabin moving device that can move the cabin,
A load position detecting device capable of detecting the position of the load holding tool, and a cabin position operation for operating the cabin moving device based on a detection signal of the load position detecting device and moving the cabin to an appropriate position where a good field of view can be secured. A cargo handling vehicle comprising a cabin position control device having a portion. The cabin moving device can move the cabin in the longitudinal direction of the vehicle body,
The cargo handling device includes a boom that extends forward from the rear portion of the vehicle main body, is swingable in the vertical direction, and is extendable and retractable, and a load holding tool that is supported by a tip portion of the boom,
The load position detection device has a boom angle detector that can detect the tilt angle of the boom, and a boom length detector that can detect the length of the boom,
The cabin position data table having appropriate cabin position data set based on the tilt angle of the boom and the boom length is provided in the controller provided with the cabin position operation unit. Cargo handling vehicle.

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