JP2010195565A - Carrying vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carrying vehicle capable of having a tire mounted thereon in which a strength adapted to the conveying specification of cargo does not become excessively high. <P>SOLUTION: A crane in which an extending/contracting boom is derrickably provided for hoisting a container includes a cargo weight detecting means 21 for detecting the container weight, a tire load calculating means 22 for obtaining load applied to the tire based on the container weight detected by the detecting means 21, and a limiting speed obtaining means 23 for obtaining the limiting speed of the vehicle according to the load obtained by the load calculating means 22. The weight detecting means 21 includes an inclination angle detector for detecting the inclination angle of the boom, an extension/contraction amount detector capable of detecting the hoisting position of the container in the boom, a supporting force calculating part for calculating the supporting force of the boom in a cylinder device, and a cargo weight calculating part for obtaining the container weight based on the inclination angle detected by the inclination angle detector, a distance to the hoisting position which can be obtained from the extension/contraction amount of the boom, and the boom supporting force. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a transport vehicle, and more particularly to a transport vehicle that can limit the speed of a vehicle in accordance with a load applied to a tire.

Among transport vehicles, for example, reach stacker cranes are used to transport heavy objects such as containers.
Such a reach stacker crane is a vehicle body provided with traveling tires in the front, rear, left and right, and a undulating and telescopic boom is provided, and a spreader attached to the tip of the telescopic boom is used. The container is suspended and transported to a predetermined place (see, for example, Patent Document 1).

  By the way, when designing a vehicle that transports a heavy object such as a container, the traveling tire is designed to withstand the heaviest load. This makes the tire very sturdy. In other words, a tire having a high strength, in other words, a ply rating is selected.

JP 2004-224543 A

  As described above, since tires are selected according to the heaviest load, it is necessary to wear tires with a large ply rating, that is, very expensive tires. In the case of a large tire, there was a problem that it was difficult to obtain.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a transport vehicle that can be equipped with a tire having strength suitable for transporting a load, that is, a ply rating that does not become too large.

In order to solve the above-mentioned problem, a transport vehicle according to claim 1 of the present invention is a transport vehicle that suspends a load and transports the load.
Load weight detecting means for detecting the weight of the load, tire load calculating means for calculating a load applied to the tire based on the weight of the load detected by the load weight detecting means, and a load determined by the tire load calculating means And a speed limit acquisition means for acquiring a speed limit of the vehicle according to the above.

Further, the transport vehicle according to claim 2 is a load transport vehicle in which a telescopic boom for suspending a load is provided on a vehicle main body provided with traveling tires in the front, rear, left, and right directions so that it can be raised and lowered by a cylinder device. There,
Load weight detecting means for detecting the weight of the load, tire load calculating means for calculating a load applied to the tire based on the weight of the load detected by the load weight detecting means, and a load determined by the tire load calculating means And a speed limit acquisition means for acquiring the speed limit of the vehicle according to the
The load weight detecting means detects an inclination angle detector for detecting an inclination angle of a boom, a boom extension / contraction amount detector capable of detecting a suspension position of the load on the boom, and a supporting force of the boom generated in the cylinder device. The weight of the load based on the supporting force detecting means, the inclination angle detected by the inclination angle detector, the suspension position detected by the boom extension amount detector, and the supporting force detected by the supporting force detecting means. And a load weight calculation unit for obtaining

According to a third aspect of the present invention, there is provided a transportation vehicle according to a third aspect of the present invention. Vehicle for
Load weight detecting means for detecting the weight of the load, tire load calculating means for calculating a load applied to the tire based on the weight of the load detected by the load weight detecting means, and a load determined by the tire load calculating means And a speed limit acquisition means for acquiring a speed limit of the vehicle according to the above.

According to a fourth aspect of the present invention, there is provided a transportation vehicle according to the third aspect of the present invention, wherein the cargo suspension means in the transportation vehicle according to the third aspect includes a wire capable of suspending the luggage, and a cylinder device connected to the wire to raise and lower the luggage. And consisting of
The load weight detection means is configured to detect the weight based on the pressure of hydraulic oil in the cylinder device.

Further, a transport vehicle according to a fifth aspect of the present invention includes a wire suspension means in the transport vehicle according to the third aspect, a wire capable of suspending the load, a winding drum for winding the wire, It consists of an electric motor that rotates the winding drum,
The load weight detecting means is configured to detect the weight based on the current value of the electric motor.

  According to the configuration of each of the above transportation vehicles, the weight of the load is detected, the load applied to the traveling tire is detected, and the speed limit of the tire corresponding to this load is acquired and set as the speed limit of the vehicle. It is not necessary to use a tire with very good performance, and therefore, a tire with a ply rating that is not so high, that is, an inexpensive one can be used, and the tire can be easily obtained.

It is a schematic side view of the reach stacker crane concerning Embodiment 1 of the present invention. It is a block diagram which shows schematic structure of the speed limit acquisition part in the same stacker crane. It is a block diagram which shows schematic structure of the package weight detection means in the speed limit acquisition part. It is a block diagram which shows schematic structure of the tire load detection means in the speed limit acquisition part. It is a graph which shows the load vs. speed characteristic of the tire with which the speed limit acquisition means in the speed limit acquisition part is equipped. It is a block diagram which shows the control procedure in the same stacker crane. It is a schematic side view of the container carrier which concerns on Embodiment 2 of this invention. It is a rear view of the container carrier. It is a block diagram which shows schematic structure of the speed limit acquisition part in the container carrier. It is a block diagram which shows schematic structure of the package weight detection means in the speed limit acquisition part. It is a block diagram which shows schematic structure of the tire load detection means in the speed limit acquisition part. It is a graph which shows the load vs. speed characteristic of the tire with which the speed limit acquisition means in the speed limit acquisition part is equipped. It is a schematic side view which shows the modification of the container carrier which concerns on Embodiment 2 of this invention.

[Embodiment 1]
Hereinafter, a transport vehicle (also referred to as a cargo handling vehicle) according to Embodiment 1 of the present invention will be described with reference to FIGS.

As a transport vehicle according to the first embodiment, for example, a case of a reach stacker crane capable of transporting a container (an example of a load) will be described.
By the way, the gist of the present invention is that the specification of the tire mounted on the reach stacker crane can be lowered below the maximum ply rating considering the maximum capacity of the crane itself, more specifically, the maximum lifting load and the maximum speed. Therefore, the load-speed characteristic of the tire is used. As will be described later, the load versus speed characteristic indicates a relationship between a load applied to a tire and a speed at which the tire can travel safely with respect to a tire of a certain ply rating. In other words, by using this graph of load vs. speed characteristics, if the load applied to the tire is known, the speed at which the tire can travel safely with respect to the load (the maximum allowable speed), that is, the limit speed can be obtained. In other words, the speed limit of the vehicle can be obtained.

  As shown in FIGS. 1 and 2, the reach stacker crane (hereinafter simply referred to as a crane) 1 includes, for example, a vehicle body 11 having traveling tires 12 at four locations, front, rear, left and right, and operation of the vehicle body 11. An extendable telescopic boom (movable in a vertical plane via a horizontal shaft 15 on a support bracket 14 provided at a rear position of the cabin 13 as a seat, that is, can be raised and lowered (tiltable). (Hereinafter referred to as a boom) 16, a hydraulic cylinder (cylinder device) 17 that tilts the boom 16, and a spreader 19 that can hold the container 2 suspended at the tip of the boom 16 via a wire 18. And a load weight detecting means 21 for detecting the weight of the container 2 (which is also a mass, hereinafter referred to as a container weight or a load weight), and the load weight. The tire load calculating means 22 for obtaining a load (hereinafter referred to as tire load) T applied to the traveling tire 12 by the container weight detected by the exit means 21, and the tire load T obtained by the tire load calculating means 22 Speed limit acquisition means 23 for acquiring the speed limit of the corresponding crane 1 is provided.

  The boom 16 is composed of a boom main body portion 16a supported by the horizontal shaft body 15, and a movable boom portion 16b provided so as to be retractable from the boom main body portion 16a. Of course, although not shown, a retracting device (for example, a device using a hydraulic cylinder) for retracting and retracting the movable boom portion 16b from the boom main body portion 16a, a winch mechanism capable of taking in and out the wire 18 from the distal end of the movable boom portion 16b, and the like. It is equipped. In addition, although the boom 16 is configured to have only one movable boom portion 16b, normally, the movable boom portion 16b itself has a plurality of stages so that the amount of expansion and contraction is increased. . The boom 16, the hydraulic cylinder 17, the wire 18, etc. constitute a load suspension means.

The crane 1 is driven by an engine, and naturally includes an engine controller 20 for controlling the speed of the vehicle.
As shown in FIGS. 1 to 3, the load weight detection unit 21 detects an inclination angle detector 31 that detects an inclination angle α of the boom 16 and a load holding position D of the boom 16, that is, An extension amount detector (for example, a rotary encoder operated by a rack and pinion mechanism is used) 32 that detects the tip position of the boom 16 by an extension amount, Pressure gauges 33 and 34 for detecting the pressure of the hydraulic oil, and a force generated in the hydraulic cylinder 17 by inputting the detected pressures from both the pressure gauges 33 and 34, that is, a supporting force for supporting the boom 16 Based on the support force calculation unit 35 for obtaining (the force that supports the container weight and the weight of the boom) and the support force obtained by the support force calculation unit 35 And a cargo weight calculation unit 36. seeking antenna weight.

  In the load weight calculation unit 36, the moment around the fulcrum (horizontal shaft 15) of the boom 16 due to the container weight, the boom weight, and the support force generated in the hydraulic cylinder 17 obtained by the load weight detecting means 21. Container weight is required by the balance of

  In addition, as shown in FIG. 4, the container weight obtained by the load weight detecting means 21 is inputted to the tire load calculating means 22 and the weight of the crane 1 inputted in advance is added to the tire load calculating means 22. A total weight calculating unit 41 for obtaining the weight is provided.

  Further, the speed limit acquisition means 33 is generally explained at the beginning, but as shown in the graph of FIG. 5, the relationship between the tire load T and the speed limit V corresponding thereto, that is, the load versus speed. A graph of the characteristic S, specifically, a lookup table (not shown) represented by a numerical value is provided. This load-to-speed characteristic S is a load on a traveling tire selected as suitable for the normal cargo handling operation of the crane 1 (ie, a tire having an appropriate strength, that is, a ply rating that is not so large), that is, a tire load. The relationship between T and the speed limit V is shown. Of course, as the tire load T increases, the speed limit V decreases.

Therefore, when the tire load T is input to the speed limit acquisition means 23, the speed limit V corresponding to the tire load T is output.
The speed limit V obtained by the speed limit obtaining means 23 is input to the engine controller 20 and control is performed so that the speed is not equal to or higher than the speed limit V. For example, the maximum speed of the transmission cannot be used, or the upper limit of the engine speed is set.

  In the above configuration, when the container 2 is transported by the crane 1, the boom 16 is first extended, and the boom 16 is tilted by the hydraulic cylinder 17 at an inclination angle suitable for lifting work, and the container 2 is connected via the spreader 19. After lifting (holding), lift to a height suitable for transport.

  In this state, the vehicle main body 11 travels. At this time, the container weight is obtained by the load weight detecting means 21, the tire load T is obtained by the tire load calculating means 22, and the tire load is obtained. T is input to speed limit obtaining means 23 to determine speed limit V, and this speed limit V is output to engine controller 20.

When the speed limit V is input to the engine controller 20, since the upper limit of the traveling speed of the crane 1 is set, the traveling tire 12 is always placed in a safe speed region.
That is, since the speed according to the strength (ply rating) of the traveling tire 12 can be maintained, it is not necessary to use an expensive tire having a ply rating that can correspond to the maximum capacity of the crane 1. In other words, since a tire with a small ply rating can be used, the selling price of the crane 1 can be lowered and the tire can be easily obtained.

FIG. 5 is a flowchart showing a procedure related to speed limit control in the above configuration.
[Embodiment 2]
Next, a transport vehicle according to Embodiment 2 of the present invention will be described with reference to FIGS.

  In the first embodiment, the case of the reach stacker crane as the transport vehicle has been described. However, in the second embodiment, the container carrier is configured such that the container can be suspended from the portal frame. Will be described. The container carrier driving method is not based on the engine as described in the first embodiment, but the driving tire is driven by an electric motor.

  As shown in FIGS. 7 and 8, the container carrier 51 has a container suspension space 63 formed in the center of a vehicle body frame 62 provided with traveling tires 61 on the front, rear, left and right sides. The front view (or back view) of the main body frame 62 is a gate shape.

  That is, the vehicle main body frame 62 includes left and right vertical frame portions 64 and a horizontal frame portion 65 that connects the upper end portions of the two vertical frame portions 64, and the lower side of the left and right vertical frame portions 64. One traveling tire 61 is provided on the front side of the horizontal member 64a where the cabin 66 is provided, and three traveling tires 61 are provided on the rear side of the cabin 66, that is, on the container holding side. That is, a total of eight are provided.

  As described above, the traveling tire 61 is driven by an electric motor, and a speed command from the vehicle controller 67 disposed in the vehicle body frame 62 is input to the inverter to control the traveling speed. .

  The horizontal frame portion 65 is provided with a spreader 71 that can suspend the container 52 so as to be movable up and down by a hydraulic cylinder 74 via a plurality of pulleys 72 and a chain 73. The hydraulic cylinders 74 are provided, for example, at four locations on the front, rear, left and right sides. Note that the hydraulic cylinder 74, the chain 73, and the like constitute a load suspension means.

  As shown in FIG. 9, the container carrier 51 includes a load weight detecting means 76 for detecting the weight of the container 52 (which is also a mass, hereinafter referred to as container weight or load weight), and the load weight detecting means 76. Tire load calculating means 77 for obtaining a load (hereinafter referred to as tire load) T applied to the traveling tire 61 by the container weight detected in step, and a container corresponding to the tire load T obtained by the tire load calculating means 77 Speed limit acquisition means 73 for acquiring the speed limit of the carrier 51 is provided.

  The load weight detecting means 76 receives pressure gauges 81 and 82 for detecting the pressure of hydraulic oil in the cylinder chambers on the head side and the rod side of each hydraulic cylinder 74 and the detected pressures from both pressure gauges 81 and 82. Thus, a total value of the forces generated in each hydraulic cylinder 74 is obtained, and a supporting force for supporting the container, that is, a supporting force calculating unit 83 for obtaining the container weight.

  Further, as shown in FIG. 11, the container weight obtained by the load weight detecting means 71 is inputted to the tire load calculating means 72 and the weight of the carrier 51 inputted in advance is added. A total weight calculation unit 86 for determining the total weight is provided.

  Further, as in the first embodiment, the speed limit acquisition means 78 is the relationship between the tire load T and the corresponding speed limit V, as shown by the load versus speed characteristic S shown in FIG. A look-up table in which a graph of the speed characteristic S is represented by a numerical value is provided. Of course, this load-to-speed characteristic S is the load on the traveling tire selected as suitable for the normal cargo handling operation of the crane 51 (ie, the tire having an appropriate strength, that is, a ply rating that is not so large). The relationship between the tire load T and the speed limit V is shown.

  The speed limit V obtained by the speed limit obtaining means 78 is input to the vehicle controller 67, and control is performed so that the speed is not equal to or higher than the speed limit V. For example, the maximum speed of the transmission cannot be used, or the upper limit of the engine speed is set. For example, the upper limit of the rotational speed (also the rotational speed) is set in the control part of the electric motor that drives the traveling tire 61.

In addition, about the driving | running operation | movement and effect of the container carrier 51, since it is the same as that of Embodiment 1, the description is abbreviate | omitted.
In the second embodiment, the hydraulic cylinder 74 is used to raise and lower the container 52. For example, as shown in FIG. 13, a winch device 91 that is driven by an electric motor 92 and winds the wire 73 is used. May be. Note that the winch device 91, the wire 73, and the like constitute a luggage suspension means.

  In the case of this container carrier 51 ′, the container weight is obtained based on the current flowing through the electric motor 92. Therefore, the electric motor 92 is provided with an ammeter, and a load weight detection means (not shown) for detecting the container weight includes a current-load weight characteristic graph for obtaining the container weight from the current value. Includes a lookup table. Of course, in this case, the same effects as those of the above-described embodiments can be obtained.

DESCRIPTION OF SYMBOLS 1 Reach stacker crane 2 Container 11 Vehicle main body 12 Traveling tire 15 Horizontal shaft body 16 Telescopic boom 17 Hydraulic cylinder 20 Engine controller 21 Luggage weight detection means 22 Tire load calculation means 23 Limit speed acquisition means 31 Inclination angle detector 32 Extension amount Detector 33 Pressure gauge 34 Pressure gauge 35 Supporting force calculation unit 36 Luggage weight calculation unit 41 Total weight calculation unit 51 Container carrier 52 Container 61 Traveling tire 62 Vehicle main body frame 67 Vehicle controller 74 Hydraulic cylinder 76 Luggage weight detection means 77 Tire load Calculation means 78 Speed limit acquisition means 81 Pressure gauge 82 Pressure gauge 83 Supporting force calculation part 86 Total weight calculation part 91 Winch device 92 Electric motor

Claims (5)

A transport vehicle that hangs a load and transports the load,
Load weight detecting means for detecting the weight of the load, tire load calculating means for calculating a load applied to the tire based on the weight of the load detected by the load weight detecting means, and a load determined by the tire load calculating means And a speed limit acquisition means for acquiring a speed limit of the vehicle according to the vehicle. A vehicle for transportation of luggage, in which a telescopic boom for suspending luggage is provided on a vehicle body provided with traveling tires on the front, rear, left and right, and the cylinder device can be raised and lowered,
Load weight detecting means for detecting the weight of the load, tire load calculating means for calculating a load applied to the tire based on the weight of the load detected by the load weight detecting means, and a load determined by the tire load calculating means And a speed limit acquisition means for acquiring the speed limit of the vehicle according to the
The load weight detecting means detects an inclination angle detector for detecting an inclination angle of a boom, a boom extension / contraction amount detector capable of detecting a suspension position of the load on the boom, and a supporting force of the boom generated in the cylinder device. The weight of the load based on the supporting force detecting means, the inclination angle detected by the inclination angle detector, the suspension position detected by the boom extension amount detector, and the supporting force detected by the supporting force detecting means. A vehicle for transportation characterized by comprising a luggage weight calculating section for obtaining a weight. A vehicle for transporting luggage provided with a luggage suspension means for suspending luggage on a vehicle body frame having a portal shape with front and rear, left and right traveling tires,
Load weight detecting means for detecting the weight of the load, tire load calculating means for calculating a load applied to the tire based on the weight of the load detected by the load weight detecting means, and a load determined by the tire load calculating means And a speed limit acquisition means for acquiring a speed limit of the vehicle according to the vehicle. The load suspending means is composed of a wire capable of suspending a load and a cylinder device connected to the wire to raise and lower the load,
4. The transport vehicle according to claim 3, wherein the load weight detecting means is configured to detect the weight based on the pressure of hydraulic oil in the cylinder device. The load suspension means is composed of a wire capable of holding a load, a winding drum for winding the wire, and an electric motor for rotating the winding drum,
4. The transport vehicle according to claim 3, wherein the load weight detecting means is configured to detect the weight based on a current value of the electric motor.

Images