JP2012206690A - Container cargo handling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a container cargo handling vehicle that can efficiently perform an unloading work of a container.SOLUTION: In a container cargo handling vehicle 1, the cargo arm 34 includes a rotation frame 37, a hook frame 38 mounted on the rotation frame 37, and a hook transfer cylinder 39 that transfers a hook 38c of the hook frame 38 relative to the rotation frame 37 in a range between a first hook position and a second hook position that is shorter in distance to a second rotation shaft 33 than a distance to the first hook position, and includes a control part 70 that performs a rotation action of the cargo arm 34 in a backward direction, a first deformation action by which the hook 38c is transferred from the second hook position to the first hook position before the cargo arm 34 arrives at an unloading position of the container 2, and a second deformation action by which, after the container 2 is unloaded on the ground and the rotation of the cargo arm 34 in the backward direction is stopped, the hook 38c is transferred to the second hook position for the separation of the hook 38c from the container 2.

Description

  The present invention relates to a container handling vehicle for loading and unloading containers between a chassis and the ground.

  In a container handling vehicle, loading and unloading of a container mounted on a chassis is performed by a cargo handling device mounted on the vehicle (see, for example, Patent Document 1). The cargo handling device for a cargo handling vehicle includes a dump frame, a cargo handling arm, a lift cylinder, a hydraulic circuit, and the like.

  The base end portion of the dump frame is rotatably supported at the rear portion of the chassis, and the tip end portion thereof is connected to the base end portion of the cargo handling arm so as to be relatively rotatable. A lashing device is provided at the connecting portion between the dump frame and the cargo handling arm so as to lock the connecting portion so as not to allow relative rotation.

  The cargo handling arm is connected between the rotary frame, the L-shaped hook frame that is slidable in the front-rear direction with respect to the rotary frame, and the rotary frame and the hook frame. A hook moving cylinder for moving the hook frame forward and backward is provided.

  The hook frame includes an inner frame portion that is inserted into the rotating frame, a standing frame portion that is integrally provided at the distal end of the inner frame portion, bent upward from the distal end position of the inner frame portion, It has a substantially C-shaped hook which is provided at the tip of the upright frame portion and engages and disengages with the engagement pin of the container.

  Both ends of the lift cylinder are connected to the cargo handling arm and the chassis, respectively. The lift cylinder rotates the cargo handling arm alone by expanding and contracting, or rotates the cargo handling arm and the dump frame that are secured together.

  When a container mounted on a container handling vehicle's chassis is lowered to the ground, the hook moving cylinder is contracted to retract the hook frame to the rearmost position, and the dump frame and the cargo handling arm are not locked by the lashing device. After that, extend the lift cylinder. Then, while the dump frame remains on the chassis, only the cargo handling arm rotates rearward, and the container engaged with the hook of the cargo handling arm is lowered to the ground behind the chassis.

  On the other hand, when a container placed on the ground is pulled up and mounted on the chassis of a container handling vehicle, the lift cylinder is contracted by engaging the hook of the cargo handling arm with the engagement pin of the container. Then, the cargo handling arm rotates from the rear to the front of the chassis, and the container engaged with the hook of the hook frame in the cargo handling arm is pulled up from the rear of the chassis to the chassis and mounted on the chassis.

JP 2000-108767 A

  By the way, in the container handling vehicle described in Patent Document 1, in order to release the lashing device, the hook frame is retracted to the rearmost position with respect to the rotating frame to bring the handling arm into the most contracted state. Therefore, the container is lowered from the chassis to the ground by rotating the cargo handling arm from the front to the rear, so that the contraction amount of the cargo handling arm is always constant from the position where the securing device is released to the position where the container is lowered.

  Therefore, after the container is lowered to the ground and the hook of the handling arm is detached from the engagement pin of the container, if the handling arm is turned forward again, the turning trajectory of the handling arm passes the same trajectory. Therefore, the detached hook will lock the engaging pin again.

  Therefore, in the conventional container handling vehicle, after the container is lowered to the ground and the hook of the handling arm is released from its engaging pin, the vehicle itself is moved forward and moved, and then the center of rotation of the handling arm is moved. Then, the cargo handling arm is rotated forward and stored. As a result, when there is no other container to be lifted after the container is lowered, the operation of moving the vehicle forward is complicated for the operator.

  The present invention aims to solve such a problem, and after the container is lowered to the ground, the cargo handling arm can be rotated forward without being moved to perform storage, etc. To provide a container handling vehicle that can efficiently carry out the operation.

  In order to solve the above problems, the present invention is a container handling vehicle, and is provided in a chassis so as to be rotatable about a rotation axis in a vehicle width direction, and the container is disposed between the chassis and the ground. A loading / unloading arm connected between the chassis and the loading / unloading arm, and a lift arranged to rotate the loading / unloading arm backward by the extension operation and to rotate the loading / unloading arm forward by the contraction operation. A cylinder. The cargo handling arm has a rotating frame, a hook frame having a proximal end attached to the rotating frame, a hook frame provided with a hook that is detachable from the container at the tip, and a hook of the hook frame with respect to the rotating frame. A hook moving cylinder that moves within a range between the first hook position and the second hook position closer to the rotation axis than the first hook position, and is located behind the cargo handling arm by extension of the lift cylinder. A pivoting operation, a first deformation operation for moving the hook of the cargo handling arm from the second hook position toward the first hook position before the cargo handling arm reaches the lowering position of the container, and the container on the ground After the lowering and the rearward rotation of the cargo handling arm are stopped, the second change is made to move the hook of the cargo handling arm to the second hook position so that the hook is detached from the container. It is characterized in that the control unit for performing operation and the are provided.

  According to the above configuration, when the container is lowered to the ground, the hook of the cargo handling arm is detached from the engagement pin of the container. Can pass through different trajectories, and the cargo handling arm can be rotated forward and stored without moving the vehicle itself, so that the container can be lowered efficiently.

  In the container handling vehicle of the present invention, the control unit is configured such that when a virtual line connecting the rotation shaft of the cargo handling arm and the hook is rotated rearward from the vertical direction, the first of the cargo handling arm is provided. Perform the deformation operation. The vertical direction means a direction perpendicular to the ground or a vehicle load direction.

  In this configuration, the hook of the cargo handling arm is moved from the second hook position toward the first hook position after the highest position in the rotation trajectory through which the cargo handling arm passes, and the cargo handling arm rotates backward. . Thereby, the container during the unloading operation by the cargo handling arm is as much as possible as compared with the case where the hook of the cargo handling arm is moved from the second hook position toward the first hook position at the apex of the rotation trajectory of the cargo handling arm. Since it is lowered with a small inclination angle and a low center of gravity, safety can be ensured.

  In the container handling vehicle of the present invention, the rotating frame is formed in a tubular shape, the hook frame is formed in an L shape when viewed from the vehicle width direction, and a proximal end side of the hook frame is inserted into the rotating frame. The cargo handling arm is configured to be extendable in the direction in which the rotating frame extends, and the first deformation operation of the cargo handling arm is performed between the second hook position and the first hook position from the second hook position. The cargo handling arm is extended to the position.

  In this configuration, when the cargo handling arm is extended, it is possible to prevent the portion where the hook frame is inserted into the inside of the rotating frame from being reduced so that the bending strength of the cargo handling arm becomes too weak during the rotation of the cargo handling arm. it can.

  In the container handling vehicle of the present invention, the control unit constantly monitors the hydraulic pressure of the hydraulic circuit that supplies the hydraulic oil to the lift cylinder and the hook moving cylinder during the backward rotation operation of the cargo handling arm. When the value exceeds a predetermined value, the first deformation operation of the cargo handling arm is prohibited.

  In this configuration, when the hydraulic pressure of the hydraulic circuit exceeds a predetermined value, the first deformation operation of the cargo handling arm is prohibited, so that the bending of the cargo handling arm due to the reduced number of hook frame insertion portions inside the rotating frame. It is possible to prevent a decrease in strength and a failure of various hydraulic devices provided in the hydraulic circuit, thereby ensuring safety.

  In this specification, “container unloading work” means that the loading arm of the container handling vehicle is contracted and rotated backward to lower the container on the chassis to the ground, and then the loading arm released from the container is used. This means that it is included until it is rotated forward and placed on the chassis. On the other hand, “the operation of lowering the container (loading arm)” means the operation until the container on the chassis is lowered to the ground by contracting the cargo handling arm and rotating backward (the cargo handling arm placed on the chassis is contracted) In addition, it means an operation in which the hook of the cargo handling arm is rotated backward until the container is lowered. In addition, the “lifting operation of the container (loading arm)” refers to the operation from when the container on the ground is hooked on the hook of the loading arm and lifted onto the chassis until it is loaded (the loading arm with the hook at the lowering position of the container is moved forward). It means the operation until it is moved and placed on the chassis).

  According to the container handling vehicle of the present invention, after the container is lowered to the ground, the cargo handling arm can be rotated forward and stored without moving the vehicle itself, thereby efficiently removing the container. It can be carried out.

1 is an overall view of a container handling vehicle showing an embodiment of the present invention. It is a perspective view which shows the cargo handling apparatus provided in the container cargo handling vehicle. It is a top view which shows the cargo handling apparatus provided in the container cargo handling vehicle. It is the perspective view which outlined the securing device provided in the container handling vehicle and its periphery. It is a left view which shows operation | movement of the lashing apparatus shown by FIG. It is a figure which shows the hydraulic circuit etc. of a container handling vehicle. It is the figure which shows the left side view which outlined the slide extension sensor of this embodiment, the slide contraction sensor, the slide range sensor, and its periphery, and a hook frame slide detection range. It is a figure which shows the left side view which outlined the arm rotation sensor of this embodiment, and its periphery, and its rotation detection range. (A)-(c) is an operation | movement diagram which shows the lowering work method of the container of a container handling vehicle. (D)-(f) is an operation | movement figure which shows the lowering work method of the container of a container handling vehicle. It is a flowchart which shows the control procedure of the standard lowering operation | movement of this embodiment. It is a flowchart which shows the control procedure of the standard pulling-up operation | movement of this embodiment. It is a flowchart which shows the control procedure in the case of extending a cargo handling arm by single arm operation | movement. It is a flowchart which shows the control procedure in the case of contracting a cargo handling arm by single arm operation | movement. It is a flowchart which shows the control procedure of the automatic lowering operation | movement of this embodiment. It is a flowchart which shows the control procedure of the automatic pulling-up operation | movement of this embodiment. It is a flowchart which shows the flag setting procedure based on the pressure detection of the pressure sensor of lowering operation. It is a flowchart which shows the flag setting procedure based on the pressure detection of the pressure sensor of pulling-up operation. It is a flowchart which shows the flag setting procedure based on the pressure detection of the slide control of a hook frame.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[Container Handling Vehicle]
FIG. 1 shows a container handling vehicle 1 according to this embodiment. In FIG. 1, an operation in which the container 2 is loaded and unloaded between the chassis and the ground by the cargo handling device 3 is indicated by an imaginary line. FIG. 2 shows a cargo handling device 3 provided in the container handling vehicle 1, and FIG. 3 shows a plan view thereof.

  The container handling vehicle 1 includes a cab 12 on front ends of a pair of vehicle body frames 11 and 11 (vehicle chassis) that extend in the vehicle body longitudinal direction. On each vehicle body frame 11 behind the cab 12, a subchassis 13 of the cargo handling device 3 extending in the vehicle body front-rear direction along the vehicle body frame 11 is provided. The front end portion and the rear end portion of the pair of left and right sub chassis 13, 13 are connected by a front cross member 15 and a rear cross member 17, respectively.

  The container 2 is mounted on the body frames 11, 11 via the subchassis 13, 13. In addition, a jack 14 that can project toward the ground is provided at the rear ends of the vehicle body frames 11 and 11. As shown by an imaginary line in FIG. 1, the stability of the container handling vehicle 1 is enhanced by projecting the jack 14 against the center of gravity movement toward the rear of the vehicle body when the container 2 is loaded and unloaded by the cargo handling device 3. It is like that.

  The container 2 will be described. As shown in FIG. 1, a pair of left and right main girders 21 and 21 extending in the longitudinal direction of the vehicle body are provided on the lower surface of the bottom wall 2a of the container 2. Further, a pair of left and right legs 2f and 2f projecting downward is provided at the front lower end of the bottom wall 2a, and a pair of left and right wheels 2e and 2e are provided at the rear lower end of the bottom wall 2a. .

On the upper part of the front wall 2b of the container 2, an engagement pin 22 capable of engaging with a hook 38c described later is provided. The upper end of the rear wall 2c of the container 2 is supported around a shaft 23 extending in the vehicle width direction at the upper position of the rear ends of the left and right side walls 2d, 2d, and can be opened rearward.
[Handling equipment]
As shown in FIGS. 1 to 3, the cargo handling device 3 is described in detail later with a pair of left and right dump frames 32 and 32, a cargo handling arm 34, a pair of left and right lift cylinders 35 and 36, and a pair of left and right guide rollers 16 and 16. A hydraulic circuit (see FIG. 6) is provided.

  The dump frame 32 has a rear end portion that is rotatably connected around the first rotation shaft 31 disposed in the vehicle width direction at the rear end position of the sub chassis 13, and is thereby tiltable with respect to the sub chassis 13. It has become.

  The cargo handling arm 34 includes a rotating frame 37, a hook frame 38 attached to the rotating frame 37, and a hook moving cylinder 39.

  The rotation frame 37 is formed in a tubular shape, and a base end portion is provided to be rotatable around a second rotation shaft 33 parallel to the first rotation shaft 31 with respect to the front end portion of the dump frame 32. Thereby, the rotation frame 37 is rotatable with respect to the dump frame 32. An inclined upper edge 37 b extending forward from the second rotation shaft 33 is formed at the base end portion of the rotation frame 37.

  The hook frame 38 is formed in an L shape when viewed from the vehicle width direction, and includes an inner frame portion 38a, an upright frame portion 38b, and a hook 38c.

  The inner frame portion 38 a is formed in a tubular shape, and its proximal end is inserted into the inside from the opening at the distal end of the rotating frame 37. The inner frame portion 38 a is provided to be slidable in the front-rear direction with respect to the rotating frame 37.

  The standing frame part 38b is integrally formed with the inner frame part 38a so as to bend and extend upward from the tip part of the inner frame part 38a. A hook 38c that can be freely attached to and detached from the container 2 is provided at the tip of the standing frame portion 38b. The hook 38c is formed in a substantially C-shape that is detachably engaged with the engagement pin 22 of the container 2.

  A hook moving cylinder 39 is connected between the rotating frame 37 and the inner frame portion 38a as shown by a broken line in FIG. When the hook moving cylinder 39 is expanded and contracted, the inner frame portion 38a slides in the extending direction of the rotating frame 37, and the cargo handling arm 34 is expanded and contracted. Further, the hook moving cylinder 39 has a predetermined first hook position (maximum extended state of the cargo handling arm 34) and the first hook when the hook 38c of the hook frame 38 is viewed from the rotation frame 37 in the vehicle width direction. It is configured to move within the range between the second hook position closer to the second rotation shaft 33 than the position (the most contracted state of the cargo handling arm 34).

  Between the rotating frame 37 and the dump frame 32, the rotating frame 37 is held so as to be substantially straight with respect to the dump frame 32 in a side view so that relative rotation about the second rotating shaft 33 is performed. A restricting lashing device 40 is provided.

  The lift cylinders 35 and 36 are hydraulic cylinders and are connected between the left and right side portions of the rotating frame 37 and the front cross member 15. By the expansion and contraction operation of the lift cylinders 35 and 36, the rotation frame 37 (the cargo handling arm 34) is rotated in the front-rear direction with the second rotation shaft 33 as the rotation axis. Thereby, the expansion-contraction operation | movement of both the lift cylinders 35 and 36 synchronizes mutually.

  The guide rollers 16 and 16 are rotatably provided at the rear ends of the dump frames 32 and 32. The guide rollers 16 are provided to smoothly guide the main girder 21 of the container 2 in the vehicle front-rear direction when the container 2 is loaded and unloaded.

  Here, the specific structure of the securing device 40 of this embodiment is demonstrated in detail.

  FIG. 4 is a perspective view schematically illustrating the lashing device 40 and its periphery according to the present embodiment, and FIG. 5 is a left side view illustrating the operation of the lashing device 40.

  4 and 5, when the hook moving cylinder 39 is in the extended state, the hook frame 38 is fixed so as not to rotate relative to the dump frame 32, and the hook moving cylinder 39 is in the most contracted state. Sometimes it is configured to release its lashing.

  The lashing device 40 includes a pair of left and right lashing members 40a and 40a provided on the left and right side surfaces of the rotating frame 37, and a pair of lashing members provided corresponding to each of the lashing members 40a and 40a. 40b, 40b, and a spring member 40c that elastically urges each tying member 40a in a direction (locking direction) for tying the tying member 40a to the tying member 40b.

  The securing member 40a of the present embodiment includes a base portion 40d having a substantially rectangular plate shape, and a claw portion 40e continuously provided in a protruding shape from the lower end of the base portion 40d toward the rear. The securing member 40a is rotatable about the attachment shaft 40f by pivotally attaching the upper end portion of the base portion 40d to the attachment shaft 40f.

  Further, the claw portion 40e is integrally formed so as to bend obliquely upward and rearward from the lower end of the base portion 40d, and a rearwardly inclined surface 40g is formed at the rear end of the claw portion 40e. Is formed.

  A protruding portion 40h protruding forward from the base portion 40d is formed integrally with the base portion 40d at a position on the front upper end portion of the base portion 40d and above the mounting shaft 40f. A pin 40n is projected from the projecting portion 40h toward the inner side in the vehicle width direction. The pin 40 n is inserted into a slot 37 a having a long hole formed in the rotating frame 37, and an inner end portion thereof is inserted into the rotating frame 37. The pin 40n can come into contact with a piece 38d that projects from the rear end of the inner frame 38a that is slidably inserted into the rotating frame 37. That is, when the hook frame 38 slides backward with respect to the rotating frame 37, the piece portion 38d protruding from the inner frame portion 38a of the hook frame 38 moves the pin 40n of the securing member 40a backward, Along with this, the securing member 40a is rotated.

  Further, a projecting piece 40i is projected rearward from the rear upper end of the base portion 40d. One end of the spring material 40 c is attached to the projecting piece 40 i, and the other end of the spring material 40 c is attached to the upper part of the side surface of the rotating frame 37. Thereby, since the spring member 40c always elastically urges the tying member 40a toward the rear obliquely upward with the attachment shaft 40f as the center, the claw portion 40e is elastically urged in the locking direction.

  On the other hand, the to-be-secured member 40b is fixed with a gap to a lateral frame 32a that is installed in the vehicle width direction at the tip of the pair of dump frames 32, 32. In addition, a protruding receiving portion 40j is formed on the upper end portion of the to-be-secured member 40b so as to protrude forward toward the claw portion 40e of the securing member 40a.

  The receiving portion 40j has a shape capable of locking the claw portion 40e. Here, the bulging portion 40k projecting downward is integrally formed at the front lower end portion of the receiving portion 40j, and the bulging portion 40k prevents the engagement with the claw portion 40e from being released. is doing. In addition, a guide surface 40m that is inclined in the same direction as the inclined surface 40g of the claw portion 40e is formed at the front upper end portion of the receiving portion 40j.

  Thus, since the guide surface 40m of the receiving portion 40j and the inclined surface 40g of the claw portion 40e are inclined in the same direction, if a part of both abuts, the inclined surface along the inclination of the guide surface 40m. 40 g slides down while resisting the elastic force of the spring material 40 c. Then, when the inclined surface 40g exceeds the receiving portion 40j of the to-be-secured member 40b, the claw portion 40e is locked to the receiving portion 40j by being returned backward by the elastic force of the spring material 40c, and the securing member 40a. Is securely locked to the member to be secured 40b.

Therefore, according to the lashing device 40 of the present embodiment, since the guide surface 40m of the receiving portion 40j and the inclined surface 40g of the claw portion 40e are formed, the lashing member 40a is shown by an imaginary line in FIG. Even if it is not the position shown (position where the cargo handling arm 34 is in the most contracted state), when the cargo handling arm 34 is rotated forward, the tying member 40a becomes the tying member 40b by its own weight and the elastic force of the spring material 40c. It can be locked securely.
[Hydraulic circuit]
Next, the hydraulic circuit of this embodiment will be described with reference to FIG.

  The hydraulic pump 43, which is a hydraulic supply source, is driven by the power of an engine (not shown), pumps up the hydraulic oil in the oil tank 44 through the suction pipe 43a, and supplies the pressure oil from the discharge port.

  The discharge port of the hydraulic pump 43 is connected to the upstream end of the main oil passage 45 through the pressure port P of the valve unit 4.

  In the main oil passage 45, a lift cylinder switching valve 48 for switching the expansion / contraction operation of the lift cylinders 35 and 36 and a hook movement cylinder switching valve 49 for switching the expansion / contraction operation of the hook movement cylinder 39 are installed in series in order from the upstream side. Has been.

  A downstream end of the main oil passage 45 is connected to a tank port T of the valve unit 4, and an oil drain pipe 50 is connected to the tank port T. A filter 51 is installed in the middle of the oil drain pipe 50.

  Each of the switching valves 48 and 49 is a 6-port three-position electromagnetic pilot switching valve, and when all of them are in the neutral position, the total amount of pressure oil supplied by the hydraulic pump 43 is the main oil passage 45 and the oil drain pipe 50. Is returned to the oil tank 44.

  One end of first to third branch oil passages 53 to 55 is connected to the main oil passage 45 between the hydraulic pump 43 and the switching valve 48.

  The other end of the first branch oil passage 53 is connected to the vicinity of the downstream end of the main oil passage 45, and a relief valve 56 is provided in the middle of the first branch oil passage 53.

  A pressure reducing valve 57 is provided at the other end of the second branch oil passage 54 so that the pressure oil reduced to a predetermined pilot pressure is supplied to the pilot oil passage 58.

  A pilot pressure is provided to the switching valves 48 and 49 through the pilot oil passage 58.

  The other end of the third branch oil passage 55 is connected to the pressure sensor 59 through the output pressure port P ′.

  A sequence valve 60 is installed in the main oil passage 45 and is provided for raising a pilot pressure immediately after the hydraulic pump 43 is driven.

  The respective ports of the switching valves 48 and 49 are connected to actuator hydraulic ports A 1, A 2, B 1 and B 2 of the valve unit 4 and the main oil passage 45.

  The bottom ports of the lift cylinders 35 and 36 are connected to a predetermined port of the switching valve 48 through a hydraulic port A1.

  The rod side ports of the lift cylinders 35 and 36 are connected to a predetermined port of the switching valve 48 via a hydraulic port B1.

  In order to maintain the back pressure of the lift cylinders 35, 36, a counter balance valve 61 is provided on the oil passage connecting the lift cylinders 35, 36 and the hydraulic ports A1, B1.

  The bottom port of the hook moving cylinder 39 is connected to a predetermined port of the hook moving cylinder switching valve 49 via a hydraulic port A2.

  The rod side port of the hook moving cylinder 39 is connected to a predetermined port of the hook moving cylinder switching valve 49 via a hydraulic port B2.

  A pilot check valve 65 is provided on the oil passage connecting the bottom port of the hook moving cylinder 39 and the hydraulic pressure port A2.

  The switching operation of the switching valves 48 and 49 in the above hydraulic circuit is controlled by the control unit 70.

  A pressure sensor 59, a remote controller 74, a buzzer 74a, a lift contraction sensor 75, a slide extension sensor 76, and a slide contraction sensor 77 are connected to the control unit 70. Furthermore, in the present embodiment, a slide range sensor 78 that detects whether the sliding amount of the hook frame 38 is within a predetermined range and an arm rotation sensor 79 that detects a predetermined rotation angle of the cargo handling arm 34 are provided in the control unit 70. It is connected. The controller 70 controls the switching operation of the switching valves 48 and 49 of the valve unit 4 on the basis of output signals from the remote controller 74 and the sensors 59 and 75 to 79.

  Here, the pressure sensor 59 outputs an ON signal when the pressure in the hydraulic circuit is equal to or higher than a predetermined value, and otherwise outputs no signal. More specifically, the hydraulic pressure of the hydraulic circuit is determined when the cargo handling arm 34 starts to rotate backward from the state in which the container 2 is placed on the chassis (so-called waist cutting), or when the cargo handling arm 34 rotates backward. Generally, when the container 2 is loaded on the hook 38c when the container 2 is pulled up after the engaging pin 22 of the container 2 is locked to the hook 38c of the cargo handling arm 34 in the moving state (so-called ground cutting), Get higher. During the lifting operation or the lowering operation of the other cargo handling arms 34, the hydraulic pressure of the hydraulic circuit is generally kept lower than that at the time of waist cutting or ground cutting. Therefore, in the present embodiment, the ON output of the pressure sensor 59 is based on the upper limit pressure value at which the cargo handling arm 34 can be safely rotated when the ground is cut with the cargo handling arm 34 extended by a predetermined range. The pressure value is set. Thereby, when the pressure sensor 59 outputs ON, the operation of the cargo handling arm 34 can be stopped.

  The remote controller 74 is provided with various buttons such as a lowering button 74b, a lifting button 74c, an arm extension button 74d, and an arm contraction button 74e.

  The lift contraction sensor 75 is disposed at the tip of one rod of the lift cylinders 35 and 36 (see FIG. 3), and detects the state when the lift cylinders 35 and 36 are most contracted.

  7 is a left side view schematically showing the slide extension sensor 76, the slide contraction sensor 77, the slide range sensor 78, and the periphery thereof, and a diagram showing the slide detection range of the hook frame 38, and FIG. It is a figure which shows the left side view which outlined the arm rotation sensor 79 of the embodiment, and its periphery, and its rotation detection range.

  As the slide extension sensor 76, the slide contraction sensor 77, and the slide range sensor 78 shown in FIG. 7, non-contact sensors are used. Among these, the slide extension sensor 76 and the slide range sensor 78 are attached to the bottom surface of the rotating frame 37 and can detect the bottom surface portion 38e of the inner frame portion 38a of the hook frame 38. The slide extension sensor 76 detects a position where the base end of the hook frame 38 is most advanced. Thereby, it is possible to determine whether or not the slide lock device (not shown) of the container 2 is operating correctly.

  The slide range sensor 78 is, for example, a length (in this embodiment) that allows the hook frame 38 to slide with reference to a position where the base end of the hook frame 38 is most retracted (a state where the hook 38c is in the second hook position). 450 mm), and is provided on the front side with an interval of approximately half the length (250 mm in this embodiment). According to the slide range sensor 78, the range from the position of the hook frame 38 in the state where the hook moving cylinder 39 is contracted to the position where the hook moving cylinder 39 is extended and the hook frame 38 slides 250 mm is reliably detected. be able to.

  The slide contraction sensor 77 is attached to the front end portion of the rotating frame 37. A detected portion 80 of the slide contraction sensor 77 is provided at the bent portion of the hook frame 38. When the base end of the hook frame 38 is most retracted, the most contracted state of the cargo handling arm 34 is detected by the detected portion 80 approaching the slide contraction sensor 77.

  Further, as the arm rotation sensor 79 shown in FIG. 8, one non-contact sensor is used. The arm rotation sensor 79 is attached to a side surface of the dump frame 32 facing the rotation frame 37 of the cargo handling arm 34 and at a position behind the second rotation shaft 33. The arm rotation sensor 79 detects that the upper edge 37b of the rotation frame 37 has passed when the cargo handling arm 34 is rotated backward from the state where the cargo handling arm 34 is placed on the chassis. It has become.

  Specifically, an angle (indicated as “A” in FIG. 8) obtained by rotating the cargo handling arm 34 back 115 ° around the second rotary shaft 33 from the state where the cargo handling arm 34 is placed on the chassis. The arm rotation sensor 79 detects a range of 25 ° from the starting point to the position where the cargo handling arm 34 is rotated most backward (the position where the container 2 is lowered (see FIG. 10E)). . Thereby, the predetermined angle A between the detection (ON) and non-detection (OFF) of the arm rotation sensor 79 can be determined.

According to this arm rotation sensor 79, it is detected that a predetermined position (position of the rotation frame 37 rotated 25 ° forward from the lowering position of the container 2) is reached before reaching the lowering position of the container 2. it can. Therefore, it is possible to reliably detect that the arm rotation sensor 79 has reached the predetermined angle A before the legs 2f and 2f of the container 2 and the wheels 2e and 2e are installed on the ground.
[How to unload container 2]
The container handling vehicle 1 of the present embodiment configured as described above lowers the container 2 to the ground in the following manner.

  9 (a) to 9 (c) and FIGS. 10 (d) to (f) are operation diagrams illustrating a method for lowering the container of the container handling vehicle 1.

  First, the operator operates an operation means such as a remote controller 74 provided inside or outside the vehicle, and as shown in FIG. 9A, the most extended state of the cargo handling arm 34 on the chassis (the hook 38c is the first one). The hook moving cylinder 39 is contracted from the hook position). As a result, as shown in FIG. 9B, the cargo handling arm 34 is in the most contracted state (the state where the hook 38c is in the second hook position) in which the container 2 is horizontally moved rearward. Accordingly, the lock of the lashing device 40 is released. In this way, the operation of moving the hook 38c from the first hook position to the second hook position by moving the cargo handling arm 34 on the chassis from the most extended state to the most contracted state is the contracting operation of the cargo handling arm 34. During this contraction operation, the jack 14 stored in the container is extended to improve the stability of the container handling vehicle 1.

  Next, as shown in FIG. 9C, when the lift cylinders 35 and 36 are extended after the contraction operation, the container 2 moves rearward, and the container 2 eventually faces downward with the guide roller 16 as a fulcrum. The wheels 2e, 2e provided at the rear end of the bottom wall 2a of the container 2 are first grounded to the ground while being inclined low. At this time, if the arm rotation sensor 79 detects that the cargo handling arm 34 is positioned at the predetermined angle A, the control unit 70 extends the hook moving cylinder 39. That is, the hook 38c of the cargo handling arm 34 is moved from the second hook position toward the first hook position. The operation of moving the hook 38c of the cargo handling arm 34 from the second hook position toward the first hook position is the first deformation operation of the cargo handling arm 34.

  Here, as shown in FIG. 9C, the control unit 70 is configured such that the imaginary line X connecting the second rotation shaft 33 of the cargo handling arm 34 and the hook 38 c is rotated backward from the vertical direction. That is, the hook moving cylinder 39 is extended as shown in FIG. 10 (d) when it is rotated backward beyond its highest position in the turning trajectory through which the cargo handling arm 34 passes. In this case, the cargo handling arm 34 is extended from the second hook position of the hook 38c to an intermediate position between the second hook position and the first hook position of the hook 38c.

  The extension operation of the hook moving cylinder 39 can be performed during the operation in which the cargo handling arm 34 is rotated rearward. However, in this embodiment, the slide range sensor 78 is used to increase safety. The hook moving cylinder 39 is extended after stopping the rotation of the cargo handling arm 34 within the detection range.

  As the hook moving cylinder 39 extends, the cargo handling arm 34 extends in the direction in which the rotating frame 37 extends.

  When the cargo handling arm 34 is rotated further rearward with the cargo handling arm 34 extended in this manner, the cargo handling arm 34 eventually reaches the lowering position of the container 2 as shown in FIG. Thus, the legs 2f, 2f and the wheels 2e, 2e of the container 2 are grounded to the ground.

  Next, as shown in FIG. 10F, when the hook moving cylinder 39 that has been extended by stopping the backward rotation of the cargo handling arm 34 is contracted, the cargo handling arm 34 is contracted. That is, the hook 38c is moved to the second hook position. As a result, the hook 38 c is detached from the engagement pin 22 of the container 2. In this way, after the container 2 is lowered to the ground and the rearward rotation of the cargo handling arm 34 is stopped, the hook 38c of the cargo handling arm 34 is moved to the second hook position and the hook 38c is detached from the container 2. However, the second deformation operation of the cargo handling arm 34 is performed.

  Finally, the cargo handling arm 34 detached from the container 2 is rotated forward and placed on the chassis, and the loading operation of the container 2 is completed by extending the cargo handling arm 34 to the maximum extent.

  According to the container lowering work method of the present embodiment, after the container 2 is lowered to the ground, the cargo handling arm 34 can be rotated forward for storage and the like without moving the vehicle itself. Can be done automatically.

When the container handling vehicle 1 is moved in a state where the cargo handling arm 34 is rotated rearward and the hook 38c of the cargo handling arm 34 is disengaged from the engagement pin 22 of the container 2, another container adjacent thereto is moved. It is also possible to subsequently pull up (not shown).
[Unloading and lifting operation of container 2]
Below, the lowering operation | movement and the raising operation | movement of the container 2 performed according to operation of the remote controller 74 are demonstrated based on a flowchart.
<Standard lowering operation>
FIG. 11 is a flowchart showing a control procedure of the standard lowering operation of the present embodiment, and FIG. 12 is a flowchart showing a control procedure of the standard pulling operation of the present embodiment.

  First, the standard container 2 lowering operation in the present embodiment will be described with reference to FIG. In this case, the cargo handling arm 34 is placed on the chassis, and the lowering operation is started from the most extended state of the cargo handling arm 34 (the state where the hook 38c is at the first hook position).

  As shown in FIG. 11, when an operator turns on the remote controller 74, each sensor and the like are activated, and the operation state of each switch of the remote controller 74 is judged by the control unit 70. Further, whether or not the operator has pressed the lowering button 74b of the remote controller 74 is determined by turning on and off the lowering switch (S10).

  When the operator presses the lowering button 74b of the remote controller 74, the lowering switch is turned on (Yes in S10), and then it is determined whether the arm rotation sensor 79 is on or off (S11). At this time, since the cargo handling arm 34 is placed on the chassis, it is determined that the arm rotation sensor 79 is OFF (No in S11), and then it is determined whether the slide contraction sensor 77 is ON or OFF (S15). . At this time, since the cargo handling arm 34 is in the most extended state, it is determined that the slide contraction sensor 77 is OFF (No in S15).

  Next, it is determined whether the lift contraction sensor 75 is ON or OFF (S17). At this time, since the cargo handling arm 34 is placed on the chassis, it is determined that the lift contraction sensor 75 is ON (Yes in S17), and the hook moving cylinder 39 is contracted (S18). As the hook moving cylinder 39 contracts, the hook frame 38 of the cargo handling arm 34 slides backward (the cargo handling arm 34 contracts).

  Next, when the hook frame 38 is most retracted by the contraction operation of the hook moving cylinder 39, the slide contraction sensor 77 is determined to be ON in S15 (Yes in S15), and the contraction operation of the hook moving cylinder 39 is stopped. That is, the hook 38c of the cargo handling arm 34 moves to the second hook position. Subsequently, the lift cylinders 35 and 36 extend (S16). Thereby, the cargo handling arm 34 rotates backward.

  Next, when the cargo handling arm 34 is rotated from the state where it is placed on the chassis by the extension operation of the lift cylinders 35 and 36 to a predetermined angle A, the arm rotation sensor 79 is turned on in S11 (Yes in S11), and continues. Then, it is determined whether or not a lowering pressure high flag (see FIG. 17) described later is ON (S12). When the lowering pressure high flag is OFF (No in S12), the lift cylinders 35 and 36 continue to extend, and the cargo handling arm 34 further rotates rearward (S19). As a result, the cargo handling arm 34 is rotated to the position that is most rearwardly rotated (the position where the container 2 is lowered in FIG. 10E).

  On the other hand, when it is determined in S12 that the lowering pressure high flag is ON (Yes in S12), the cargo handling arm 34 is only in the case where the cargo handling arm 34 is in the most contracted state (the state where the hook 38c is in the second hook position). Can be rotated backward (S13, S14).

The series of operations is performed by sequence control while the down button 74b of the remote controller 74 is continuously pressed. When the lowering button 74b is released halfway, the operation stops, but when the lowering button 74b is pressed again, the sequence control is continued from the point where it stopped.
<Standard pulling operation>
Next, a standard pulling operation of the container 2 in the present embodiment will be described with reference to FIG. In this case, the operation is started from the position where the cargo handling arm 34 is rotated most backward (the position where the container 2 is lowered in FIG. 10E).

  As shown in FIG. 12, first, whether or not the operator has pushed the pull-up button 74c of the remote controller 74 is determined by ON / OFF of the pull-up switch (S20).

  When the operator presses the pull-up button 74c of the remote controller 74, the pull-up switch is turned on (Yes in S20), and then it is determined whether the lift contraction sensor 75 is on or off (S21). At this time, since the cargo handling arm 34 is rotated most rearward, it is determined that the lift contraction sensor 75 is OFF (No in S21), and then it is determined whether the slide contraction sensor 77 is ON or OFF (S23).

  In S23, when the cargo handling arm 34 is in the most contracted state (the state where the hook 38c is in the second hook position), it is determined that the slide contraction sensor 77 is ON (Yes in S23). Thereby, the lift cylinders 35 and 36 are contracted, and the cargo handling arm 34 is rotated forward (S24). At the initial stage of forward rotation of the cargo handling arm 34, the hook 38c of the cargo handling arm 34 is locked to the engagement pin 22 of the container 2, and the cargo handling arm 34 pulls up the container 2 onto the chassis with the forward rotation. When the cargo handling arm 34 is rotated forward until the cargo handling arm 34 is placed on the chassis by the contraction operation of the lift cylinders 35 and 36, the lift contraction sensor 75 is determined to be ON in S21 (Yes in S21), and the hook moving cylinder 39 is extended. (S22). As a result, the container 2 pulled up on the chassis slides forward and falls within the proper mounting position (the state where the hook 38c is in the first hook position). Note that the above series of operations is performed by sequence control while the pull-up button 74c of the remote controller 74 is continuously pressed, as in the above-described standard lowering operation (see FIG. 11).

  On the other hand, in S23, the case where the cargo handling arm 34 is not in the most contracted state (No in S23) is considered. In the present embodiment, by operating an arm extension button 74d or an arm contraction button 74e that is different from the pull-up button 74c under a predetermined condition, the hook frame 38 is slid independently irrespective of the sequence control, and the cargo handling arm 34 is operated. Can be arbitrarily extended or contracted (referred to as “single arm operation”). The single arm operation is, for example, an operation in which the hook 38c of the cargo handling arm 34 is moved rearward without moving the vehicle back and forth with the cargo handling arm 34 rotated most backward. Thereby, compared with the case where a single arm operation cannot be performed, the container 2 in a farther rear position can be pulled up, or the catch angle of the container 2 can be improved. As described above, when the cargo handling arm 34 is extended with the cargo handling arm 34 rotated most rearward, the slide contraction sensor 77 is determined to be OFF in S23 (No in S23).

  If it is determined in S23 that the slide contraction sensor 77 is OFF, it is continuously determined whether or not a later-described pulling pressure high flag (see FIG. 18) is ON (S25). If it is determined that the pulling pressure high flag is ON in S25 (Yes in S25), the cargo handling arm 34 cannot be moved even if the pulling button 74c is continuously pressed. In this case, the cargo handling arm 34 can be rotated forward only when the cargo handling arm 34 is in the most contracted state by the single arm operation (S23, S24, S25).

  If it is determined in S25 that the lift pressure high flag is OFF (No in S25), the lift cylinders 35 and 36 are contracted and the cargo handling arm 34 is rotated forward (S26). That is, the cargo handling arm 34 is rotated forward in the extended state. This is because, when the cargo handling arm 34 is extended by the single arm operation, the intention of the operator is respected and the time for contracting the cargo handling arm 34 is omitted, and the rotation time of the cargo handling arm 34 is shortened.

  Here, in the extended state of the cargo handling arm 34, the piece 38d of the hook frame 38 is not in contact with the pin 40n of the securing member 40a, and the securing member 40a is in the locked position. Therefore, the securing member 40a and the secured member 40b interfere immediately before the cargo handling arm 34 is placed on the chassis. However, in the present embodiment, as described above, since the guide surface 40m of the tying member 40b and the inclined surface 40g of the tying member 40a are inclined in the same direction, along the inclination of the guide surface 40m. The inclined surface 40g slides down while resisting the elastic force of the spring material 40c, and the tying member 40a can be reliably locked to the tying member 40b.

Thereafter, when the cargo handling arm 34 is rotated forward until it is placed on the chassis, the lift contraction sensor 75 is determined to be ON in S21 (Yes in S21), the hook moving cylinder 39 is extended, and the cargo handling arm 34 is moved. The hook 38c is placed in the first hook position (S22).
[Single arm operation]
Hereinafter, the single arm operation of the cargo handling arm 34 executed in response to the operation of the arm extension button 74d or the arm contraction button 74e of the remote controller 74 will be described based on a flowchart.
<Single arm extension operation>
FIG. 13 is a flowchart showing a control procedure when the cargo handling arm is extended by a single arm operation (single arm extension operation), and FIG. 14 is a control procedure when the cargo handling arm is contracted by a single arm operation (single arm contraction operation). It is a flowchart which shows.

  First, an operation for extending the cargo handling arm 34 in the present embodiment by a single arm operation will be described with reference to FIG.

  As shown in FIG. 13, whether or not the operator has pressed the arm extension button 74d of the remote controller 74 is determined by turning on / off the arm extension switch (S30).

  When the operator presses the arm extension button 74d of the remote controller 74, the arm extension switch is turned ON (Yes in S30), and then it is determined whether the arm rotation sensor 79 is ON or OFF (S32).

  If the arm extension switch is OFF (No in S30), the hook moving cylinder extension operation flag is OFF (S31).

  If the arm rotation sensor 79 is determined to be OFF in S32 (No in S32), the single arm operation is disabled. That is, the single arm extending operation of the cargo handling arm 34 is the angle when the cargo handling arm 34 is rotated backward from the state of being placed on the chassis to the predetermined angle A that is rotated 90 ° or more backward, Only the range between the angle when rotated backward is possible.

  If the arm rotation sensor 79 is ON in S32 (Yes in S32), it is determined whether a lowering pressure high flag (see FIG. 17) described later is ON or OFF (S33). At this time, if the lowering pressure high flag is ON (Yes in S33), the single arm extension operation is prohibited.

  On the other hand, when the lowering pressure high flag is OFF (No in S33), it is determined whether a raising pressure high flag (see FIG. 18) described later is ON or OFF (S34). At this time, when the pulling pressure high flag is ON (Yes in S34), the single arm extension operation is prohibited as described above.

  On the other hand, when the pulling pressure high flag is OFF (No in S34), it is determined whether the pressure sensor 59 is ON or OFF (S35). The lowering pressure high flag and the raising pressure high flag are generated and held during the lowering / lifting operation. In the single arm extension operation of this embodiment, the pressure sensor 59 is turned on and off together with the ON and OFF of these flags. ON / OFF is also determined. By doing so, pressure detection can be performed even when a hydraulic pressure of a predetermined value or more is generated during the single arm extension operation.

  When the pressure sensor 59 is ON (Yes in S35), the single arm extension operation is prohibited as described above.

  On the other hand, when the pressure sensor 59 is OFF (No in S35), it is determined whether the slide range sensor 78 is ON or OFF (S36). If the slide range sensor 78 is ON (Yes in S36), the hook moving cylinder 39 is extended (S37), and the cargo handling arm 34 is extended. That is, the single arm extension operation can be performed only when the lowering pressure high flag and the raising pressure high flag are both OFF and the pressure sensor is OFF. At this time, the hook movement cylinder extension operation flag, which will be described in detail later, is turned ON (S38).

Here, in the present embodiment, when the single arm extension operation is performed, the cargo handling arm 34 does not extend to the maximum stroke (maximum extension state). Specifically, the single arm extension operation is enabled only in the range where the slide range sensor 78 is ON. This is because when the cargo handling arm 34 is extended, a portion where the inner frame portion 38a of the hook frame 38 and the rotating frame 37 overlap each other (a portion where the inner frame portion 38a is inserted inside the rotating frame 37). This is to prevent the bending strength of the cargo handling arm 34 from becoming too weak during the rotation of the cargo handling arm 34 due to excessive reduction. Therefore, if it is determined that the slide range sensor 78 is OFF in S36 (No in S36), further single arm extension operation is prohibited. Thereby, the hook 38c of the cargo handling arm 34 becomes an intermediate position between the second hook position and the first hook position.
<Single arm contraction operation>
In the case of the single arm contracting operation, as shown in FIG. 14, first, it is determined by the ON / OFF of the arm contracting switch whether or not the operator has pressed the arm contracting button 74e of the remote controller 74 (S40).

  When the operator presses the arm contraction button 74e of the remote controller 74, the arm contraction switch is turned on (Yes in S40), and then it is determined whether the arm rotation sensor 79 is ON or OFF (S41). If the arm rotation sensor 79 is ON (Yes in S41), the hook moving cylinder 39 is contracted and the cargo handling arm 34 is contracted (S42).

  On the other hand, if the arm rotation sensor 79 is OFF (No in S41), the single arm contracting operation cannot be performed.

That is, the single arm contracting operation is performed from the position where the cargo handling arm 34 is rotated most backward (the container lowering position in FIG. 10E) to the position where the cargo handling arm 34 is rotated 25 ° forward (the predetermined angle A). Only the range of (up to) is possible.
<Automatic lowering operation>
Next, the automatic lowering operation and automatic pulling operation of the container 2 executed in accordance with the operation of the remote controller 74 will be described based on the flowchart. The automatic lowering operation and the automatic pulling operation are used for the container 2 lowering operation. Here, “automatic” means that the lowering operation of the container 2 can be performed without moving the vehicle itself and without performing a single arm operation (see FIGS. 13 and 14).

  FIG. 15 is a flowchart showing a control procedure of the automatic lowering operation of the present embodiment, and FIG. 16 is a flowchart showing a control procedure of the automatic pulling operation of the present embodiment.

  First, the automatic lowering operation of the container 2 in this embodiment will be described with reference to FIG. In this case, the cargo handling arm 34 is placed on the chassis and the operation is started from the most extended state of the cargo handling arm 34 (the state where the hook 38c is at the first hook position).

  As shown in FIG. 15, when an operator turns on the remote controller 74, each sensor or the like is activated, and the operation state of each switch of the remote controller 74 is determined by the control unit 70. Further, whether or not the operator presses the lowering button 74b of the remote controller 74 quickly twice at intervals within a predetermined time (for example, 0.5 seconds) is determined by ON / OFF of the automatic lowering switch ( S50).

  When the operator quickly presses the lowering button 74b of the remote controller 74 twice, the automatic lowering switch is turned on (Yes in S50), and the buzzer 74a sounds to notify that the automatic lowering operation has started (S51). ), It is determined whether the arm rotation sensor 79 is ON or OFF (S52).

  At this time, since the cargo handling arm 34 is placed on the chassis, it is determined that the arm rotation sensor 79 is OFF (No in S52), and then it is determined whether the slide contraction sensor 77 is ON or OFF (S54). . At this time, since the cargo handling arm 34 is in the most extended state, it is determined that the slide contraction sensor 77 is OFF (No in S54).

  Next, it is determined whether the lift contraction sensor 75 is ON or OFF (S56). At this time, since the cargo handling arm 34 is placed on the chassis, it is determined that the lift contraction sensor 75 is ON (Yes in S56), and the hook moving cylinder 39 is contracted (S57). As the hook moving cylinder 39 contracts, the hook frame 38 of the cargo handling arm 34 slides backward (the cargo handling arm 34 contracts).

  Next, when the hook frame 38 is most retracted by the contraction operation of the hook moving cylinder 39, the slide contraction sensor 77 is determined to be ON in S54 (Yes in S54), and the contraction operation of the hook moving cylinder 39 is stopped. That is, the hook 38c of the cargo handling arm 34 moves to the second hook position. Subsequently, the lift cylinders 35 and 36 extend (S55). Thereby, the cargo handling arm 34 rotates backward.

  Next, when the cargo handling arm 34 is rotated backward from the state in which the cargo handling arm 34 is placed on the chassis by the extension operation of the lift cylinders 35 and 36 to a predetermined angle A (115 °), the arm rotation sensor 79 is turned on in S52. Then, the rearward rotation of the cargo handling arm 34 is stopped, and it is determined whether or not a lowering pressure high flag (see FIG. 17) described later is ON (S53).

  When the lowering pressure high flag is OFF (No in S53), it is determined whether the slide range sensor 78 is ON or OFF (S58). At this time, the cargo handling arm 34 is in the most contracted state (the hook 38c is in the second hook position). Therefore, the slide range sensor 78 is determined to be ON (Yes in S58), and the hook moving cylinder 39 is extended (S59). As a result, the cargo handling arm 34 extends.

  When the cargo handling arm 34 extends beyond the detection range of the slide range sensor 78, it is determined in S58 that the slide range sensor 78 is OFF (No in S58). Thereby, the hook 38c of the cargo handling arm 34 becomes an intermediate position between the second hook position and the first hook position. Subsequently, when the lift cylinders 35 and 36 extend (S501), the backward rotation operation of the cargo handling arm 34 that has been once stopped is resumed. As a result, the cargo handling arm 34 is rotated to the most rearwardly rotated position (container lowering position in FIG. 10E).

On the other hand, when it is determined in S53 that the lowering pressure high flag is ON (Yes in S53), the cargo handling arm 34 does not extend or rotate backward. In this case, the cargo handling arm 34 cannot be moved while the lowering button 74b is being pressed. That is, the control unit 70 constantly monitors the hydraulic pressure of the hydraulic circuit during the backward rotation operation of the cargo handling arm 34. Then, if the lowering pressure high flag is turned ON, the first deformation operation in which the control unit 70 moves the hook 38c of the cargo handling arm 34 from the second hook position toward the first hook position is prohibited. In this case, it is possible to continue the lowering operation of the cargo handling arm 34 by pressing the lowering button 74b once and switching to the standard lowering operation (see FIG. 11).
<Automatic lifting operation>
Next, the automatic pulling operation of the container 2 in the present embodiment will be described with reference to FIG. In this case, the operation is started from the position (the container lowering position in FIG. 10E) where the cargo handling arm 34 is rotated most backward.

  As shown in FIG. 16, first, whether or not the operator presses the pull-up button 74c of the remote controller 74 quickly twice at intervals within a predetermined time (for example, 0.5 seconds) depends on ON / OFF of the automatic pull-up switch. Determination is made (S60).

  When the operator presses the pull-up button 74c of the remote controller 74 twice quickly, the automatic pull-up switch is turned on (Yes in S60), the buzzer 74a sounds and informs that the automatic pull-up operation has started (S61). ), It is determined whether the lift contraction sensor 75 is ON or OFF (S62).

  At this time, since the cargo handling arm 34 is rotated most rearward, it is determined that the lift contraction sensor 75 is OFF (No in S62), and then it is determined whether the slide contraction sensor 77 is ON or OFF (S64).

  Here, when the automatic pulling operation is continued after the automatic lowering operation, the cargo handling arm 34 is extended to an intermediate position where the slide range sensor 78 is turned off. In this case, it is determined that the slide contraction sensor 77 is OFF in S64 (No in S64).

  Next, it is determined whether the arm rotation sensor 79 is ON or OFF (S66). At this time, since the cargo handling arm 34 is rotated most rearward, it is determined that the arm rotation sensor 79 is ON (Yes in S66), and subsequently, an automatic slide prohibition flag (see FIG. 19), which will be described in detail later, is turned ON. , OFF is determined (S67). If the automatic pull-up operation is performed after the automatic lowering operation, the single arm extension operation is not performed, and therefore the automatic slide prohibition flag is determined to be OFF in S67 (No in S67). As a result, the hook moving cylinder 39 contracts (S68), and the cargo handling arm 34 contracts. At this time, the hook 38c of the cargo handling arm 34 that has been in the vicinity of the engagement pin 22 of the container 2 after the automatic lowering operation moves downward and forward and is largely separated from the engagement pin 22.

  When the cargo handling arm 34 is in the most contracted state (the state where the hook 38c is in the second hook position), the slide contraction sensor 77 is determined to be ON in S64 (Yes in S64), and the lift cylinders 35 and 36 are contracted (S65). ). As a result, the cargo handling arm 34 rotates forward.

  Here, if the cargo handling arm 34 is rotated forward while maintaining the extended state of the cargo handling arm 34 after the automatic lowering operation (see FIG. 15), the rotational trajectory of the cargo handling arm 34 is the same. Since it passes, the hook 38c of the cargo handling arm 34 once detached will lock the engagement pin 22 of the container 2 again. However, in the present embodiment, after the automatic lowering operation is performed, the automatic pulling operation (see FIG. 16) is subsequently performed, so that the position of the hook 38c of the cargo handling arm 34 detached by the automatic lowering operation is moved downward and forward. The cargo handling arm 34 can be rotated forward. Thus, the turning trajectory of the cargo handling arm 34 can be made different from that during the automatic lowering operation, and the hook 38c is engaged with the container when the cargo handling arm 34 is rotated forward without the vehicle itself being moved forward. It does not interfere with the mating pin 22.

  Thereafter, when the cargo handling arm 34 is rotated forward until it is placed on the chassis, the lift contraction sensor 75 is determined to be ON in S62 (Yes in S62), and the hook moving cylinder 39 is extended (S63).

  On the other hand, consider the case where the automatic slide prohibition flag is ON in S67 (Yes in S67). This is considered to be the case where the cargo handling arm 34 is extended by the single arm operation before the automatic pulling operation.

When the automatic slide prohibition flag is ON (Yes in S67), the automatic pulling operation cannot be performed even if the pulling button 74c of the remote controller 74 is kept pressed. In this case, the pulling button 74c of the remote controller 74 is pressed once again to switch to the standard pulling operation (see FIG. 12), so that the cargo handling arm 34 can be rotated forward in the extended state. Become.
<Drop pressure high flag setting>
FIG. 17 is a flowchart showing a flag setting procedure based on the pressure detection of the pressure sensor 59 in the lowering operation, and FIG. 18 is a flowchart showing a flag setting procedure based on the pressure detection of the pressure sensor 59 in the pulling operation.

  In the present embodiment, during the lowering operation and the pulling operation, it is determined by the pressure sensor 59 whether or not the hydraulic pressure exceeds a predetermined value.

  First, the flowchart of FIG. 17 will be described.

  When the lowering switch is turned ON (the pressing button 74b is pressed once) or the automatic lowering switch is turned ON (the lowering button 74b is pressed twice quickly) (Yes in S70), the pressure sensor 59 is turned ON. It is determined whether or not (S71).

  If it is determined that the pressure sensor 59 is ON (Yes in S71), the lowered pressure high flag is set to ON (S72). While the pressure sensor 59 constantly monitors the pressure value of the hydraulic circuit during the lowering operation of the cargo handling arm 34, as described above, when the pressure sensor 59 is turned on, the time is generally at the time of a waist cut.

  If the (automatic) lowering switch is OFF (No in S70) or the pressure sensor 59 is OFF (No in S71), nothing is done.

  On the other hand, if the pull-up switch is turned on (pressing the pull-up button 74c once) or the automatic pull-up switch is turned on (quickly pressing the pull-up button 74c twice) (Yes in S73), the lift contraction sensor It is determined whether 75 is turned on (S74).

  When it is determined that the lift contraction sensor 75 is ON (Yes in S74), the lowering pressure high flag is set to OFF (S75).

  If the (automatic) pull-up switch is OFF (No in S73) or the lift contraction sensor is OFF (No in S74), nothing is done.

According to the control shown in the flowchart of FIG. 17, in the lowering operation of the cargo handling arm 34, if the pressure sensor 59 is turned ON in S71 and the lower pressure high flag is turned ON, the lift contraction sensor 75 is turned ON in S74. This means that the high pressure flag ON state is maintained until it is determined. That is, during the lowering operation of the cargo handling arm 34, the pressure high flag ON and the pressure sensor 59 may be off.
<Pulling pressure high flag setting>
Next, the flowchart of FIG. 18 will be described.

  In the pulling-up operation of the cargo handling arm 34, in order to hook the hook 38c of the cargo handling arm 34 to the engagement pin 22 of the container 2, the work starts with the cargo handling arm 34 being rotated backward. However, the cargo handling arm 34 is in an extended state depending on whether or not an automatic lowering operation (see FIG. 15) or a single arm extending operation (see FIG. 13) is performed before the hook 38c is hooked on the engaging pin 22. In some cases, the most contracted state (the state where the hook 38c is in the second hook position) may be present.

  When the cargo handling arm 34 is in the extended state, ON / OFF of the pressure sensor 59 is considered in order to determine whether the cargo handling arm 34 can be safely rotated while maintaining the bending strength of the cargo handling arm 34. There is a need to. On the other hand, when the cargo handling arm 34 is in the most contracted state, since the bending strength of the cargo handling arm 34 can be sufficiently maintained, it is not necessary to consider ON / OFF of the pressure sensor 59. Accordingly, the setting of the pulling pressure high flag in the pulling operation of the cargo handling arm 34 is performed as follows.

  That is, when the pull-up switch is turned ON (pressing the pull-up button 74c once) or the automatic pull-up switch is turned ON (pressing the pull-up button 74c twice quickly) (Yes in S80), the pressure sensor 59 Whether or not is turned on is determined (S81).

  When it is determined that the pressure sensor 59 is ON (Yes in S81), the high pulling pressure flag is set to ON (S82).

  If the (automatic) pull-up switch is OFF (No in S80) or the pressure sensor 59 is OFF (No in S81), nothing is done.

On the other hand, if it is determined that the slide contraction sensor is ON because the cargo handling arm 34 is in the most contracted state (Yes in S83), the pulling pressure high flag is set to OFF (S84).
<Hook frame slide regulation>
FIG. 19 is a flowchart showing a control procedure for sliding regulation of the hook frame 38.

  The sliding restriction of the hook frame 38 is performed, for example, by a single arm extending operation (see FIG. 13) in order to pull up the container 2 at a far rear position without moving the vehicle back and forth when the cargo handling arm 34 is rotated backward. This is relevant when 34 is extended from the most contracted state (the state where the hook 38c is at the second hook position). That is, in this case, the automatic slide prohibition flag is turned on. Thereafter, when the cargo handling arm 34 is rotated forward by an automatic pulling operation (see FIG. 16), it is prohibited to automatically contract the cargo handling arm 34 based on the automatic slide prohibition flag ON. Even if the automatic slide prohibition flag is ON, the cargo handling arm 34 can be contracted by a single arm operation.

  The flowchart of FIG. 19 will be specifically described. If the slide operation flag is turned on by extending the cargo handling arm 34 in the single arm operation (see S38 in FIG. 13), it is determined that the slide operation flag is on (Yes in S90), and the automatic slide prohibition flag is set accordingly. It is turned on (S91).

On the other hand, if it is determined that the slide contraction sensor is ON (Yes in S92), the automatic slide prohibition flag is turned OFF (S93).
[Other Embodiments]
The present invention may be configured as follows with respect to the above embodiment.

  That is, in the above embodiment, in order to grasp the stroke amounts of the lift cylinders 35 and 36 and the hook moving cylinder 39, the five non-contacts of the lift contraction sensor 75, the slide extension sensor 76, the slide contraction sensor 77, and the slide range sensor 78 are detected. Although a type sensor has been used, a stroke sensor may be used instead of these non-contact type sensors. For example, if two stroke sensors, a stroke sensor for detecting the stroke amount of the lift cylinder 35 and a stroke sensor for detecting the stroke amount of the hook moving cylinder 39, are used, the five non-contact type sensors can be used instead. In this case, the number of sensors can be reduced as compared with the non-contact type sensor.

  In the above embodiment, the automatic lowering operation is performed by rotating the cargo handling arm 34 before the cargo handling arm 34 reaches the lowering position of the container 2 (see FIG. 10E) by rotating the cargo handling arm 34 rearward. The operation of extending the moving frame 37 in the extending direction has been performed. In the above embodiment, the automatic lifting operation (see FIG. 16) is performed after the automatic lowering operation (see FIG. 15), so that the cargo handling arm 34 is contracted and the hook 38c is detached from the container 2. . The present invention is not limited to this, and the automatic pulling operation may be eliminated and only the automatic lowering operation may be performed until the cargo handling arm is contracted and the hook is detached from the container.

  In the above embodiment, the cargo handling arm 34 is a tubular rotary frame 37 whose base end is pivotally supported by the dump frame 32 so as to be rotatable around the second rotary shaft 33 in the vehicle width direction. And an L-shaped hook frame 38 inserted into the rotating frame 37 on the base end side, and the cargo handling arm 34 is configured to be extendable in the extending direction of the rotating frame 37. Then, due to the expansion and contraction of the cargo handling arm 34, the hook 38c of the hook frame 38 is located between the first hook position with respect to the rotation frame 37 and the second hook position closer to the second rotation shaft 33 than the first hook position. It was configured to move within the range. The present invention is not limited to this, and for a cargo handling arm whose overall shape is an L shape, a rotating frame whose base end is pivotally supported by a dump frame so as to be rotatable around a rotation axis in the vehicle width direction; The base end may be rotatably attached to the tip of the turning frame, and the hook frame may have a hook at the tip. In this case, by rotating the hook frame with respect to the rotating frame, the hook of the hook frame is set to the predetermined first hook position with respect to the rotating frame and the second hook closer to the rotating shaft than the first hook position. It moves within the range between the positions. A configuration in which the dump frame is omitted is also possible. In this case, the cargo handling arm is provided in the chassis so as to be rotatable around a rotation axis in the vehicle width direction, and the container is disposed between the chassis and the ground. It will be provided to unload between.

DESCRIPTION OF SYMBOLS 1 Container handling vehicle 2 Container 3 Handling apparatus 33 2nd rotating shaft 34 Handling arm 35,36 Lift cylinder 37 Rotating frame 38 Hook frame 38c Hook 39 Hook moving cylinder 59 Pressure sensor 70 Control part X Virtual line

Claims (4)

It is provided in the chassis so as to be rotatable about a rotation axis in the vehicle width direction, and is connected between the loading arm and the loading arm for loading and unloading the container between the chassis and the ground. In a container handling vehicle comprising: a lift cylinder arranged to rotate a cargo handling arm backward by an extension operation and to rotate a cargo handling arm forward by a contraction operation,
The cargo handling arm includes a pivot frame, a hook frame having a proximal end attached to the pivot frame, a hook frame provided at a distal end thereof that is detachable from the container, and a hook of the hook frame with respect to the pivot frame. A hook moving cylinder that moves within a range between the hook position and the second hook position closer to the rotation axis than the first hook position;
The rearward movement of the cargo handling arm due to the extension of the lift cylinder, and the hook of the cargo handling arm is moved from the second hook position toward the first hook position before the cargo handling arm reaches the lowering position of the container. First deformation operation and second deformation operation in which the hook of the cargo handling arm is moved to the second hook position and the hook is detached from the container after the container is lowered to the ground and the backward rotation of the cargo handling arm is stopped. And a container handling vehicle characterized in that a control unit is provided. In the container handling vehicle according to claim 1,
The control unit performs the first deformation operation of the cargo handling arm when an imaginary line connecting the pivot shaft of the cargo handling arm and the hook is pivoted backward from a vertical direction. Container handling vehicle. In the container handling vehicle according to claim 1 or 2,
The rotating frame is formed in a tubular shape,
The hook frame is formed in an L shape when viewed from the vehicle width direction,
The proximal end side of the hook frame is inserted into the rotating frame, and the cargo handling arm is configured to be extendable and contractable in the extending direction of the rotating frame,
The container is characterized in that the first deformation operation of the cargo handling arm is performed such that the cargo handling arm extends from the second hook position to an intermediate position between the second hook position and the first hook position. Cargo handling vehicle. In the container handling vehicle according to claim 3,
The control unit constantly monitors the hydraulic pressure of a hydraulic circuit that supplies hydraulic oil to the lift cylinder and the hook moving cylinder during the backward rotation of the cargo handling arm, and the hydraulic pressure of the hydraulic circuit exceeds a predetermined value. A container handling vehicle characterized by prohibiting the first deformation operation of the handling arm.

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