JP2019151479A - Cargo handling vehicle - Google Patents

Abstract

To provide a cargo handling vehicle capable of improving the ease of maintenance when an abnormality occurs in an operation amount detection device.SOLUTION: A cargo handling vehicle 1 includes a vehicle body that can travel in the front-rear direction, an accelerator pedal 14 that is operated to instruct an acceleration amount during travel of the vehicle body, an accelerator sensor 31 that detects an operation amount of the accelerator pedal 14, a travel control device 32 that causes the vehicle body to travel according to the amount of operation of the accelerator pedal 14, and a directional lever 15 operated for purposes other than indicating acceleration. The traveling control device 32 prohibits traveling of the vehicle body in accordance with the amount of operation of the accelerator pedal 14 and causes the vehicle body to travel based on the operation of the directional lever 15 when an abnormality occurs in the accelerator sensor 31.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a cargo handling vehicle including an accelerator operation device.

  In general, a cargo handling vehicle such as a forklift detects a vehicle body that can travel in the front-rear direction, an accelerator operation device that is operated to indicate an acceleration amount during travel of the vehicle body, and an operation amount of the accelerator operation device. And a travel control device that travels the vehicle main body according to the operation amount. The accelerator operation device is constituted by, for example, an accelerator pedal that the operator depresses with a foot, and the travel control device causes the vehicle body to travel so as to accelerate according to the operation amount of the accelerator pedal (that is, the depression amount).

JP-A-11-209098

  By the way, when the operation amount detection device breaks down, that is, when the operation amount cannot be detected due to an abnormality in the operation amount detection device, the travel control device operates the accelerator operation device so that the vehicle body does not run away. Generally, the vehicle body is prohibited from traveling regardless of the amount.

  However, if the manipulated variable detection device breaks down during use of the cargo handling vehicle, the person who performs the maintenance (repair) needs to go to the location of the cargo handling vehicle that has stopped traveling, and the maintenance is troublesome. It was hanging.

  This invention is made | formed in view of the said situation, Comprising: It makes it a subject to provide the cargo handling vehicle which can improve the ease of maintenance when abnormality arises in the operation amount detection apparatus.

  In order to solve the above-described problem, a cargo handling vehicle according to the present invention described in claim 1 is a vehicle main body capable of traveling in the front-rear direction, and an accelerator operating device operated to instruct an acceleration amount during travel of the vehicle main body And an operation amount detection device that detects an operation amount of the accelerator operation device, a travel control device that causes the vehicle body to travel in accordance with the operation amount, and an operation other than for instructing the acceleration amount. And an operation device, and the travel control device prohibits the vehicle body from traveling according to the operation amount when an abnormality occurs in the operation amount detection device, and operates the other operation device. The vehicle body is caused to travel based on the above.

  The cargo handling vehicle according to claim 2 is the cargo handling vehicle according to claim 1, wherein the travel control device travels the vehicle main body according to the operation amount, and the other operation device. It is configured to be switchable to an emergency mode in which the vehicle body travels based on an operation, and further includes a mode switching operation device that is operated to switch between the normal mode and the emergency mode, and the travel control device includes: When an abnormality occurs in the operation amount detection device and the normal mode is switched to the emergency mode, the vehicle main body is prohibited from traveling according to the operation amount, and the vehicle main body is operated based on an operation of the other operation device. It is characterized by running.

  Further, the cargo handling vehicle according to claim 3 is the cargo handling vehicle according to claim 2, wherein the other operating device is configured to advance the vehicle main body and to move the vehicle main body backward. The lever is configured to be switchable between a reverse instruction state and a neutral state in which the vehicle main body is not driven.

  Further, the cargo handling vehicle according to claim 4 is the cargo handling vehicle according to claim 3, wherein the travel control device advances the vehicle main body when the lever is in the forward instruction state in the emergency mode, When the lever is in the reverse instruction state, the vehicle main body is moved backward, and when the lever is in the forward instruction state or the reverse instruction state when the operation to switch from the normal mode to the emergency mode is performed, The travel control device stops travel of the vehicle main body until the lever shifts from the forward instruction state or the reverse instruction state to the neutral state.

  In addition, the cargo handling vehicle according to claim 5 is the cargo handling vehicle according to any one of claims 2 to 4, wherein the travel control device is more in the emergency mode than in the normal mode. The traveling speed of the vehicle body is limited.

  ADVANTAGE OF THE INVENTION According to this invention, the cargo handling vehicle which can improve the ease of maintenance when abnormality arises in the operation amount detection apparatus can be provided.

1 is a side view showing a schematic configuration of a cargo handling vehicle according to an embodiment of the present invention. It is a block diagram which shows schematic structure of the cargo handling vehicle which concerns on the same embodiment. It is a flowchart which shows the flow at the time of starting driving | running | working in normal mode. It is a flowchart which shows the flow at the time of starting driving | running | working in emergency mode. It is a flowchart which shows the flow at the time of switching from normal mode to emergency mode.

An embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the cargo handling vehicle 1 includes a vehicle main body 10 that can travel in the front-rear direction and a cargo handling device 20 provided in front of the vehicle main body 10. The cargo handling vehicle 1 is a battery-type counterbalance forklift. That is, the cargo handling vehicle 1 obtains energy necessary for traveling and cargo handling by driving the electric motor.

  The cargo handling vehicle 1 includes, as elements provided in the vehicle body 10, a driver seat 11 on which an operator driving the cargo handling vehicle 1 is seated, a steering handle 12, a brake pedal 13, an accelerator pedal 14, a directional lever 15, A touch panel display 16 is provided.

The steering handle 12 constitutes a steering device that is operated by an operator in order to adjust the traveling direction of the vehicle body 10.
The brake pedal 13 constitutes a brake operation device that is operated by an operator in order to instruct a deceleration amount during travel of the vehicle body 10.
The accelerator pedal 14 constitutes an accelerator operating device that is operated by an operator in order to instruct an acceleration amount during travel of the vehicle body 10.

  The directional lever 15 (hereinafter referred to as “D lever 15”) constitutes a forward / reverse switching operation device operated by an operator to switch the traveling direction of the vehicle body 10. The D lever 15 is operated so as to change the tilt angle of the D lever 15, so that a forward instruction state for moving the vehicle main body 10 forward, a reverse instruction state for moving the vehicle main body 10 backward, a vehicle The main body 10 can be switched to a neutral state so as not to travel. The D lever 15 is configured to temporarily shift to the neutral state when shifting from one of the forward instruction state and the reverse instruction state to the other.

  The touch panel display 16 also serves as an input device and an output device, and constitutes a display device that displays various information to an operator and a person who maintains the cargo handling vehicle 1 and switches between a normal mode and an emergency mode, which will be described later. The mode switching operation device to be operated is configured. The switching from the normal mode to the emergency mode is preferably made possible only when an abnormality occurs in the accelerator sensor 31 described later.

  The cargo handling vehicle 1 includes a fork 21 for handling, a lift device 22 that lifts and lowers the fork 21, and a tilt device 23 that tilts the lift device 22 and the fork 21 backward as elements constituting the cargo handling device 20. Yes.

  As shown in FIG. 2, the cargo handling vehicle 1 includes an accelerator sensor 31 and a travel control device 32 that controls the travel of the vehicle main body 10 as elements provided in the vehicle main body 10.

  The accelerator sensor 31 constitutes an operation amount detection device that detects an operation amount (depression amount) of the accelerator pedal 14. Whether or not the accelerator sensor 31 is malfunctioning, that is, whether or not the accelerator sensor 31 can detect the depression amount can be determined based on the output voltage of the accelerator sensor 31. Specifically, when the accelerator sensor 31 is not malfunctioning, that is, when the accelerator sensor 31 is operating normally, the accelerator sensor 31 outputs a voltage within a predetermined range, so that the output voltage of the accelerator sensor 31 is predetermined. When it does not fall within the range, it can be determined that the accelerator sensor 31 has failed, that is, the accelerator sensor 31 has an abnormality.

  The travel control device 32 causes the vehicle main body 10 to travel according to the operation amount (depression amount) of the accelerator pedal 14 based on the output voltage (operation amount detection result) from the accelerator sensor 31. The traveling control device 32 causes the vehicle main body 10 to travel so as to accelerate faster as the depression amount is larger. Further, the traveling control device 32 prohibits the traveling of the vehicle body 10 according to the operation amount of the accelerator pedal 14 when the accelerator sensor 31 is abnormal, and travels the vehicle body 10 based on the operation of the D lever 15. Let That is, the travel control device 32 is configured to be switchable between a normal mode in which the vehicle body 10 travels according to the operation amount of the accelerator pedal 14 and an emergency mode in which the vehicle body 10 travels based on the operation of the D lever 15. When the vehicle is in the normal mode, the vehicle body 10 is driven according to the depression amount, the accelerator sensor 31 is abnormal, and when the normal mode is switched to the emergency mode, the vehicle body 10 according to the depression amount is The vehicle body 10 is caused to travel based on the operation of the D lever 15 while prohibiting traveling.

  In addition, the traveling control device 32 limits the traveling speed of the vehicle main body 10 in the emergency mode as compared to the normal mode. Specifically, for example, the traveling control device 32 controls the traveling of the vehicle body 10 so that the traveling speed does not exceed 15 km / hour in the normal mode, and the vehicle body so that the traveling speed does not exceed 5 km / hour in the emergency mode. 10 runs are controlled.

With reference to FIG. 3, an example of an operation flow when the cargo handling vehicle 1 starts traveling in the normal mode will be described.
First, the traveling control device 32 detects the state of the D lever 15 (step S1), and then the accelerator sensor 31 detects the operation amount (depression amount) of the accelerator pedal 14 (step S2). Then, the traveling control device 32 determines whether or not the state of the D lever 15 detected in step S1 is a forward instruction state (step S3).

  When it is determined in step S3 that the state of the D lever 15 is the forward instruction state, the traveling control device 32 moves the vehicle main body 10 forward according to the stepping amount detected in step S2 (step S4). On the other hand, when it is determined in step S3 that the state of the D lever 15 is not the forward instruction state, the traveling control device 32 determines whether or not the state of the D lever 15 detected in step S1 is the reverse instruction state ( Step S5).

  When it is determined in step S5 that the state of the D lever 15 is the reverse instruction state, the traveling control device 32 moves the vehicle body 10 backward according to the depression amount detected in step S2 (step S6). On the other hand, when it is determined in step S5 that the state of the D lever 15 is not the reverse instruction state, the traveling control device 32 determines that the state of the D lever 15 is a neutral state and does not cause the vehicle body 10 to travel.

  As described above, the travel control device 32 in the normal mode causes the vehicle body 10 to travel in the direction specified by the D lever 15 when the accelerator pedal 14 is operated, and the vehicle body according to the operation amount of the accelerator pedal 14. 10 is accelerated.

With reference to FIG. 4, an example of the flow of operation when the cargo handling vehicle 1 starts traveling in the emergency mode will be described.
First, the traveling control device 32 detects the state of the D lever 15 (step S11). Then, the traveling control device 32 determines whether or not the state of the D lever 15 detected in step S11 is a forward instruction state (step S12).

  When it is determined in step S12 that the state of the D lever 15 is the forward instruction state, the traveling control device 32 moves the vehicle main body 10 forward (step S13). At this time, the travel control device 32 accelerates the vehicle main body 10 in the same manner as when the accelerator pedal 14 is depressed in the normal mode. On the other hand, when it is determined in step S12 that the state of the D lever 15 is not the forward instruction state, the traveling control device 32 determines whether or not the state of the D lever 15 detected in step S11 is the reverse instruction state ( Step S14).

  When it is determined in step S14 that the state of the D lever 15 is the reverse instruction state, the traveling control device 32 moves the vehicle main body 10 backward (step S15). At this time, the travel control device 32 accelerates the vehicle main body 10 in the same manner as when the accelerator pedal 14 is depressed in the normal mode. On the other hand, when it is determined in step S14 that the state of the D lever 15 is not the reverse instruction state, the traveling control device 32 determines that the state of the D lever 15 is a neutral state and does not cause the vehicle body 10 to travel.

  As described above, the emergency mode travel control device 32 is based on the fact that the D lever 15 is operated so as to shift from the neutral state to the forward instruction state or the reverse instruction state regardless of the operation of the accelerator pedal 14. The main body 10 is caused to travel.

With reference to FIG. 5, the flow at the time of switching from the normal mode to the emergency mode will be described.
First, the traveling control device 32 detects an abnormality occurring in the accelerator sensor 31 based on the output voltage of the accelerator sensor 31 (step S21), and prohibits the traveling of the vehicle body 10 based on the operation of the accelerator pedal 14 ( Step S22).

  Next, the traveling control device 32 determines whether or not a mode switching operation for switching from the normal mode to the emergency mode has been performed using the touch panel display 16 (step S23). When it is determined in step S23 that the mode switching operation has not been performed, the traveling control device 32 maintains that the traveling of the vehicle main body 10 is prohibited.

  On the other hand, when it is determined in step S23 that the mode switching operation has been performed, the traveling control device 32 determines whether or not the D lever 15 is in a neutral state (step S24). When it is determined in step S24 that the D lever 15 is in the forward instruction state or the reverse instruction state, the traveling control device 32 repeats the determination in step S24. That is, the determination in step S24 is repeated until the D lever 15 shifts to the neutral state. On the other hand, when it is determined in step S24 that the D lever 15 is in the neutral state, the traveling control device 32 shifts from the normal mode to the emergency mode (step S25).

  As described above, when an abnormality of the accelerator sensor 31 is detected and a mode switching operation from the normal mode to the emergency mode is performed using the touch panel display 16, the traveling control device 32 shifts from the normal mode to the emergency mode. . Further, when the D lever 15 is in the forward instruction state or the reverse instruction state when the mode switching operation from the normal mode to the emergency mode is performed, the travel control device 32 is in the forward instruction state or the reverse instruction state. The travel of the vehicle main body 10 is stopped until the vehicle shifts to the neutral state.

In the present embodiment, the following effects can be obtained.
(1) When an abnormality occurs in the accelerator sensor 31, the vehicle body 10 can be prevented from running out of control by prohibiting the vehicle body 10 from traveling according to the amount of operation of the accelerator pedal 14. Further, when an abnormality occurs in the accelerator sensor 31, the vehicle body 10 travels based on the operation of the D lever 15, so that the handling of the accelerator sensor 31 can be performed at a convenient location for maintenance (repair). The vehicle 1 can be moved. Therefore, the ease of maintenance when an abnormality occurs in the accelerator sensor 31 can be improved. Moreover, the cargo handling vehicle 1 in which the accelerator sensor 31 has failed can be retreated to an arbitrary position.

  (2) When the normal mode is switched to the emergency mode using the touch panel display 16, the vehicle body 10 can travel based on the operation of the D lever 15, so that only a limited person who knows the mode switching operation. In addition, it is possible to allow the vehicle body 10 to travel when the accelerator sensor 31 fails.

  (3) Since the operating device for running the vehicle body 10 in the emergency mode is the D lever 15, a person who runs the vehicle body 10 in the emergency mode intuitively runs the vehicle body 10 in the front-rear direction. Can do.

  (4) When the D lever 15 is in the forward instruction state or the reverse instruction state when the mode switching operation from the normal mode to the emergency mode is performed, the D lever 15 shifts from the forward instruction state or the reverse instruction state to the neutral state. In the meantime, the traveling control device 32 stops traveling of the vehicle main body 10, thereby preventing the vehicle main body 10 from starting traveling simultaneously with the completion of the mode switching operation.

  (5) Since the traveling control device 32 limits the traveling speed of the vehicle main body 10 in the emergency mode as compared with the normal mode, the traveling main body 10 can travel safely at a low speed in the emergency mode. it can.

  (6) In the emergency mode, the traveling control device 32 accelerates the vehicle body 10 in the same manner as when the depression amount of the accelerator pedal 14 is the maximum in the normal mode, so that the torque required for the vehicle body 10 to travel reliably Can be secured.

  The present invention is not limited to the above embodiment, and the above configuration can be changed as appropriate. For example, the embodiment described above may be modified as follows, and the following modifications may be combined as appropriate.

  The operating device for causing the vehicle main body 10 to travel in the emergency mode is not limited to the D lever 15 and may be any operating device operated for a purpose other than instructing the acceleration amount. For example, the D lever 15 Alternatively, two push button switches or one rocker switch or toggle switch may be used. Specifically, for example, in the emergency mode, the traveling control device 32 advances the vehicle body 10 based on an operation of a push button switch (not shown) for turning on / off the headlamp, and a tail lamp (not shown). The vehicle main body 10 may be moved backward based on an operation of a push button switch for turning on / off.

  When the abnormality of the accelerator sensor 31 is detected, the normal mode may be automatically switched to the emergency mode. That is, the travel control device 32 may be switched from the normal mode to the emergency mode without performing a mode switching operation using the touch panel display 16. Further, the mode switching operation device may be configured by an operation device other than the touch panel display 16.

  -Even when no abnormality is detected in the accelerator sensor 31, switching from the normal mode to the emergency mode may be enabled. That is, the present invention does not deny that the travel control device 32 causes the vehicle body 10 to travel based on an operating device other than the accelerator pedal 14 when no abnormality occurs in the accelerator sensor 31.

  The present invention may be applied to reach forklifts and engine-type forklifts. Further, the present invention may be applied to a cargo handling vehicle other than a forklift (for example, a pickup lift). That is, the accelerator operating device is not limited to the accelerator pedal 14 and may be configured by, for example, an accelerator lever.

1 Cargo Handling Vehicle 10 Vehicle Body 14 Accelerator Pedal (Accelerator Operation Device)
15 Directional lever (other operating devices)
16 Touch panel display (mode switching operation device)
31 Accelerator sensor (operation amount detection device)
32 Travel control device

In order to solve the above-described problem, a cargo handling vehicle according to the present invention according to claim 1 is a vehicle main body capable of traveling in the front-rear direction, and an accelerator operating device operated to instruct an acceleration amount during travel of the vehicle main body. And an operation amount detection device that detects an operation amount of the accelerator operation device, a travel control device that causes the vehicle body to travel in accordance with the operation amount, and an operation other than for instructing the acceleration amount. with the other operating device, and the mode switching operation unit, wherein the running control apparatus, a normal mode for running the vehicle body in response to the operation amount, the vehicle body on the basis of the operation of the other operating device is configured to be switched between very mode for running, said mode switching device, wherein the operating normal mode and to switch between the emergency mode, the travel control device, the operation amount detecting apparatus Always occurs, when switched to the emergency mode from the normal mode, prohibits the running of the vehicle body in accordance with the operation amount, to travel the vehicle body on the basis of the operation of the other operating device, wherein The other operation device is configured to be switchable between a forward instruction state for moving the vehicle main body forward, a reverse instruction state for moving the vehicle main body backward, and a neutral state for preventing the vehicle main body from running. In the emergency mode, the travel control device advances the vehicle main body when the lever is in the forward instruction state, and reverses the vehicle main body when the lever is in the reverse instruction state. When the lever is in the forward instruction state or the reverse instruction state when the operation for switching from the normal mode to the emergency mode is performed, Running control apparatus is characterized in that said lever between the said forward indication state or the reverse instruction state until the transition to the neutral state, stops the running of the vehicle body.

The cargo handling vehicle according to claim 2 is the cargo handling vehicle according to claim 1 , wherein the travel control device limits the travel speed of the vehicle body in the emergency mode as compared with the normal mode. It is characterized by doing.

Claims (5)

A vehicle body capable of traveling in the front-rear direction;
An accelerator operating device operated to instruct an acceleration amount during travel of the vehicle body;
An operation amount detection device for detecting an operation amount of the accelerator operation device;
A travel control device that travels the vehicle body according to the operation amount;
Another operating device operated for a purpose other than instructing the acceleration amount,
The travel control device prohibits the vehicle body from traveling according to the operation amount and causes the vehicle body to travel based on an operation of the other operation device when an abnormality occurs in the operation amount detection device. A cargo handling vehicle characterized by that. The travel control device is configured to be switchable between a normal mode in which the vehicle main body travels according to the operation amount and an emergency mode in which the vehicle main body travels based on an operation of the other operation device,
A mode switching operation device that is operated to switch between the normal mode and the emergency mode;
When the operation amount detection device is abnormal and is switched from the normal mode to the emergency mode, the travel control device prohibits the vehicle body from traveling according to the operation amount, and the other operation device The cargo handling vehicle according to claim 1, wherein the vehicle main body travels based on an operation. The other operation device is configured to be switchable between a forward instruction state for moving the vehicle main body forward, a reverse instruction state for moving the vehicle main body backward, and a neutral state for preventing the vehicle main body from running. The cargo handling vehicle according to claim 2, further comprising a lever. In the emergency mode, the travel control device moves the vehicle main body forward when the lever is in the forward instruction state, and reverses the vehicle main body when the lever is in the reverse instruction state.
When the lever is in the forward instruction state or the reverse instruction state at the time when the operation for switching from the normal mode to the emergency mode is performed, the travel control device is configured to detect that the lever is in the forward instruction state or the reverse instruction state. 4. The cargo handling vehicle according to claim 3, wherein travel of the vehicle main body is stopped until the vehicle shifts to the neutral state. The cargo handling vehicle according to any one of claims 2 to 4, wherein the travel control device limits the travel speed of the vehicle body in the emergency mode as compared to the normal mode.

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