JP2022117345A - Cargo handling vehicle and loading device - Google Patents

Abstract

To provide a cargo handling vehicle which prevents a bumper from contacting with a ground surface even if a vehicle has an inclined attitude.SOLUTION: A cargo handling vehicle has a bumper device. The bumper device has a bumper body and may change a position of the bumper body between a travel position which is suitable for traveling and a storage position in which the bumper body is retracted. The bumper device has storage detection means which detects the bumper body being in the storage position. In at least unloading operation, an operation of a cargo handling arm is turned into a startable state on the condition that the storage detection means detects the bumper body being in the storage position.SELECTED DRAWING: Figure 7

Description

TECHNICAL FIELD The present invention relates to a cargo handling vehicle provided with cargo handling arms for loading and unloading containers between the vehicle and the ground. The present invention also relates to a loading device that constitutes a cargo handling vehicle for transporting containers.

Freight vehicles such as container carriers are required to have rear bumpers. In order to ensure safety in the event of a pedestrian or other vehicle collision, the rear bumper must protrude rearward to some extent from the vehicle body.
By the way, since the container transport vehicle carries out operations such as lifting a container onto the vehicle and unloading the container from the vehicle onto the ground, the bumper may interfere with the container during these operations.
Patent Literature 1 discloses a cargo handling vehicle having a function of retracting a bumper to the front side of the vehicle when unloading a container.
In the cargo handling vehicle disclosed in Patent Document 1, the bumper moves toward the front side of the vehicle in parallel with the movement of the cargo handling arm to prevent interference with the container.

Japanese Patent No. 5483932

According to the invention of Patent Document 1, contact between the container and the bumper can be prevented when the container is unloaded.
However, in the invention of Patent Document 1, there is a concern that the bumper may come into contact with the ground when the container is unloaded.

However, depending on the weight of the container, the suspension of the vehicle may sink and the height of the cargo area may be lowered. Moreover, the cargo in the container may be biased toward the rear side of the vehicle. In such a case, the rear wheels may sink deeper than the front wheels, and the vehicle itself may lean slightly. Further, when the cargo handling arm is operated in this state to move the container toward the rear side of the vehicle, the rear wheels sink further, and the vehicle tilts more strongly. In an extreme case, there is also a concern that the front wheel side may temporarily float.
Thus, if the bumper is not sufficiently retracted when the vehicle is tilted, the bumper may come into contact with the ground and be damaged.

SUMMARY OF THE INVENTION An object of the present invention is to provide a cargo handling vehicle in which the bumper does not come into contact with the ground even if the vehicle is in an inclined posture.

A mode for solving the above-described problems is a cargo handling vehicle having a vehicle portion and a loading device, wherein the loading device is mounted on the vehicle portion, and the loading device mounts a container. , a cargo handling arm, a control device for controlling at least the cargo handling arm, and an arm operating switch for operating the cargo handling arm, the cargo handling arm having an engaging portion for engaging the container and being placed on the ground. a loading operation of engaging the engaging portion with the container and driving the cargo handling arm to pull the container onto the vehicle; A cargo handling vehicle capable of carrying out unloading operation has a bumper device, the bumper device has a bumper body, and the bumper body is placed in a traveling position suitable for traveling and a retracted storage position. The bumper body can be changed in position, and has a retraction detection means for detecting that the bumper body is in the retracted position, and the retracted detection detects that the bumper body is in the retracted position at least in the lowering operation. The cargo handling vehicle is characterized in that the cargo handling arm is in a state in which the movement of the cargo handling arm can be started on condition that the means detects.

The cargo handling vehicle of this aspect has the storage detection means, and can confirm whether or not the bumper body is in the storage position. In the cargo handling vehicle of this aspect, the cargo handling arm can start operating on condition that the bumper main body is in the retracted position. Therefore, even if the vehicle is tilted, the bumper body will not come into contact with the ground.

In the above aspect, the arm operating switch includes a lowering switch for performing the lowering operation, the bumper device moves the bumper body by power, and turning on the lowering switch causes the bumper device to move. is driven to move the bumper body to the retracted position, and when the retraction detection means detects that the bumper body is in the retracted position, the cargo handling arm performs the series of unloading operations.

Moreover, it is desirable that the series of operations described above be continuously performed on the condition that the unloading switch is maintained in the ON state.
"The unloading switch is kept on" means, for example, when the worker keeps pressing the manual switch (momentary switch), or when the on switch is operated once and the on state is maintained until the off operation is performed. (alternate switch) is assumed. It also includes the case of electrically self-maintaining the ON state.
According to this aspect, by operating the lowering switch, the retraction of the bumper main body and a series of lowering operations are continuously performed. In this aspect, the bumper main body moves to the retracted position before the cargo-handling arm is activated, and then the cargo-handling arm operates, so that the bumper main body does not come into contact with the ground even if the vehicle is inclined.

In each of the above-described modes, a loading switch for performing the loading operation is provided as the arm operation switch, and on condition that the loading operation is completed, the bumper body can be moved to the running position. is desirable.

According to this aspect, the bumper main body does not come into contact with the ground even if the vehicle is tilted during the loading operation.

In each aspect described above, there is a loading switch for performing the loading operation as the arm operation switch, the bumper device moves the bumper body by power, and when the loading switch is operated, It is desirable that the bumper body automatically moves to the running position following the loading operation, and moves to the running position even if the operation of the loading switch is interrupted.

According to this aspect, the bumper main body can be automatically moved to the running position following the loading operation.

In each of the above-described modes, the bumper device moves the bumper body by power, and detects that the overhang switch moves the bumper body to the running position and the cargo handling arm is in the running posture. and an initial position detecting means, and when the initial position detecting means detects that the cargo handling arm is in the traveling posture, the bumper body is moved to the traveling position even if the operation of the extension switch is interrupted. It is desirable to move.

According to this aspect, the bumper body can be independently moved.

In each of the above-described modes, a lowering switch for starting the lowering operation is provided as the arm operating switch, and the bumper body is in the retracted position when the lowering switch is operated to start the lowering operation. If the retraction detection means does not detect, the lowering operation is not started, and the lowering operation is automatically performed on the condition that this state continues for a certain period of time, or on the condition that another operation is added. Desirably, the action is initiated.

This aspect deals with failure of the storage detection means and erroneous detection.
According to the cargo handling vehicle of this aspect, when the state in which the unloading operation is not started continues for a certain period of time, the unloading operation can be started automatically or on condition that another operation is added. For example, when it is visually confirmed that the bumper body is in the retracted position, the lowering operation can be performed.

A mode related to the loading device is a loading device mounted on a vehicle for loading a container, comprising: a container placement section on which the container is placed; a cargo handling arm; a control device for controlling at least the cargo handling arm; and an arm operation switch for operating an arm, wherein the cargo handling arm has an engaging portion that engages with the container, the engaging portion is engaged with the container placed on the ground, and the cargo handling arm is driven. a loading operation for pulling the container onto the container placement section by using the load handling arm, and an unloading operation for lowering the container placed on the container placement section to the ground by the cargo handling arm. The bumper device has a bumper body, and the position of the bumper body can be changed between a running position suitable for running and a stored position retracted to the vehicle side, and the bumper body is The bumper main body has storage detection means for detecting that it is in the storage position, and at least in the lowering operation, the cargo handling is performed on the condition that the storage detection means detects that the bumper main body is in the storage position. It is characterized by being in a state in which the movement of the arm can be started.

According to the loading device of this aspect, the cargo handling arm can start operating on condition that the bumper main body is in the retracted position. Therefore, even if the vehicle is tilted, the bumper body will not come into contact with the ground.

According to the cargo handling vehicle and the loading device of the present invention, even if the vehicle is tilted, the bumper does not contact the ground.

1 is a side view and a partially enlarged view of a cargo handling vehicle according to an embodiment of the present invention; FIG. It is a cargo handling vehicle shown in FIG. 1, (a) (b) (c) is a side view which shows operation|movement of each part in loading operation|movement. It is a cargo handling vehicle shown in FIG. 1, (d) (e) (f) is a side view which shows the operation|movement of each part following FIG. 2 in loading operation|movement. It is a cargo handling vehicle shown in FIG. 1, (a) (b) (c) is a side view which shows operation|movement of each part in unloading operation|movement. 4(d), (e), and (f) are side views showing the operation of each part following FIG. 4 in the unloading operation of the cargo handling vehicle shown in FIG. It is a front view of a remote control device. It is a flow chart of automatic unloading operation. 4 is a flow chart of an automatic loading operation; It is a flow chart of manual lowering operation. 4 is a flowchart of manual loading operation;

Embodiments of the present invention will be described below.
In the following description, the front and rear relationship is based on the front and rear of the cargo handling vehicle 1 . That is, the front side means the driver's seat 100 side, and the rear side means the opposite side.
The cargo handling vehicle 1 of this embodiment is a container transport vehicle called a detachable body vehicle, and includes a cargo handling arm 3 for loading and unloading containers 2 between the vehicle and the ground.
The cargo handling vehicle 1 has a vehicle section 5 and a loading device 17 as shown in FIG. The loading device 17 includes a control device 6 , a hydraulic device 7 and a bumper device 50 . The loading device 17 also includes a remote control device (hereinafter referred to as a remote controller) 8 .
The vehicle unit 5 is a known truck body, has an engine, and rotates wheels to travel on the road.
The loading device 17 is a device for loading and unloading the container 2 between the vehicle section 5 and the ground, and is mounted on the vehicle section 5 .

The loading device 17 has a container placement section 11 on which the container 2 is placed, and a cargo handling arm 3 .
The container mounting portion 11 is a frame on which the container 2 is mounted, and has a gate-shaped protective frame 12 at the front end. The protection frame 12 is provided with initial position detection means 15 . The initial position detection means 15 is a known proximity sensor, photoelectric sensor, or the like, and detects whether or not the cargo handling arm 3 has moved to the initial position, which is the traveling posture. The initial position detection means 15 may be a mechanical switch such as a limit switch.

The cargo handling arm 3 is composed of a hook arm 20 and a lift arm 21 .
The load-handling arm 3 has a hook arm 20 attached to the distal end of the lift arm 21 so as to be swingable in an angled posture, and has an overall shape of approximately "L". A hydraulic cylinder 22 is attached between the hook arm 20 and the lift arm 21 , and the angle of the hook arm 20 with respect to the lift arm 21 is changed by extending and retracting the hydraulic cylinder 22 .
A hook (engaging portion) 23 is provided at the tip of the hook arm 20 .
The base end side of the lift arm 21 is swingably attached to the vehicle portion 5, and the cargo handling arm 3 as a whole is swingable. A hydraulic cylinder 25 is attached to the lift arm 21 , and the cargo handling arm 3 swings as a whole by the hydraulic cylinder 25 .

The bumper device 50 has a bumper main body 10 and a bumper moving mechanism 52 for moving the bumper main body 10 back and forth.
The bumper main body 10 is a bar-shaped or plate-shaped member extending in the width direction of the vehicle portion 5 . The bumper main body 10, like a known bumper, serves to reduce the impact of a collision and prevent other vehicles from getting under the vehicle section 5. As shown in FIG.

The bumper moving mechanism 52 translates the bumper body 10 in the front-rear direction by means of the hydraulic cylinder 53 .
The bumper moving mechanism 52 has a guide (not shown), and by extending and retracting the hydraulic cylinder 53, moves the bumper body 10 in parallel in the front-rear direction.
The structure of the bumper moving mechanism 52 is not limited, and it may employ a link mechanism or move the bumper main body 10 by a motor.
Further, the bumper main body 10 may be displaced not only in the horizontal direction but also in the height direction.

The bumper device 50 can change the position of the bumper body 10 between a traveling position suitable for traveling and a retracted position toward the vehicle section 5 by a bumper moving mechanism 52 .
In this embodiment, the position where the hydraulic cylinder 53 is extended and the bumper body 10 is projected rearward is the running position, and the position where the hydraulic cylinder 53 is retracted and the bumper body 10 is arranged forward is the retracted position.

In the cargo handling vehicle 1 of the present embodiment, the bumper device 50 is provided with the storage detection means 55 and the extension detection means 56 . The storage detection means 55 is a sensor that detects in advance whether the bumper body 10 is in the storage position. The protrusion detection means 56 is a sensor that detects whether or not the bumper body 10 is in the traveling position.
The storage detection means 55 and the extension detection means 56 are well-known proximity sensors, photoelectric sensors, or the like. The storage detection means 55 may be a mechanical switch such as a limit switch.

The hydraulic device 7 includes a known hydraulic pump, solenoid valve, and the like.
The hydraulic pump rotates by receiving power transmission from the engine of the vehicle section 5 . That is, the hydraulic device 7 is connected to the PTO shaft of the vehicle portion 5, and the hydraulic pump rotates to generate hydraulic pressure when an operator operates a PTO switch (not shown).
The hydraulic device 7 is provided with an electromagnetic valve that supplies hydraulic pressure to the hydraulic cylinder 22, an electromagnetic valve that supplies hydraulic pressure to the hydraulic cylinder 25, and an electromagnetic valve that supplies hydraulic pressure to the hydraulic cylinder 53 (all not shown). figure).

The control device 6 has a circuit for sending signals to each solenoid valve according to a predetermined procedure. A signal from the control device 6 causes the hydraulic cylinders 22, 25 and 53 to operate in a predetermined order.
The control device 6 has communication means for communicating with the remote controller 8 .

The remote controller 8 is equipped with an automatic unloading switch 60, an automatic loading switch 61, a manual unloading switch 65, and a manual loading switch 66 as arm operating switches for operating the cargo handling arm 3.
The remote controller 8 is equipped with a bumper extension switch 67 and a bumper retraction switch 68 as bumper operation switches for operating the bumper moving mechanism 52 .
These switches 60, 61, 65, and 66 are all button switches, which are turned on only while being pressed by the operator, and turned off when released.

In this embodiment, as will be described later, the cargo handling arm 3 and the bumper device 50 can be linked to automatically unload the container 2, thereby performing an automatic unloading operation. Further, automatic loading operation for automatically loading the container 2 can be performed by linking the cargo handling arm 3 and the bumper device 50 .
The automatic lowering operation is initiated by pressing the automatic lowering switch 60 and is executed by holding down the automatic lowering switch 60 .
Therefore, the automatic lowering switch 60 is a lowering switch that performs the lowering operation, and has a function of starting the lowering operation and a function of continuing the lowering operation.
The automatic loading operation is initiated by pressing the automatic loading switch 61 and executed by holding down the automatic loading switch 61 .
Therefore, the automatic loading switch 61 is a loading switch for carrying out the loading operation, and has a function of starting the loading operation and a function of continuing the loading operation.

Also, in this embodiment, the manual unloading switch 65 or the manual loading switch 66 can be operated to operate only the cargo handling arm 3 .
By operating the manual lowering switch 65, a manual lowering operation can be performed.
The manual lowering operation is initiated by pressing the manual lowering switch 65 and executed by continuing to press the manual lowering switch 65 .
Therefore, the manual lowering switch 65 is a lowering switch for carrying out the lowering operation, and has a function of starting the lowering operation and a function of continuing the lowering operation.
A manual load operation is initiated by pressing the manual load switch 66 and executed by holding the manual load switch 66 pressed.
Therefore, the manual loading switch 66 is a loading switch for carrying out the loading operation, and has a function of starting the loading operation and a function of continuing the loading operation.

Furthermore, in this embodiment, the bumper body 10 alone can be moved by operating the bumper extension switch 67 or the bumper retraction switch 68 .
A bumper extension switch 67 and a bumper retraction switch 68 are switches for switching electromagnetic valves that supply hydraulic oil to the hydraulic cylinders 53 of the bumper moving mechanism 52 .

When the bumper extension switch 67 is kept pressed, the bumper body 10 moves rearward toward the running position. When the bumper main body 10 leaves the retracted position, the retracted detection means 55 enters the non-detection state. When the bumper main body 10 moves rearward and reaches the running position, the projection detection means 56 is in the detection state.
Continuing to press the bumper retract switch 68 moves the bumper body 10 forward toward the retracted position. When the bumper main body 10 moves away from the running position, the protrusion detection means 56 becomes non-detection state. When the bumper main body 10 moves forward and reaches the retracted position, the retracted detection means 55 enters the detection state.

Next, the operation of the cargo handling arm 3 and the like when the container 2 is loaded will be described.
When the container 2 placed on the ground is loaded onto the vehicle portion 5, the hook (engagement portion) 23 of the loading device 17 is engaged with the engagement pin 27 of the container 2 as shown in FIGS. 1 and 2(a). to engage. At this time, the hook arm 20 is at a slightly acute angle with respect to the lift arm 21 .
In this state, the lift arm 21 is swung forward (counterclockwise in the drawing).
As a result, the front side of the container 2 is lifted as shown in FIG. 2(b) and pulled into the vehicle section 5 as shown in FIG. 2(c). Then, as shown in FIG. 3D, the lift arm 21 is further swung to return the posture of the lift arm 21 to a substantially horizontal position.
As a result, the container 2 assumes a substantially horizontal posture and is mounted on the cargo handling vehicle 1 with the engaging pins 27 facing forward. After that, as shown in FIG. 3(e), the hook arm 20 is swung to approach the vertical posture with respect to the lift arm 21, and the container 2 is slid forward.
The state in which the loading of the container 2 on the cargo handling vehicle 1 is completed is as shown in FIG. The initial position detection means 15 detects that it has returned to the initial position.

Next, the operation of the cargo handling arm 3 and the like when unloading the container 2 will be described.
When unloading the container 2 from the cargo handling vehicle 1, the hook arm 20 is swung backward (clockwise in the drawing) as shown in FIGS. As a result, the container 2 is slowly lowered to the ground.
That is, as shown in FIG. 4(c), the hook arm 20 is swung backward (clockwise in the drawing) to change the posture of the lift arm 21 at an acute angle, thereby sliding the container 2 backward.
Subsequently, as shown in FIG. 5D, the lift arm 21 is swung backward (clockwise in the drawing) to tilt the posture of the lift arm 21. As shown in FIG. As shown in FIG. 5(e), the lift arm 21 is further swung rearward (clockwise in the drawing) to land the rear end of the container 2 on the ground.
Then, the lift arm 21 is further swung backward (clockwise in the drawing), and the hook arm 20 is swung slightly forward (counterclockwise in the drawing), so that the front end of the container 2 lands on the ground as shown in FIG. 5(f). and lower the container 2 to the ground.

Next, the automatic unloading operation of the cargo handling vehicle 1 of this embodiment will be described.
In the automatic unloading operation, the cargo handling arm 3 and the bumper device 50 operate in cooperation. That is, in the automatic unloading operation, the cargo handling arm 3 and the bumper device 50 are operated by a series of sequence control.
The remote controller 8 employed in this embodiment has an automatic lowering switch 60 . While the automatic lowering switch 60 is kept pressed, a series of bumper operations and lowering operations continue.

When the container 2 is mounted on the vehicle portion 5, the hook arm 20 is in a substantially vertical posture as shown in FIG. It is detected by the initial position detection means 15 .
Also, as shown in FIG. 4A, the bumper body 10 is in a state in which the hydraulic cylinder 53 is extended, and the bumper body 10 is in the running position with the bumper body 10 protruding rearward. Therefore, the protrusion detection means 56 will be in a detection state. Also, the storage detection means 55 is in a non-detection state.

When unloading the container 2 on the ground, the automatic unloading switch 60 is kept pressed.
The control of the automatic lowering operation will be described below based on the flowchart of FIG.
As a precondition, the operator operates a PTO switch (not shown), the hydraulic pump rotates, hydraulic pressure is generated, and hydraulic oil can be supplied to each hydraulic cylinder 22, 25, 53 by opening and closing each electromagnetic valve. It's becoming
In step 1, it waits for the automatic lowering switch 60 to be operated. When the operator presses the automatic unloading switch 60, the automatic unloading switch 60 is turned on, and the process proceeds to step 2.

In step 2, the detection state of the storage detection means 55 is checked to confirm whether the bumper main body 10 is in the storage position.
Normally, when the automatic lowering operation is started, the bumper main body 10 is in the running position, so in many cases step 2 is NO and the process proceeds to step 3 .
That is, in the automatic lowering operation, on the condition that the retraction detection means 55 detects that the bumper main body 10 is in the retracted position, the operation of the cargo handling arm 3 (that is, the hook, which is the first operation of the lowering operation) is performed. When the automatic lowering switch 60 is operated to start the lowering operation, the retraction detection means 55 is in a non-detection state. If so, the unloading operation is not started.

In step 3, the solenoid valve that supplies hydraulic oil to the hydraulic cylinder 53 of the bumper moving mechanism 52 is switched.
As a result, the hydraulic cylinder 53 of the bumper moving mechanism 52 contracts, and the bumper body 10 moves forward of the vehicle portion 5 .
Then, in step 4, it is determined whether or not a certain period of time has passed. If the predetermined time has not elapsed, the process returns to step 2, and steps 3, 4, and 2 are repeated.

When the bumper body 10 moves forward, it reaches the front end, and the bumper body 10 reaches the retracted position as shown in FIG. 4(b). It will happen.
As described above, on condition that the storage detecting means 55 detects that the bumper main body 10 is in the retracted position, the cargo handling arm 3 is controlled so that the operation can be started. When the detection means 55 detects that the bumper main body 10 is in the retracted position, the conditions for starting the operation of the cargo handling arm 3 are satisfied.

When the storage detection means 55 detects that the bumper main body 10 is in the storage position, step 2 becomes YES, and the process proceeds to step 5 . In step 5, a series of unloading operations are performed. That is, as shown in FIGS. 4(b) to 5(f), after the hook arm 20 is swung backward, the lift arm 21 is changed to the inclined posture. As a result, the container 2 is slowly lowered to the ground.

When the operator releases the automatic lowering switch 60 during the work, the hydraulic cylinders 22, 25, 53 are stopped at that point. When the operator presses the automatic lowering switch 60 again, the above series of operations are resumed from the stopped state. That is, the movement of the cargo handling arm 3 has already started, and the movement of the cargo handling arm 3 is only temporarily stopped by releasing the automatic lowering switch 60 by the operator. pushes the automatic lowering switch 60 again, the series of operations described above is resumed from the stopped state.
When the unloading operation is completed, step 6 becomes YES, and a series of automatic unloading operations is completed.

If the retraction detection means 55 does not detect that the bumper body 10 is in the retraction position, in principle, the subsequent lowering operation will not start.
According to this embodiment, the cargo handling arm 3 is operated after confirming that the bumper body 10 has moved to the retracted position. No contact with the ground.

Further, in this embodiment, if the state in which the retraction detection means 55 cannot detect that the bumper main body 10 is in the retracted position continues for a certain period of time despite the fact that the operator continues to press the automatic lowering switch 60, step 4 is performed. , the process proceeds to step 5, and a series of unloading operations are started. The fixed time is a time several seconds after the time (3 to 10 seconds) from when the bumper main body 10 starts to when it is completely retracted. For example, the certain period of time is about 4 seconds to 120 seconds.

The reason for adopting such a control method is to cope with a failure of the storage detecting means 55 or the like.
That is, if the unloading operation does not start for a certain period of time, the operation state of the bumper device 50 is confirmed as a normal worker's action. Then, if the bumper main body 10 is sufficiently retracted toward the vehicle side, there is no problem even if the lowering operation is started.
Therefore, in the present embodiment, sufficient time is secured for the worker to check the bumper device 50, and when this time has elapsed, the unloading operation can be exceptionally performed.
When the retraction detection means 55 cannot detect that the bumper main body 10 is in the retracted position, the lowering operation may be started automatically after a certain period of time has passed, or the operator can visually confirm that the bumper body 10 has been retracted. It may be executed after operating a confirmation switch or the like that is pressed when the operation is performed.

1 and 2(a), the hook 23 of the loading device 17 is engaged with the engagement pin 27 of the container 2, and the automatic loading switch 61 is operated. press and hold .
The control of the automatic loading operation will be described below with reference to the flow chart of FIG.
At step 1, it waits for the automatic loading switch 61 to be operated. When the operator presses the automatic loading switch 61, the automatic loading switch 61 is turned on, and the process proceeds to step 2.

In step 2, the storage detection means 55 determines whether or not the bumper body 10 is in the storage position.
Normally, when the automatic loading operation is started, the bumper main body 10 is in the retracted position, so in many cases, the answer to step 2 is YES, the process proceeds to step 5, and the loading operation starts.
If the storage detection means 55 cannot detect that the bumper main body 10 is in the storage position for some reason, the process proceeds to step 3.
That is, even in the automatic loading operation, on the condition that the storage detecting means 55 detects that the bumper main body 10 is in the retracted position, the cargo handling arm 3 is controlled so that the operation can be started. When the automatic loading switch 61 is operated to start the loading operation, if the storage detection means 55 is in the non-detection state, the loading operation (forward swinging of the lift arm 21) is not started.

In step 3, the hydraulic cylinder 53 of the bumper moving mechanism 52 is contracted, and the bumper main body 10 moves forward of the vehicle portion 5. As shown in FIG.
Then, in step 4, it is determined whether or not a certain period of time has passed. If the predetermined time has not elapsed, the process returns to step 2, and steps 3, 4, and 2 are repeated.

If the bumper body 10 is in the retracted position, step 2 is YES and the process proceeds to step 5; In step 5, a series of loading operations are performed. That is, as shown in FIGS. 2(b) to 3(f), the front side of the container 2 is lifted and pulled into the vehicle portion 5, the posture of the lift arm 21 is returned to a substantially horizontal position, and the hook arm 20 is swung. to bring the container 2 closer to the vertical position with respect to the lift arm 21 and slide the container 2 forward. Then, the cargo handling arm 3 returns to the initial position, and the initial position detecting means 15 detects it.

As a result, step 6 becomes YES, and step 7 is performed.
In step 7, the ON state of the automatic loading switch 61 is electrically self-held. As a result, even if the operator releases the automatic loading switch 61, the processes after step 8 are continued.
In the subsequent step 8, the solenoid valve that supplies hydraulic oil to the hydraulic cylinder 53 of the bumper moving mechanism 52 is switched.
As a result, the hydraulic cylinder 53 of the bumper moving mechanism 52 extends, the bumper body 10 moves rearward of the vehicle portion 5, and the bumper body 10 reaches the running position.
Therefore, it is possible to prevent the cargo handling vehicle 1 from running while the bumper main body 10 is in the retracted position.
When the protrusion detection means 56 detects that the bumper main body 10 has reached the running position, the determination in step 9 becomes YES, and the series of automatic loading operations is completed.

Even during the automatic loading operation, the cargo handling arm 3 is operated after confirming that the bumper main body 10 is at the retracted position. The bumper body 10 never contacts the ground.

Even during the automatic loading operation, if the state in which the storage detection means 55 cannot detect that the bumper body 10 is in the storage position continues for a certain period of time despite the fact that the worker continues to press the loading switch 61, step 4 to step 5, and a series of loading operations are started.

The cargo handling vehicle 1 of this embodiment has a bumper extension switch 67 and a bumper retraction switch 68, and the bumper main body 10 can be moved by operating these switches.
Further, in the cargo handling vehicle 1 of the present embodiment, the remote controller 8 has a manual unloading switch 65 and a manual loading switch 66, and the containers 2 can be loaded and unloaded by operating these switches. That is, manual loading/unloading operation can be performed by operating the manual unloading switch 65 . Also, manual loading operation can be performed by operating the manual loading switch 66 .

Here, in the cargo handling vehicle 1 of the present embodiment, there are certain restrictions when starting the manual loading/unloading operation.
Also in the manual loading/unloading operation, if the retraction detection means 55 detects that the bumper main body 10 is in the retracted position, the operation of the cargo handling arm 3 can be started.
That is, in this embodiment, when the manual lowering switch 65 is pushed and it cannot be confirmed that the bumper main body 10 is in the retracted position, the manual lowering switch 65 is disabled and the cargo handling arm 3 does not operate.
The control of the manual lowering operation will be explained based on the flowchart of FIG. If not, the process ends without executing subsequent operations.

When the worker encounters this situation, he pushes the bumper retraction switch 68 to move the bumper body 10 forward to the retracted position. Then, the storage detection means 55 is changed to the detection state.
After that, when the manual lowering switch 65 is pushed again, step 2 becomes YES, and the process proceeds to step 3 to execute a series of lowering operations.
When the unloading operation is completed, step 4 becomes YES, and the series of manual unloading operations is completed.

Even in the manual unloading operation, the cargo handling arm 3 operates on the condition that the bumper body 10 is in the retracted position. No contact with the ground.

Manual loading operations have similar constraints on initiation.
That is, in this embodiment, when the manual loading switch 66 is pushed and it cannot be confirmed that the bumper body 10 is in the retracted position, the manual loading switch 66 is disabled and the cargo handling arm 3 does not operate.
The control of the manual loading operation will be explained based on the flowchart of FIG. If not, the process ends without executing subsequent operations.

When the worker encounters this situation, he pushes the bumper retraction switch 68 to move the bumper body 10 forward to the retracted position. Then, the storage detection means 55 is changed to the detection state.
After that, when the manual loading switch 66 is pressed again, step 2 becomes YES, and the process proceeds to step 3 to execute a series of loading operations.
When the initial position detection means 15 detects that the cargo handling arm 3 has returned to the initial position, step 4 becomes YES, and the series of manual loading operations ends.

Even in the manual loading operation, the cargo handling arm 3 operates on the condition that the bumper body 10 is in the retracted position. No contact with the ground.

In the embodiment described above, not only when the unloading operation is performed, but also when the loading operation is performed, on the condition that the storage detection means 55 detects that the bumper main body 10 is in the storage position, the cargo handling operation is performed. Although the control that makes it possible to start the operation of the arm 3 is adopted, this control may be adopted only in the case of the lowering operation.

In the embodiment described above, the bumper body 10 is driven by power such as the hydraulic cylinder 53, but the bumper body 10 may be moved by human power.
Even in this case, the storage detection means 55 is essential, and the cargo handling arm 3 is driven on condition that the storage detection means 55 detects that the bumper main body 10 is in the storage position.

When adopting a structure in which the bumper body 10 is moved manually, a running position side locking mechanism that locks the bumper body 10 in the running position and a storage position side locking mechanism that locks the bumper body 10 in the storage position are used. It is desirable to provide a mechanism.
Further, when adopting a structure in which the bumper main body 10 is manually moved, it is desirable to drive the storage position side locking mechanism with power such as a cylinder.

The cargo handling arm 3 described above is of a type called a swing type, and both the hook arm 20 and the lift arm 21 can only swing, and do not move linearly.
On the other hand, a cargo handling arm called a slide type is known, and a part of the members of the cargo handling arm move linearly.
The present invention is not limited to those employing a swing-type cargo handling arm 3, but can also be applied to a cargo handling vehicle employing a slide-type cargo handling arm.
When a sliding cargo handling arm is employed, the cargo handling arm 3 can be retracted on condition that the retraction detecting means 55 detects that the bumper main body 10 is in the retracted position. The loading operation when the slide type cargo handling arm is adopted is the same as that of the swing type. is started and the container 2 is lifted.

In the embodiments described above, a button switch is used as the remote control switch. The button switch employed in the above-described embodiment is a kind of momentary switch, which is turned on only while being pressed by the operator, and turned off when the operator releases his/her hand.
However, the present invention is not limited to adopting this switch, and once the ON switch is operated, the ON state is maintained until the OFF operation is performed (alternate switch), or the ON state is electrically self-maintained. A switch can also be employed.

1 Cargo handling vehicle 2 Container 3 Cargo handling arm 5 Vehicle section 6 Control device 7 Hydraulic device 8 Remote controller 10 Bumper main body 11 Container placement section 15 Initial position detection means 17 Loading device 20 Hook arm 21 Lift arm 23 Hook (engagement section)
50 bumper device 52 bumper moving mechanism 55 storage detection means 56 extension detection means 60 automatic unloading switch 61 automatic loading switch 66 manual loading switch 67 bumper extension switch 68 bumper storage switch

Claims (7)

A cargo handling vehicle having a vehicle portion and a loading device, wherein the loading device is mounted on the vehicle portion,
The loading device is for loading a container, and has a cargo handling arm, a control device that controls at least the cargo handling arm, and an arm operation switch that operates the cargo handling arm,
The cargo handling arm has an engaging portion that engages with the container,
a loading operation of engaging the engaging portion with the container placed on the ground and driving the cargo handling arm to pull the container onto the vehicle;
A cargo handling vehicle capable of carrying out the unloading operation of lowering the container placed on the vehicle section to the ground by the cargo handling arm,
having a bumper device, the bumper device having a bumper body, the position of the bumper body being changeable between a running position suitable for running and a retracted storage position;
a storage detection means for detecting that the bumper main body is in the storage position;
At least in the unloading operation, on condition that the storage detecting means detects that the bumper body is in the retracted position, the cargo handling arm is ready to start moving. vehicle. there is a lowering switch for carrying out the lowering operation as the arm operating switch,
The bumper device moves the bumper body by power,
When the lowering switch is turned on, the bumper device is driven to move the bumper main body to the retracted position. 2. A material handling vehicle according to claim 1, characterized in that it performs said unloading operation of a . There is a loading switch for carrying out the loading operation as the arm operation switch,
3. The cargo handling vehicle according to claim 1, wherein said bumper body can be moved to a running position on condition that said loading operation is completed. There is a loading switch for carrying out the loading operation as the arm operation switch,
The bumper device moves the bumper body by power,
When the loading switch is operated, the bumper body automatically moves to the traveling position following the loading operation, and moves to the traveling position even if the operation of the loading switch is interrupted. The cargo handling vehicle according to any one of claims 1 to 3. The bumper device moves the bumper body by power,
An extension switch for moving the bumper main body to the traveling position, and an initial position detecting means for detecting that the cargo handling arm is in the traveling posture, wherein the initial position detecting means detects that the cargo handling arm is in the traveling posture. 4. The cargo handling vehicle according to any one of claims 1 to 3, wherein the bumper body is moved to the running position even if the operation of the overhang switch is interrupted when is detected. There is a lowering switch for starting the lowering operation as the arm operating switch,
When the lowering switch is operated to start the lowering operation, the lowering operation is not started if the retraction detecting means does not detect that the bumper main body is in the retracted position, and this state is maintained. 6. The cargo handling according to any one of claims 1 to 5, wherein the unloading operation is automatically started on condition that it has been continued for a certain period of time, or on condition that another operation is added. vehicle. A loading device mounted on a vehicle for loading a container,
a container placement section on which the container is placed; a cargo handling arm; a control device for controlling at least the cargo handling arm; and an arm operation switch for operating the cargo handling arm;
The cargo handling arm has an engaging portion that engages with the container,
a loading operation of engaging the engaging portion with the container placed on the ground and driving the cargo handling arm to pull the container into the container placing portion;
A loading device capable of performing a lowering operation of lowering the container placed on the container placing portion to the ground by the cargo handling arm,
having a bumper device, the bumper device having a bumper body, the position of the bumper body being able to be changed between a running position suitable for running and a stored position retracted to the vehicle side;
a storage detection means for detecting that the bumper main body is in the storage position;
At least in the unloading operation, on condition that the storage detection means detects that the bumper main body is in the storage position, the cargo handling arm can be started to operate. Device.

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