JP2022117346A - Cargo handling vehicle and loading device - Google Patents

Abstract

To provide a cargo handling vehicle which prevents a container from contacting with a bumper even if the container is unloaded.SOLUTION: A 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: an extension switch for moving the bumper body to the travel position; and a storage switch for moving the bumper body to the storage position. The bumper device has storage position 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 position detection means detects the bumper body being in the storage position.SELECTED DRAWING: Figure 9

Description

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 container carrier that has a jack that prevents the vehicle from tilting, and that has a structure in which the posture of the bumper changes in conjunction with the jack.
In the container truck disclosed in Patent Literature 1, when the jack is extended, the orientation of the bumper changes to prevent interference between the container and the bumper during loading and unloading.
When loading and unloading containers using the container carrier of Patent Literature 1, an operator performs the work according to the following procedure.
That is, the jack is first operated to retract the bumper.
Following this, the cargo handling arm is operated to load and unload the container.

Japanese Patent No. 5546167

If the operator follows the procedure described above, the container will not come into contact with the bumper during loading and unloading.
However, since the cargo handling arm and the jack (bumper) are operated independently of each other, there are cases where the worker makes a mistake in the procedure and performs the loading/unloading work without retracting the jack, ie, the bumper.
In such a case, there is a concern that the container may move and collide with the bumper while the bumper is protruding rearward.

SUMMARY OF THE INVENTION An object of the present invention is to provide a cargo handling vehicle in which the container does not come into contact with the bumper at least when the container is unloaded.

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 main body, and the bumper device is driven by power to move the bumper to a suitable traveling position and retract to the vehicle side. The bumper body has an extension switch for moving the bumper body to the running position and a retraction switch for moving the bumper body to the retracted position, wherein the bumper body is retracted to the retracted position. The storage position detection means detects that the bumper body is in the storage position, and at least in the loading/unloading operation, the storage position detection means detects that the bumper body is in the storage position. The cargo handling vehicle is characterized in that the cargo handling arm can be started to operate.

The cargo handling vehicle of this aspect has an extension switch for moving the bumper body to the traveling position and a retraction switch for moving the bumper body to the retracted position. By operating these switches, the bumper body is moved. can be done.
In addition to this configuration, the cargo handling vehicle of this aspect has retraction detection means, and can confirm whether or not the bumper main body is in the retraction 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. There is no contact between the container and the bumper body.

Another aspect for solving a similar problem 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 that engages with the container; a loading operation of engaging the engaging portion with the container placed on the vehicle and driving the cargo handling arm to pull the container onto the vehicle;
A cargo handling vehicle capable of carrying out the operation of lowering the container placed on the vehicle section to the ground by the cargo handling arm, the cargo handling vehicle having a bumper device, the bumper device having a bumper main body, and manually operated. can change the position of the bumper between a running position suitable for running and a stored position retracted to the vehicle side, and has a stored position detection means for detecting that the bumper body is in the stored position. At least in the loading/unloading operation, the loading/unloading arm can start operating on condition that the storage position detection means detects that the bumper body is in the storage position. It is a cargo handling vehicle.

In the cargo handling vehicle of this aspect, the bumper body can be moved by human power.
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. There is no contact between the container and the bumper body.

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

According to this aspect, the container does not come into contact with the bumper during the loading operation.

In each of the above-described modes, the arm operating switch includes a lowering switch for starting the lowering operation, and when the lowering switch is operated to start the lowering operation after the retraction switch has been operated for a predetermined time. , when the retraction detection means does not detect that the bumper body is in the retraction position, the lowering operation is preferably started automatically or subject to other requirements being satisfied. .

This aspect deals with failure of the storage detection means and erroneous detection.
By operating the retraction switch, the bumper body can be moved to the retraction position. Therefore, if the retraction switch is operated before the retraction switch is operated by referring to the operation history of the retraction switch, the lowering operation may be performed in some cases.
According to this aspect, if the retraction switch is operated before the unloading switch is operated, the unloading operation may be exceptionally 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 is capable of changing the position of the bumper by power between a running position suitable for running and a stored position retracted to the vehicle side, and the bumper body. to the running position, a storage switch for moving the bumper body to the storage position, and storage position detection means for detecting that the bumper body is in the storage position, at least In the loading/unloading operation, on condition that the storage position detecting means detects that the bumper main body is in the storage position, the cargo handling arm can start to operate. .

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 loading device of the present invention, the container does not come into contact with the bumper when the container is unloaded.

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), and (f) are side views showing 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; It is a flow chart of automatic unloading operation. It is a flowchart of the modification of manual lowering operation|movement.

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 storage 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 main body 10 has moved to the retracted position, so the container does not come into contact with the bumper.

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 the start of the retraction of the bumper body 10 to the completion of the retraction. 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 to be pressed when it is pressed.

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 detection means 55 detects that the bumper main body 10 is in the storage 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 (the 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.

Also in the automatic loading operation, the cargo handling arm 3 is operated after confirming that the bumper body 10 is in the retracted position, so that the container does not come into contact with the bumper during the loading process.

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 performing the subsequent operation (swinging the lift arm 21 backward (FIG. 5d)).

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.

In the manual unloading operation, the cargo handling arm 3 operates on the condition that the bumper main body 10 is in the retracted position, so that the container does not come into contact with the bumper during the loading process.

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 operator 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 is completed.

Also in the manual loading operation, the cargo handling arm 3 operates on the condition that the bumper main body 10 is in the retracted position, so that the container does not come into contact with the bumper during the loading process.

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, cargo handling 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.

According to the flow charts shown in FIGS. 7 and 9, if the bumper main body 10 is not in the retracted position, in principle, no lowering operation is performed. For example, in the case of the automatic lowering operation shown in FIG. 9, the process is interrupted without the rearward swinging of the hook arm 20, the rearward movement of the lift arm 21, and the like. In the case of the manual lowering operation shown in FIG. 9, the process is completed without swinging the hook arm 20 rearward and moving the lift arm 21 rearward.
Instead of this control, the unloading operation may be performed within a range that does not interfere, and then the control may be interrupted or terminated. Alternatively, the lowering operation may be performed within a range that does not interfere, and then it may be detected whether or not the bumper main body 10 is in the retracted position (FIG. 7, FIG. 9, step 2).
For example, even if the hook arm 20 is swung backward, the container or the like and the bumper body 10 do not come into contact with each other. Therefore, the control may be ended after the hook arm 20 is swung rearward, or it may be detected whether or not the bumper body 10 is in the retracted position after the hook arm 20 is swung rearward. good.
Note that swinging the lift arm 21 is not recommended.

In the control of the automatic unloading flowchart shown in FIG. 7 and the control of the automatic loading flowchart shown in FIG. When the state in which the storage detection means 55 cannot detect is continued for a certain period of time, a series of unloading operations and the like are started unconditionally.
On the other hand, other conditions may be added to the conditions for starting the unloading operation or the like. Alternatively, a configuration may be adopted in which the unloading operation or the like can be started by satisfying requirements in place of the above-described conditions.

For example, before operating the automatic unloading switch 60 or the automatic loading switch 61, on the condition that there is a history of operating the bumper storage switch 68 for a certain period of time to move the bumper body 10 to the storage position, A control in which a lowering operation or the like is started may be employed.

FIG. 11 is a flow chart showing control in consideration of the history of whether or not the bumper retraction switch 68 has been on for a certain period of time.
For example, in step 01, the bumper retraction switch 68 is turned on, and in step 02, this state is maintained for a predetermined period of time. When the operator continues to press the automatic unloading switch 60 only when something happens, a series of unloading operations and the like are started.
The "predetermined time" in step 02 is based on the time required for the bumper main body 10 to reach the retracted position by turning on the bumper retraction switch 68, and the "predetermined time" in step 4 automatically However, the time required to reach the storage position is the standard. Therefore, it is desirable to set the "predetermined time" in step 4 to be longer than the "predetermined time" in step 02.

Although not shown in the flow chart of FIG. 11, when the automatic lowering switch 60 is pushed without going through steps 01 and 02 to reach step 2, and when the storage detection means 55 is off, Control is interrupted or terminated at that stage.

FIG. 12 is a flow chart showing control in consideration of the history of whether or not the bumper retraction switch 68 has been on for a certain period of time during the manual loading/unloading operation.
At step 01, if the storage switch 68 is not turned on, the process proceeds to step 1 and waits for the automatic lowering switch 60 to be operated in the same manner as in the flow chart described above. Also, step 1 may be reached through step 01 and step 02 .

In step 2, the detection state of the storage detection means 55 is confirmed, and if the storage detection means 55 is in the off state, the process proceeds to step 03 and the past history is referred to.
If step 02 has been passed before reaching step 2, the process proceeds to step 3 to start the unloading operation.
If step 02 has not been passed before reaching step 2, the control ends.

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 on the condition that the storage detection means 55 detects that the bumper main body 10 is in the storage position, the cargo handling arm 3 is driven (the lift arm is swung backward). start).

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.

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 (5)

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, and being able to change the position of the bumper by power between a running position suitable for running and a stored position retracted to the vehicle side;
an extension switch for moving the bumper body to the running position and a retraction switch for moving the bumper body to the retracted position,
Having storage position detection means for detecting that the bumper main body is in the storage position,
At least in the loading/unloading operation, on condition that the storage position detection means detects that the bumper main body is in the storage position, the cargo handling arm can be started to operate. cargo handling vehicle. 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,
It has a bumper device, the bumper device has a bumper body, and the position of the bumper can be changed by human power between a running position suitable for running and a stored position retracted to the vehicle side,
Having storage position detection means for detecting that the bumper main body is in the storage position,
At least in the loading/unloading operation, on condition that the storage position detection means detects that the bumper main body is in the storage position, the cargo handling arm can be started to operate. cargo handling vehicle. 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 the bumper main body can be returned to the traveling position on condition that the loading operation is completed. There is a lowering switch for starting the lowering operation as the arm operating switch,
When the retraction detection means does not detect that the bumper main body is in the retracted position when the lowering switch is operated to start the lowering operation after the retracting switch has been operated for a predetermined time. 2. A material handling vehicle according to claim 1, wherein the unloading operation is initiated automatically or subject to satisfaction of other requirements. 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, and being able to change the position of the bumper by power between a running position suitable for running and a stored position retracted to the vehicle side;
an extension switch for moving the bumper body to the running position and a retraction switch for moving the bumper body to the retracted position,
Having storage position detection means for detecting that the bumper main body is in the storage position,
At least in the loading/unloading operation, on condition that the storage position detection means detects that the bumper main body is in the storage position, the cargo handling arm can be started to operate. loading device.

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