JP2023038674A - cargo handling vehicle - Google Patents

Abstract

To grasp an inclination angle of a chassis while reducing the number of inclination sensors, and calculate a turning angle of an arm relative to the chassis.SOLUTION: A cargo handling vehicle includes a chassis, an arm for supporting a cargo box on the chassis, an inclination sensor for detecting an angle of the arm based on a gravity direction, a detector for detecting that the angle of the arm to the chassis is a predetermined angle, and a control device for calculating a relative inclination angle of the arm to the chassis, wherein the control device stores output of the inclination sensor as a chassis inclination angle before the start of inclination of the arm at the predetermined angle to the chassis based on outputs of the inclination sensor and the detector, and calculates the relative inclination angle based on the output of the inclination sensor and the chassis inclination angle after the start of inclination of the arm.SELECTED DRAWING: Figure 13

Description

TECHNICAL FIELD The present invention relates to a cargo handling vehicle in which a cargo box can be tilted with respect to the chassis.

There are so-called container cargo handling vehicles, dump trucks, and the like as cargo handling vehicles whose cargo boxes can be tilted with respect to the chassis. Among cargo handling vehicles of this type, there is one in which a tilt sensor is provided on an arm for tilting a cargo box (see Patent Document 1, etc.). In the cargo handling vehicle disclosed in the document, the tilt sensor that detects the angle with respect to the direction of gravity is used, so the tilt angle of the arm with respect to the horizontal plane is detected. In this case, even if the angle of the arm with respect to the chassis is the same, the detected value of the tilt sensor will differ depending on the angle of the chassis (that is, the angle of the ground where the chassis touches the ground).

Therefore, in this document, a tilt sensor for detecting the tilt angle with respect to the direction of gravity as a reference is also provided separately on the chassis, and the difference between the detection values of these two tilt sensors is calculated as the angle of the arm with respect to the chassis.

JP 2016-215916 A

In Patent Document 1, tilt sensors are provided on both the arm and the chassis in order to calculate the relative tilt angle of the arm with respect to the chassis. Each time the cargo handling vehicle moves to load and unload containers, the tilt angle of the arm relative to the chassis is calculated from the detected values of the tilt sensors of the chassis and arm. This leads to an increase in part cost and a complicated wiring layout.

SUMMARY OF THE INVENTION An object of the present invention is to provide a cargo handling vehicle capable of grasping the tilt angle of the chassis and calculating the relative tilt angle of the arm with respect to the chassis while reducing the number of tilt sensors.

To achieve the above object, the present invention provides a chassis, an arm for supporting a cargo box with respect to the chassis, an inclination sensor for detecting the angle of the arm with respect to the direction of gravity, and the arm relative to the chassis. is a predetermined angle, and a control device for calculating a relative tilt angle of the arm with respect to the chassis, wherein the control device includes the tilt sensor and the detector Based on the output of the device, the output of the tilt sensor before the start of tilting of the arm at the predetermined angle with respect to the chassis is stored as the tilt angle of the chassis, and the output of the tilt sensor after the start of tilting of the arm is stored as the tilt angle of the chassis. A cargo handling vehicle is provided in which the relative tilt angle is calculated based on the chassis tilt angle.

According to the present invention, it is possible to grasp the tilt angle of the chassis and calculate the relative tilt angle of the arm with respect to the chassis while suppressing the number of tilt sensors.

1 is a side view of a cargo handling vehicle according to an embodiment of the present invention; FIG. 1 is a plan view of a cargo handling vehicle according to an embodiment of the present invention; FIG. 1 is a rear view of a cargo handling vehicle according to one embodiment of the present invention; The perspective view of the special equipment unit with which the cargo handling vehicle of FIG. 1 was equipped 1 is a schematic diagram of a drive system provided in a cargo handling vehicle according to an embodiment of the present invention; FIG. Explanatory diagram of dump tilt angle Illustration of arm turning angle A diagram showing how a standard container is loaded by the cargo handling vehicle shown in Fig. 1. A diagram showing how a standard container is loaded by the cargo handling vehicle shown in Fig. 1. A diagram showing how a standard container is loaded by the cargo handling vehicle shown in Fig. 1. A diagram showing how a standard container is loaded by the cargo handling vehicle shown in Fig. 1. A diagram showing how a standard container is loaded by the cargo handling vehicle shown in Fig. 1. FIG. 2 is a flow chart showing the procedure for calculating the relative tilt angle of the arm with respect to the chassis by the control device provided in the cargo handling vehicle of FIG. 1; A side view of a cargo handling vehicle according to a modified example of the present invention A plan view of a cargo handling vehicle according to a modified example of the present invention Rear view of a cargo handling vehicle according to a modified example of the present invention A diagram showing the state of dumping work by the cargo handling vehicle of FIG. 14 A diagram showing how the dedicated container is loaded by the cargo handling vehicle of FIG. A diagram showing how the dedicated container is loaded by the cargo handling vehicle of FIG. A diagram showing how the dedicated container is loaded by the cargo handling vehicle of FIG.

Embodiments of the present invention will be described below with reference to the drawings.

－Cargo handling vehicle－
1 is a side view of a cargo handling vehicle according to one embodiment of the present invention, FIG. 2 is a plan view, and FIG. 3 is a rear view. In this specification, the left, right, bottom, and top in FIG. 2 are the front, rear, left, and right of the cargo handling vehicle. In addition, the loading and unloading work of loading and unloading containers (shipping boxes) onto and off the chassis 3 of the vehicle 1 and the dumping work are collectively referred to as "cargo handling work".

The cargo handling vehicle shown in FIGS. 1 to 3 includes a vehicle 1 and a specially equipped unit 10. As shown in FIG. A vehicle 1 is a self-propelled vehicle, and has an operator's cab 2 at the front and a chassis 3 behind the operator's cab 2 .

FIG. 4 is a perspective view of the specially equipped unit 10. FIG. In the same figure, unlike FIGS. 1 to 3, the specially equipped unit 10 is shown in a dump posture with a dump frame A2 (described later) raised for easy viewing of the configuration. The specially equipped unit 10 is a unit attached to the upper part of the chassis 3 for cargo handling work, and as shown in FIGS. An adapter E and the like are provided.

The container guide device B is a device that supports and guides the standard container X (FIG. 10, etc.) to be loaded and unloaded using the adapter E, and is provided at the rear of the specially equipped unit 10 . The locking device C is a device for fixing a loaded dedicated container (FIG. 18) when the loaded dedicated container is loaded. The jack D is a device for suppressing the sinking of the rear part of the chassis 3 during loading and unloading work. The adapter E is a kind of attachment attached to the standard container X in order to load the standard container X on the chassis 3 . This adapter E is fixed to a support post A11 provided on the front portion of the base frame A1 when not in use. The configuration of the cargo handling apparatus A will now be described.

－Cargo handling equipment－
The cargo handling device A is a device that lifts a container onto the chassis 3 and unloads it from the chassis 3, and includes a base frame A1, a dump frame A2 (FIG. 2, etc.), a loading/unloading arm A3, a driving part A4, and a guide roller A5. consists of

- Base frame The base frame A1 is the basic structure of the cargo handling apparatus A. The base frame A1 is formed in a horizontal rectangular shape, extends in the front-rear direction, and is fixed to the upper portion of the chassis 3 while overlapping it.

- Dump frame The dump frame A2 is a frame for tilting up the container on the chassis 3 in order to dump and discharge the contents of the loaded container. The dump frame A2 is arranged at the rear portion of the base frame A1 and is rotatably connected to the rear end portion of the base frame A1 via a shaft A6 extending in the left-right direction (vehicle width direction). The longitudinal length of the dump frame A2 is shorter than the longitudinal length of the base frame A1.

Loading and unloading arm The loading and unloading arm A3 is an arm for loading and unloading of the container, and supports the container on the chassis 3 . The loading/unloading arm A3 includes a base arm A7 and a hook arm A8. The base arm A7 is a cylindrical arm that extends linearly forward and backward, and is rotatably connected to the front portion (tip portion) of the dump frame A2 via a shaft A9 that extends horizontally, and moves forward and backward on the chassis 3. Rotate. The hook arm A8 is an L-shaped arm whose rear portion extends forward and backward and whose front portion rises, and the rear portion is slidably inserted into the base arm A7. A hook F for hanging on a standard container X (FIG. 10, etc.) is provided at the tip (upper end) of the hook arm A8.

The standard container X is a container manufactured according to standards such as ISO standards, and is, for example, a marine container. The standard container X is not manufactured on the assumption that it will be loaded and unloaded by a cargo handling vehicle, and is normally loaded onto a means of transport such as a ship, trailer, or railroad using a separate cargo handling machine such as a crane or forklift. A rectangular parallelepiped standard container X is provided with corner fittings having recesses on each surface at eight corners.

Although not shown, the upper portion of the upright portion of the hook arm A8 is rotatable back and forth with respect to the lower portion by a hydraulic cylinder (not shown). It may be configured such that the position or the like can be changed.

Further, in this embodiment, the configuration in which the hook arm A8 slides relative to the base arm A7 is exemplified, but there may be a configuration in which the hook arm A8 rotates instead of sliding relative to the base arm A7. . In some cases, the loading/unloading arm A3 is not divided into the base arm A7 and the hook arm A8, and is configured as an integrated L-shaped arm.

- Drive unit The drive unit A4 drives the loading/unloading arm A3. The drive unit A4 includes a pair of left and right lift cylinders A10 for rotating the base arm A7, a slide cylinder A12 (FIG. 5) for sliding the hook arm A8 with respect to the base arm A7, and a hydraulic circuit G1 for driving these cylinders. (Fig. 5). Both the lift cylinder A10 and the slide cylinder A12 are hydraulic cylinders. The base end of the lift cylinder A10 is rotatably connected to the base frame A1, and the tip end of the lift cylinder A10 is rotatably connected to the rear portion of the base arm A7. The slide cylinder A12 is accommodated inside the base arm A7, and has a base end connected to the base arm A7 and a tip end connected to the hook arm A8.

Guide Rollers The guide rollers A5 are rollers for guiding the dedicated container (FIG. 18), and are provided at both left and right ends of the shaft A6 that supports the dump frame A2. A "dedicated container" is a container manufactured assuming loading and unloading work by a cargo handling vehicle, and is configured so that loading and unloading work can be performed without using the adapter E. These guide rollers A5 are arranged at a position lower than the guide surface of the standard container X (lower surface of the loaded standard container X) by the container guide device B, and do not interfere with the standard container X including during loading and unloading operations. It's like

In addition, in the cargo handling vehicle of this embodiment, only the loading/unloading arm A3 rotates back and forth while the dump frame A2 remains in a horizontal position during loading/unloading work, and the dumping arm A3 is integrated with the loading/unloading arm A3 during dumping work. Frame A2 rotates. To enable this operation, a dump lock device (not shown) is provided for locking and unlocking the loading/unloading arm A3 with respect to the dump frame A2.

The dump lock device consists of a lock pin, a lock hook that can be engaged with and disengaged from the lock pin, and the like. The lock pin is provided at the tip of the dump frame A2, and the lock hooks are rotatably provided on both side surfaces of the base arm A7 of the loading/unloading arm A3. The engagement and disengagement of the locking hook with respect to the lock pin utilizes the sliding motion of the hook arm A8 with respect to the base arm A7. For example, the locking hook receives a force such as a spring in a direction to be engaged with the lock pin, and when the hook arm A8 slides to the vicinity of the rear end, the operating rod is pushed by the hook arm A8 and the locking hook moves to the lock pin. can be configured to deviate from the

In this case, when the hook arm A8 retreats to the vicinity of the rear end, the lock between the loading/unloading arm A3 and the dump frame A2 is released, and the loading/unloading arm A3 rotates back and forth with respect to the dump frame A2 due to the expansion and contraction of the lift cylinder A10. . Conversely, when the hook arm A8 moves forward, the loading/unloading arm A3 and the dump frame A2 are locked, and when the lift cylinder A10 expands and contracts in this state, the dump frame A2 tilts up and down together with the loading/unloading arm A3. The configuration of such a dump lock device is described in Japanese Patent No. 5284541 and the like.

－Driving system－
FIG. 5 is a schematic diagram of a drive system provided in the cargo handling vehicle according to the embodiment of the present invention. As shown in the figure, the cargo handling vehicle is equipped with a hydraulic circuit G1 for driving the lift cylinder A10 and the slide cylinder A12, a control device G2, and various sensors. The control device G2 will be described later.

Hydraulic Circuit The hydraulic circuit G1 includes a hydraulic pump, a control valve (for example, an electromagnetically driven directional switching valve), and the like. For example, a hydraulic pump is driven by engine power taken out by PTO (Power Take Off), and the lift cylinder A10 and the slide cylinder A12 expand and contract by supplying discharge oil of the hydraulic pump via a control valve.

- Sensor As shown in FIG. 5, the cargo handling vehicle is provided with an inclination sensor S1 and a lift compression sensor S2.

The tilt sensor S1 is a sensor that detects the tilt angle of the loading and unloading arm A3 with respect to the direction of gravity (for example, the tilt angle with respect to the horizontal plane), and is provided on the loading and unloading arm A3. A gyroscope or an IMU (inertial measurement unit), for example, can be used as the tilt sensor S1. In addition, a pendulum-type or float-type tilt sensor (a sensor that detects a suspended weight or a tilt with respect to the liquid surface), an acceleration sensor, or the like can be used as the tilt sensor S1. The angle of the loading/unloading arm A3 with respect to the direction of gravity is detected by the tilt sensor S1 and output to the control device G2 (FIG. 5). The tilt sensor S1 on the loading/unloading arm A3 may be installed on either the base arm A7 or the hook arm A8. The outer wall surface at the front of the hook arm A8 is preferred.

The lift compression sensor S2 is a detector that detects a state in which the loading/unloading arm A3 is at a predetermined angle with respect to the chassis 3. As shown in FIG. The lift retraction sensor S2 includes, for example, a sensor for detecting that the lift cylinder A10 is at a predetermined length (in this embodiment, the most retracted state, that is, the state where the loading/unloading arm A3 is at 0 degrees with respect to the chassis 3). (limit switch, etc.) can be used. In order to detect the state in which the loading/unloading arm A3 is at a predetermined angle with respect to the chassis 3, a goniometer for detecting the angle of the loading/unloading arm A3 with respect to the chassis 3 may be used.

- Control device The control device G2 is a kind of in-vehicle computer, and includes, for example, a CPU and a memory. The control device G2 outputs a command signal for driving the control valve according to the operation of the operation device H, and by switching the supply direction of the hydraulic oil with the control valve, the lift cylinder A10 and the slide cylinder A12 are extended and contracted, and the loading and unloading arm is operated. Controls the operation of A3.

The memory of the control device G2 stores a program for controlling the loading/unloading arm A3 and a program for calculating the relative inclination angle of the loading/unloading arm A3 with respect to the chassis 3. In addition to the output signals of the tilt sensor S1 and the lift compression sensor S2, an operation signal from an operation device H such as a remote controller and an ON/OFF signal of the PTO switch P are input to the control device G2. The PTO switch P is a switch that turns the PTO on and off. When the PTO is turned on by the PTO switch P, the engine power is transmitted to the hydraulic circuit G1, and when the PTO is turned off by the PTO switch P, the engine power is transmitted to the hydraulic circuit G1. blocked. The tilt sensor (sensor for measuring the angle with respect to the direction of gravity) used by the control device G2 as a basis for calculating the relative tilt angle of the loading/unloading arm A3 is only the single tilt sensor S1. That is, the chassis 3 is not provided with an inclination sensor such as an IMU.

The tilt angle of the loading/unloading arm A3 relative to the chassis 3 includes the dump angle θtilt (FIG. 6) and the arm turning angle θarm (FIG. 7). The dump angle θtilt is a relative tilt angle of the loading/unloading arm A3 with respect to the chassis 3 when the dumping frame A2 and the loading/unloading arm A3 are integrally tilted (see also FIG. 4). The arm turning angle θarm is the relative inclination angle of the loading and unloading arm A3 with respect to the chassis 3 when the loading and unloading arm A3 is bent and tilted with respect to the dump frame A2 (see also FIG. 9). In this embodiment, the dumping angle θtilt and the arm turning angle θarm are calculated based on the signal from the operating device H (depending on whether the operation signal is an operation signal for loading/unloading work or an operation signal for dumping work, which will be described later). be.

－Loading and unloading work－
When the standard container X is loaded onto the chassis 3, the cargo handling vehicle is stopped at a predetermined position in front of the standard container X, and the connection between the adapter E and the support post A11 is manually disconnected in the state shown in FIGS. Next, the jack D is lowered, and the operating device H is operated in a predetermined manner to advance the hook arm A8, and the hook F is hooked to the adapter E as shown in FIG. When the hook F is engaged with the adapter E, the hook arm A8 is retracted together with the adapter E, and the operation device H is used to operate the unloading button for loading and unloading work. As a result, the dump lock device described above is unlocked, the lift cylinder A10 extends, and the loading/unloading arm A3 rotates rearward as shown in FIG. The adapter E thus brought out to the rear of the vehicle is attached to the front surface of the standard container X as shown in FIG.

When the mounting work of the adapter E is completed, the lifting button for the loading and unloading work is operated with the operating device H to rotate the loading and unloading arm A3 forward, and the standard container X is lifted onto the chassis 3 as shown in FIG. pull up to As the loading/unloading arm A3 moves, the front side of the standard container X is lifted with the lower rear end as a fulcrum, and the loading/unloading arm A3 rotates forward to bring the vehicle and the standard container X relatively close to each other. At that time, since the standard container X is heavy and has no rollers attached to its lower part, the vehicle moves backward and enters the lower side of the standard container X, and the left and right sides of the lower surface of the standard container X are received by the container guide device B. . After that, the loading/unloading arm A3 rotates further forward, so that the standard container X is lifted to the upper part of the chassis 3 while being guided by the container guide device B. As shown in FIG. When the loading/unloading arm A3 is laid down horizontally, the hook arm A8 is advanced to place the adapter E on the stand of the support post A11 as shown in FIG. Finally, the standard container X is fixed to the container guiding device B by the lock device provided in the container guiding device B, and the loading operation of the standard container X is completed.

The unloading work for unloading the standard container X from the chassis 3 can be performed in the reverse order of the container loading work described above.

The memory of the control device G2 stores the deceleration start angle during the loading and unloading work. The deceleration start angle during the loading and unloading work is a first value set slightly smaller than the arm turning angle θarm at which the container touches the ground, and a second value set slightly larger than the arm turning angle θarm at which the container lands on the chassis 3 . Contains a value of 2. During the arm turning (container unloading) operation, if the arm turning angle θarm is equal to or greater than the first value, the control device G2 reduces the arm turning speed to mitigate the impact when the container lands on the ground. On the other hand, when the arm swinging (container loading) operation is performed, if the arm swinging angle θarm is equal to or less than the second value, the control device G2 reduces the arm swinging speed to reduce the impact when the container lands on the chassis 3. ease.

－Dump work－
Further, when dumping work is performed, for example, when a dumping lift button for dumping work is operated by the operating device H, the dump lock device described above is locked, and the lift cylinder A10 extends as shown in FIG. Dump frame A2 rises rearward together with A3. This dumps the contents of the container. After that, when the dump lowering button for dumping work is operated by the operation device H, the lift cylinder A10 contracts and the dump frame A2 falls down together with the loading/unloading arm A3 as shown in FIG.

The memory of the control device G2 stores the deceleration start angle during the dumping operation. The deceleration start angle during dumping is set to a third value slightly smaller than the dumping angle θtilt (maximum value of θtilt) during full dumping, and is set slightly larger than the dumping angle θtilt when the container lands on the chassis 3. A fourth value is included. During the dumping (raising) operation, if the dumping angle θtilt is equal to or greater than the third value, the control device G2 decelerates the tilting speed of the container to mitigate the impact when the lift cylinder A10 reaches the stroke end. On the other hand, when the dumping (lowering) operation is performed, if the dumping angle θtilt is equal to or less than the fourth value, the control device G2 reduces the tilting speed of the container to reduce the impact when the container lands on the floor.

- Calculation of arm relative tilt angle -
FIG. 13 is a flow chart showing the procedure for calculating the relative tilt angle of the loading/unloading arm A3 with respect to the chassis 3 by the controller G2. The control device G2 repeatedly executes the flow of FIG. 13 in a short cycle time (for example, 0.1 s) when energized. FIG. 13 illustrates an example of calculating the arm turning angle θarm (FIG. 7) as the relative tilt angle of the loading/unloading arm A3, but the procedure for calculating the dump angle θtilt is the same.

・START
When the flow of FIG. 13 is started, the controller G2 first receives signals from the tilt sensor S1, the lift compression sensor S2, the operating device H, and the PTO switch P, which are input in real time, and records them in the memory.

・Step S01
In subsequent step S01, the control device G2 determines whether the current lift cylinder A10 is in the most retracted state (predetermined length) based on the current signal from the lift retraction sensor S2. When the signal of the lift retraction sensor S2 is on and the lift cylinder A10 is in the most retracted state (in this embodiment, the relative inclination angle of the loading/unloading arm A3 with respect to the chassis 3 is 0), the controller G2 performs steps S01 to S01. Move the procedure to S02. When the signal from the lift retraction sensor S2 is OFF and the lift cylinder A10 is in the state of being extended from the most retracted state (in this embodiment, the relative inclination angle of the loading/unloading arm A3 with respect to the chassis 3 is greater than 0), the control device G2 performs step The procedure is moved from S01 to step S04.

・Step S02
When the procedure moves to step S02, the control device G2 determines based on the signal of the operating device H stored in the memory whether the current time is the start of extension from the most retracted state of the lift cylinder A10. Specifically, based on the data stored in the memory, the current operation signal associated with the operation of the unloading button for the loading and unloading work of the operating device H is ON, and the operation signal one cycle time before (for example, 0.1 s) is off. If the current time is the start of extension from the most retracted state of the lift cylinder A10, the control device G2 shifts the procedure from step S02 to step S03. If it is not the time to start extending the lift cylinder A10 from the most retracted state, the controller G2 shifts the procedure from step S01 to step S21.

・Step S03
In step S03, the controller G2 stores (registers) in the memory the output value θt of the tilt sensor S1 stored in the memory at the start of the current cycle as the chassis tilt angle θ1, and ends the current cycle. to return the procedure to the start.

・Step S04
When the lift cylinder A10 starts to extend from the lowest retraction, the determination in step S01 is no longer satisfied, and the control device G2 shifts the procedure from step S01 to step S04. In step S04, the control device G2 determines whether the present time point is when the PTO is switched from ON to OFF, based on the signal of the PTO switch P stored in the memory at each start of the current cycle and the previous cycle. judge. Specifically, based on the data stored in the memory, it is determined whether the current operation signal of the PTO switch P was OFF and the operation signal one cycle time ago was ON. If the current time is the time when the PTO is switched off, the control device G2 shifts the procedure from step S04 to step S18. If the current time is not the time when the PTO is switched off, the controller G2 shifts the procedure from step S04 to step S05.

・Step S05
When the procedure is shifted to step S05, the controller G2 determines whether the current PTO has been switched from off to on based on the signal of the PTO switch P stored in the memory at the start of the current cycle and the previous cycle. Determine if it is time. Specifically, based on the data stored in the memory, it is determined whether the current operation signal of the PTO switch P was ON and the operation signal one cycle time ago was OFF. If the current time is the time when the PTO is switched on, the controller G2 shifts the procedure from step S05 to step S19. If the current time is not the time when the PTO is switched on, the control device G2 shifts the procedure from step S05 to step S06.

・Step S06
In step S06, the control device G2 switches the current loading/unloading operation from ON to OFF based on the signals from the operation device H stored in the memory at the start of the current cycle and the previous cycle. It is determined whether or not it is time to change (start time of operation interruption). Specifically, based on the data stored in the memory, it is determined whether the current operation signal related to the loading/unloading work was OFF and the operation signal one cycle time ago was ON. If the current time is the time when the loading/unloading operation is switched from ON to OFF, the control device G2 shifts the procedure from step S06 to step S11. If the present time is not the time when the loading/unloading operation is switched from ON to OFF, the control device G2 shifts the procedure from step S06 to step S07.

・Step S07
In step S07, the control device G2 switches the loading/unloading operation from off to on based on the signals from the operation device H stored in the memory at the start of the current cycle and the cycle immediately preceding. It is determined whether or not it is time to change (time to restart the operation). Specifically, based on the data stored in the memory, it is determined whether the current operation signal related to the loading/unloading work is ON and the operation signal one cycle time ago was OFF. If the current time is the time when the loading/unloading operation is switched from OFF to ON, the control device G2 shifts the procedure from step S07 to step S14. If the present time is not the time when the loading/unloading operation is switched from OFF to ON, the control device G2 shifts the procedure from step S07 to step S08.

・Step S08
In step S08, the control device G2 determines whether the PTO is on and the loading/unloading operation is on based on the PTO switch P and operation device H signals stored in the memory at the start of the current cycle. judge. When the PTO is on and the loading/unloading operation is on, the control device G2 shifts the procedure from step S08 to step S09. If at least one of the PTO and the loading/unloading operation is off, the controller G2 moves the procedure from step S08 to step S12.

・Step S09
In step S09, the control device G2 refers to the memory and determines whether there is a registration of invalid calculation setting (described later) that invalidates the calculation of the relative tilt angle of the loading/unloading arm A3. If the calculation of the relative tilt angle of the loading/unloading arm A3 is invalid, the controller G2 terminates the current cycle without calculating the arm swing angle θarm and returns the procedure to the start. If the calculation of the relative tilt angle of the loading/unloading arm A3 is valid, the control device G2 shifts the procedure from step S09 to step S10.

・Step S10
In step S10, the controller G2 calculates an arm turning angle θarm from the difference between the output value θt of the tilt sensor S1 stored in the memory at the start of the current cycle and the currently registered chassis tilt angle θ1. do. Then, the controller G2 stores the calculated arm turning angle θarm in the memory, ends the current cycle, and returns the procedure to the start.

・Step S11
When the operation of the loading/unloading arm A3 is temporarily stopped during operation, the loading/unloading operation by the operation device H is interrupted. In this case, the procedure is guided to step S06, the determination of step S06 is satisfied, and the process proceeds to step S11. After moving the procedure to step S11, the controller G2 starts timing the operation OFF time t, ends the current cycle, and returns the procedure to the start. The operation-off time t is the duration of a state in which there is no loading/unloading operation.

・Step S12
While the PTO is ON and the loading/unloading operation is OFF, the procedure is led to step S12, and the controller G2 determines that the current operation OFF time t is equal to the predetermined set time. It is determined whether t0 (for example, 2s) has been reached. When the current operation-off time t is the set time t0, the control device G2 moves the procedure from step S12 to step S13. If the current operation off time t is still less than the set time t0 or already exceeds the set time t0, the controller G2 terminates the current cycle and returns the procedure to the start.

・Step S13
In step S13, the controller G2 stores (registers) in the memory the output value θt of the tilt sensor S1 stored in the memory at the start of the current cycle as the tilt angle θ2 at the time of operation OFF. and return the procedure to the start.

・Step S14
When the timing of the operation-off time t is started and the loading/unloading operation is restarted with the PTO turned on, the procedure is led from step S07 to step S14, and the controller G2 registers the tilt angle θ2 at operation-off. (or whether the operation OFF time t exceeds the set time t0). If the operation-off tilt angle θ2 is registered, the control device G2 goes from step S14 to step S15. Move steps.

・Step S15
In step S15, the control device G2 calculates the difference (absolute value) between the output value θt of the tilt sensor S1 stored in the memory at the start of the current cycle and the tilt angle θ2 when the operation is off. It is determined whether or not the predetermined allowable value θa is exceeded. When the operation-off tilt angle θ2 changes during the operation-off and the difference exceeds the allowable value θa, the control device G2 shifts the procedure from step S15 to step S16. If the difference is equal to or less than the allowable value θa, the control device G2 bypasses steps S15 to S16 and proceeds to step S17.

・Step S16
After moving the procedure to step S16, the control device G2 stores (registers) a calculation invalid setting (flag, etc.) for invalidating the calculation of the arm turning angle θarm in the memory, and moves the procedure to step S17.

・Step S17
Moving the procedure to step S17, the controller G2 resets the operation off time t, ends the current cycle, and returns the procedure to the start.

・Step S18
When the loading/unloading operation is once stopped and the PTO is turned off in a state in which the lift cylinder A10 is extended beyond the most retracted state, the procedure shifts from step S04 to step S18. In step S18, the control device G2 stores (registers) in the memory the output value θt of the tilt sensor S1 stored in the memory at the start of the current cycle as the tilt angle θ3 when the PTO is off, and the current cycle is executed. Exit and return the procedure to the start. Thereafter, steps S01, S04-S08, S12 are typically looped while the PTO is off. Since the PTO is off during this period, the loading and unloading operation is also off. However, since the operation off time t is measured only when the PTO is on, the time is measured with the PTO off. never. Therefore, the operation-off tilt angle θ2 is not registered when the procedure moves from step S12 to step S13.

・Step S19
After that, when the PTO is turned on, the procedure is led from step S05 to step S19, and the controller G2 determines whether or not the tilt angle θ3 when PTO is off is registered. The control device G2 proceeds from step S19 to step S20 if the PTO-off tilt angle θ3 is registered, and ends the current cycle and returns to the start if the PTO-off tilt angle θ3 is not registered.

・Step S20
In step S20, the control device G2 calculates the difference between the output value θt of the tilt sensor S1 stored in the memory at the start of the current cycle and the tilt angle θ3 when the PTO is off, and uses this difference as a correction value for the chassis. Add to the tilt angle θ1. When the chassis tilt angle θ1 changes while the PTO is off, the amount of change corresponds to the difference between θt and θ3, so adding this difference corrects the chassis tilt angle θ1. The controller G2 updates the chassis tilt angle θ1 registered in the memory to the corrected value, terminates the current cycle, and returns the procedure to the start.

・Step S21
After that, the lifting button of the operating device H is continuously operated, and when the lift cylinder A10 contracts to the most contracted state and the loading/unloading arm A3 lands on the chassis 3, the procedure is led from step S02 to step S21. In step S21, the control device G2 determines whether the present moment is the moment when the lift cylinder A10 is retracted to the most retracted state based on the signal of the operation device H stored in the memory. Specifically, based on the data stored in the memory, the current operation signal associated with the operation of the lifting button for the loading and unloading work of the operation device H is OFF, and the operation signal one cycle time before (for example, 0.1 s) is on. If the current time is the time when the lift cylinder A10 is retracted to the most retracted state, the controller G2 shifts the procedure from step S21 to steps S22-S25. If the lift cylinder A10 is not currently retracted to its most retracted state (that is, if it has been in its most retracted state from one cycle or more ago), the control device G2 bypasses steps S21 to S22-S25 to perform the current cycle. and return the procedure to the start.

・Steps S22-S25
In steps S22-S25, the control device G2 clears all the registered tilt angle θ1 of the chassis, the tilt angle θ2 when the operation is off, the tilt angle θ3 when the PTO is off, and the invalid calculation setting. cycle and return the procedure to the start. Clearing the chassis tilt angle θ1 (step S22), clearing the tilt angle θ2 when the operation is off (step S23), clearing the tilt angle θ3 when the PTO is off (step S24), and clearing the invalid calculation setting (step S25) are performed in the following order: , may be in random order (or simultaneously).

As described above, when calculating the relative inclination angle of the loading/unloading arm A3 with respect to the chassis 3, the control device G2 sets the chassis inclination angle θ1 as a reference for calculating the relative inclination angle for each operation opportunity of the loading/unloading arm A3. It is set and stored (registered) in the memory (step S03). As the chassis tilt angle θ1, based on the signals of the tilt sensor S1 and the lift compression sensor S2, the tilt sensor S1 before the start of tilting of the loading/unloading arm A3 at a predetermined angle (0° in the above embodiment) with respect to the chassis 3 is used. is stored. In this embodiment, the output value .theta.t at the start of tilting is stored as the output value .theta.t before the start of tilting. good. A state in which the loading/unloading arm A3 is at a predetermined angle with respect to the chassis 3 can be determined by checking that the output of the lift retraction sensor S2 is ON (step S01). Whether the loading/unloading arm A3 has not yet started tilting can be determined based on the operation signal (output signal associated with the operation of the unloading button or the dump lifting button) of the operation device H that operates the loading/unloading arm A3 (step S02). After storing the chassis tilt angle θ1 in this way, the controller G2 stores the relative tilt angle of the loading/unloading arm A3, which changes with subsequent operations, from the output of the tilt sensor S1 after the start of tilting of the loading/unloading arm A3 and the chassis tilt angle. θ1 (that is, the difference between the two) is calculated (step S10).

However, the control device G2 invalidates the calculation of the relative tilt angle when the difference (θ2−θt) between the outputs of the tilt sensor S1 when the operation of the operating device H is interrupted and when the operation is resumed thereafter exceeds the allowable value θa. (steps S15 and S16). In the present embodiment, when the operation is interrupted, it is assumed that the operation is interrupted for a predetermined time (for example, 2 s) or more, not when the operation is interrupted. A tilt angle θ2 is set (steps S12 and S13).

Further, when the PTO is turned off while the lift compression sensor S2 is off, the controller G2 determines the difference between the outputs of the tilt sensor S1 when the PTO is turned off and when it first turns on after that. Using (θt−θ3) as a correction value, the chassis tilt angle θ1 is corrected (step S20).

-effect-
(1) As described above, in the present embodiment, when loading/unloading work or dumping work is started, the output value θt of the tilt sensor S1 before the start of tilting of the loading/unloading arm A3 at a predetermined angle with respect to the chassis 3 is the chassis tilt. Stored as angle θ1. In this way, by taking the difference between the output value θt of the tilt sensor S1 at the start of work (the tilt angle θ1 of the chassis) and the output value θt of the tilt sensor S1 after the start of tilting of the loading/unloading arm A3, The relative inclination angle of the loading/unloading arm A3 with respect to the chassis 3 can be calculated even without . If a value registered before work is used as the reference chassis tilt angle θ1, if the tilt angle of the chassis 3 is different between when it is registered and when work is started, there will be an error in calculating the relative tilt angle of the loading/unloading arm A3. occurs. In this regard, in the case of the present embodiment, since the chassis inclination angle θ1 is measured at the start of work, the relative inclination angle of the loading/unloading arm A3 can be calculated with high accuracy.

Therefore, it is possible to grasp the chassis inclination angle θ1 and calculate the relative inclination angle turning angle of the loading/unloading arm A3 with respect to the chassis 3 while suppressing the number of inclination sensors. Since the number of tilt sensors S1 can be suppressed, the manufacturing cost of the cargo handling vehicle can be suppressed, and the complication of the wiring layout can be suppressed.

(2) A limit switch for detecting a predetermined length of the lift cylinder A10 can be used as the lift contraction sensor S2 required for judging the condition of the timing for setting the chassis inclination angle .theta.1. Cargo handling vehicles are generally equipped with limit switches in many cases, and the ability to effectively utilize existing equipment also contributes to the reduction of manufacturing costs and the simplification of the configuration.

(3) Some users may move the cargo handling vehicle by interrupting the operation of the loading/unloading arm A3 with the PTO turned on, for example, to adjust the position of the vehicle when attaching/detaching a container. In this case, the deviation in the output value of the tilt sensor S1 (that is, the change in the tilt angle of the chassis 3) may exceed the allowable value θa before and after the suspension of operation. When the operation of the loading/unloading arm A3 is started and then the operation is interrupted to use the jack D, the output value of the tilt sensor S1 may deviate beyond the allowable value θa before and after the operation is interrupted. In these cases, the accuracy of the relative tilt angle of the loading/unloading arm A3 after resuming the operation decreases.

Therefore, in this embodiment, the difference between the output value of the tilt sensor S1 when the operation of the lift cylinder A10 by the operation device H is interrupted (tilt angle θ2 when operation is off) and the output value θt of the tilt sensor S1 when the operation is resumed is allowed. If the value θa is exceeded, the computation of the relative tilt angle of the loading/unloading arm A3 is invalidated. In other words, even if the output value of the tilt sensor S1 deviates before and after the operation is interrupted, if the deviation is within the allowable value θa, the relative tilt angle can be continuously calculated even after the operation is resumed.

(4) When the operation of the loading/unloading arm A3 is stopped, the braking of the loading/unloading arm A3 may be slightly delayed due to inertia, or the bending of the loading/unloading arm A3 and the chassis 3 may cause the loading/unloading arm A3 to stop for some time. may do so.

Therefore, in the present embodiment, when registering the tilt angle θ2 at the time of operation OFF, the tilt sensor S1 is detected not when the operation is interrupted (when the operation is stopped) but when the operation is interrupted for a set time t0 (for example, 2 s). We decided to register the output value θt. By measuring the operation-off tilt angle θ2 after waiting for the set time t0 after stopping the operation, it is possible to register the output value of the tilt sensor S1 after the vehicle has stopped properly. can be detected with high accuracy.

Also, in order to finely adjust the position of the hook F when loading a container, so-called inching, in which the operation device H is operated in small increments, is sometimes performed. In this case, by securing the holding time of the set time t0, it is possible to avoid registering the output value of the tilt sensor S1 each time the button of the operation device H is turned on and off in a short period during inching, and control is performed. The processing load on the device G2 can be reduced. When the loading/unloading arm A3 is moved in small increments such as inching, there is a low possibility that the output value of the tilt sensor S1 will deviate before and after the operation is interrupted for a very short time, and there is a great advantage in reducing the processing load of the control device G2.

(5) There is a case where the cargo handling vehicle is driven to move while the loading/unloading arm A3 is being operated. In this case, if the slope of the ground before and after movement differs, the chassis tilt angle θ1 registered at the start of work will deviate from the actual value after movement. The relative tilt angle cannot be accurately grasped.

Therefore, in this embodiment, the output value θt of the tilt sensor S1 when the PTO is turned off is registered as the tilt angle θ3 when the PTO is off, and then the output value of the tilt sensor S1 when the PTO is first turned on. Using the difference in θt as a correction value, the registered chassis tilt angle θ1 is corrected. Since the cargo handling vehicle is normally moved with the PTO turned off, by correcting the chassis tilt angle θ1 in this manner, the relative tilt angle of the loading/unloading arm A3 can be accurately calculated even after movement.

(6) In the present embodiment, a cargo handling vehicle that can perform both container loading and unloading work and dumping work is targeted. Dump angle θtilt and arm turning angle θarm) can be calculated separately. Since the dump angle .theta.tilt and the arm turning angle .theta.arm can be calculated separately, it is possible to appropriately grasp and manage information regarding container loading and unloading operations and dumping operations.

-Modification-
In the above description, a cargo handling vehicle having a container loading/unloading function and a dumping function has been exemplified and explained. Yes, either the loading/unloading function or the dumping function can be omitted. In other words, the present invention can be applied to a cargo handling vehicle that has only a dumping function without a loading and unloading function of cargo boxes, such as a dump truck, and a container cargo handling vehicle that has only a container loading and unloading function without a dumping function. and the same effect can be obtained. In the case of a dump truck, the inclination sensor S1 can be installed on an arm that supports a cargo box (vessel), as well as on the cargo box and the girders on the bottom surface of the cargo box.

Also, an example has been described in which the output value θt of the tilt sensor S1 when the loading/unloading arm A3 is at 0° with respect to the chassis 3 is registered as the chassis tilt angle θ1. A configuration in which the loading/unloading arm is tilted with respect to the chassis is also possible. In such a case, the output value θt of the tilt sensor S1 when the loading/unloading arm A3 is tilted at a predetermined angle (for example, 10° or 20°) with respect to the chassis 3 may be registered as the chassis tilt angle θ1. .

In addition, although the cargo handling vehicle capable of loading both the standard container X and the special container on the chassis 3 has been exemplified as an application object, the present invention can be applied to a cargo handling vehicle dedicated to standard containers and to a cargo handling vehicle dedicated to dedicated containers. . Similar effects can be obtained by the present invention when applied to any type of cargo handling vehicle. FIGS. 14 to 20 show a cargo handling vehicle dedicated to exclusive containers as a modified example of the cargo handling apparatus of the present invention.

14 is a side view of a cargo handling vehicle according to a modified example, FIG. 15 is a plan view, and FIG. 16 is a rear view. 14-16 correspond to FIGS. 1-3. Elements in this modification that are the same as or correspond to the above-described embodiment are denoted by the same reference numerals as in the previous drawings in FIGS. 14 to 16, and description thereof is omitted. As shown in FIGS. 14 to 16, the cargo handling vehicle according to the modification differs from the cargo handling vehicle according to the above embodiment in that the container guide device B, the adapter E, and the support post A11 are not provided. Further, the dedicated container Y is provided with a roller Y1 at the bottom of the rear end, and a locking member Y2 on which the hook F is hooked on the front surface.

FIG. 17 is a diagram showing how the cargo handling vehicle shown in FIG. 14 is used for dumping, and FIGS. 18 to 20 are diagrams showing how the cargo handling vehicle shown in FIG. 18-20 correspond to FIGS. 11-12.

When performing a dumping operation with the cargo handling equipment shown in FIGS. 14 to 16, for example, when the operation device H is operated to raise the dump, the dump lock device described above is locked, and the lift cylinder A10 extends as shown in FIG. The dump frame A2 rises rearward together with the loading/unloading arm A3. This dumps the contents of the container. After that, when a dump lowering button for dumping work is operated by the operation device H, the lift cylinder A10 is contracted and the dump frame A2 falls down together with the loading/unloading arm A3.

When the dedicated container Y is loaded onto the chassis 3, the cargo handling vehicle is stopped at a predetermined position in front of the dedicated container Y, the jack D is lowered, and the operating device H is operated to lower the loading and unloading arm A3 backward. , hooks F are hung on the exclusive container Y as shown in FIG. After the hook F is hooked to the dedicated container Y, the operating device H is operated to lift the loading/unloading arm A3 forward to rotate the dedicated container Y onto the chassis 3. - 特許庁With the movement of the loading/unloading arm A3, the front side of the dedicated container Y is lifted with the roller Y1 as a fulcrum, travels a predetermined distance on the ground with the roller Y1, and is received by the guide roller A5 as shown in FIG. After that, as the loading/unloading arm A3 rotates further forward, the dedicated container Y is lifted up to the upper portion of the chassis 3 while being guided by the container guide device B, as shown in FIG. When the loading/unloading arm A3 is laid down horizontally, the hook arm A8 is advanced to fix the exclusive container Y, and the loading operation of the exclusive container Y is completed. The unloading work for unloading the dedicated container Y from the chassis 3 can be performed by reversing the above procedure.

The present invention can be applied in the same manner as in the above-described embodiment, and the same effect can be obtained even when such a cargo handling apparatus dedicated to a dedicated container is targeted.

3: chassis, A3: loading/unloading arm (arm), A10: lift cylinder, G2: control device, S1: tilt sensor, S2: lift compression sensor (detector), θ1: chassis tilt angle, θ2: tilt when operation is off angle (output of tilt sensor when operation is interrupted), θ3: tilt angle when PTO is off (output of tilt sensor when PTO is turned off), θarm: arm turning angle (relative tilt angle of arm with respect to chassis), θt …Tilt sensor output, θtilt…Dump angle (relative tilt angle of the arm with respect to the chassis)

Claims (6)

a chassis;
an arm supporting a packing box relative to the chassis;
a tilt sensor that detects the angle of the arm with respect to the direction of gravity;
a detector that detects a state in which the arm is at a predetermined angle with respect to the chassis;
A cargo handling vehicle comprising a control device that calculates a relative inclination angle of the arm with respect to the chassis,
The control device is
Based on the outputs of the tilt sensor and the detector, the output of the tilt sensor before the start of tilting of the arm at the predetermined angle with respect to the chassis is stored as the tilt angle of the chassis;
A cargo handling vehicle, wherein the relative tilt angle is calculated based on the output of the tilt sensor after the start of tilting of the arm and the tilt angle of the chassis. In the cargo handling vehicle of claim 1,
The cargo handling vehicle, wherein the detector detects a state in which the arm is at 0 degrees with respect to the chassis. In the cargo handling vehicle of claim 1 or 2,
The cargo handling vehicle, wherein the control device determines whether or not the arm starts tilting based on an output of an operating device that operates the arm. In the cargo handling vehicle of claim 3,
The cargo handling vehicle, wherein the control device invalidates the calculation of the relative tilt angle when a difference between the outputs of the tilt sensor when the operation of the operation device is interrupted and when the operation of the operation device is resumed exceeds an allowable value. In the cargo handling vehicle of claim 4,
The cargo handling vehicle, wherein the operation is interrupted when the set time elapses from the start of the operation interruption that continues for a set time or more. In the cargo handling vehicle of any one of claims 1-5,
The cargo handling vehicle, wherein the control device corrects the tilt angle of the chassis by using a difference between the outputs of the tilt sensor when the PTO is turned off and when the PTO is turned on for the first time as a correction value.

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