JP2904257B2 - Manipulated transport vehicle operating device and manned transport vehicle using this operating device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating device for a manned transport vehicle, a manned transport vehicle using the operating device,
In particular, it relates to a picking forklift.

[0002]

2. Description of the Related Art Conventionally, as this kind of picking forklift, for example, there is one shown in FIG. That is, a mast 2 is provided on a vehicle body 1 that can travel in the front-rear direction, and the mast 2 has a frame body 4 that serves as a driver's seat and a picking stand and has a fork 3 protruding forward at a lower end. It is provided to be able to move up and down freely. The frame 4 is moved up and down by extension and contraction of a rod of a lift cylinder (not shown).

As shown in FIG. 7, the frame 4 has a steering wheel 5 which is rotated by one hand and a steering wheel 5 which is rotated by the other hand to change the vehicle speed. Further, an accelerator grip 6 for moving the shaft back and forth to select forward and backward movement, a pair of push button switches 7 for raising and lowering the frame body 4 by pushing operation, and a push button switch 8 for emergency stop are provided. Foot brake 9 on the floor 4
Is provided.

[0004] With the above configuration, the vehicle body 1 can travel freely by operating the handle 5, the accelerator grip 6, and the foot brake 9 of the driver who rides on the frame 4, and the frame 4 is raised and lowered by operating the push button switch 7. At the same time, the fork 3 is raised and lowered to perform a scooping operation and a wholesale operation of the load. Also,
By the operation of the push button switch 8, all the operations are stopped,
Driver safety is ensured. In addition, the driver picks up the load between the load receiving table of the shelf and the fork 3 at the position where the frame 4 is moved up and down.

[0005]

However, in the above-described conventional type, the frame 4 is raised and lowered by operating a pair of push-button switches 7, and the frame 4 is raised and lowered by on / off control. In addition, there is a problem that a great shock is given to the driver every time the vehicle goes up or down, causing anxiety.
Further, unless the accelerator grip 6 is released, the push button switch 7 cannot be operated, so that the frame body 4 cannot be moved up and down while traveling, resulting in poor work efficiency.

[0006] The present invention is to solve the above problems,
It is an object of the present invention to provide a manned transport vehicle operating device capable of simultaneously performing traveling and elevating operations, and to provide a manned transport vehicle with reduced shock at the time of ascent and descent.

[0007]

According to a first aspect of the present invention, there is provided an operation device for a manned transportation vehicle, comprising: a grip having a shaft rotatably supported; and a grip rotation detecting a rotation position of the grip. An angle sensor, a switch provided on a shaft of the grip and operable by a thumb of a hand for operating the grip, the switch moving back and forth from a neutral position by a forward and backward movement of the thumb, and movement of the switch A switch position detection sensor for detecting a position is provided.

[0008] A manned transportation vehicle according to a second aspect of the present invention includes a lifter, in which a steering wheel is rotated by one hand for steering and an accelerator grip is rotated by the other hand to change the vehicle speed. At the end of the accelerator grip, and at a position operable with the thumb of the other hand, a lift switch that rotates back and forth from a neutral position by the forward and backward operation of the thumb is provided, and a rotation shaft of the lift switch A switch rotation angle sensor for detecting a switch rotation position is provided, and a controller for setting a lifting direction and a speed of the lifter based on the rotation position detected by the switch rotation angle sensor is provided.

[0009]

According to the structure of the first aspect of the present invention, the switch rotates with the rotation of the grip shaft, so that the position of the switch that can be operated by the thumb does not change, and the switch is simultaneously operated by the thumb that operates the grip. . Also,
By detecting the operation positions of the grip and the switch, two operation signals are output simultaneously.

According to the configuration of the second aspect of the present invention, the operation of the lift switch can be performed simultaneously with the operation of the accelerator grip, and the operation of traveling and lift of the lifter can be performed simultaneously. Therefore, work efficiency is improved. Further, the lift speed of the lifter is continuously set according to the rotation position of the lift switch, and the shock every time the lifter is raised or lowered is eliminated.

[0011]

An embodiment of the present invention will be described below with reference to the drawings. The same components as those of the conventional example shown in FIGS. 6 and 7 are denoted by the same reference numerals, and description thereof is omitted.

FIG. 3 is a layout view of an operating device of the picking forklift. The operating device 11 of the present invention is installed in place of the conventional accelerator grip 6, and a pair of push button switches 7 for raising and lowering the frame 4 are provided. Has been removed.

The operating device 11 is a device operated by a right hand, and as shown in FIGS. 1 and 2, a shaft 13 of an accelerator grip 12 is horizontally rotatably supported by bearings 14 at both ends. The bearing 14 is supported on the side surface of the frame 4 at a fixed distance.

At the right end of the shaft 13, a spring body 15 and a connecting body 16 connecting the spring body 15 and the shaft 13 are provided to return the accelerator grip 12 to the neutral position (center position). A potentiometer 17 for traveling is provided at the axis as a grip rotation angle sensor for detecting a rotation angle before and after the accelerator grip 12 (shaft 13).

A shaft 13 is provided at the left end side with a shaft.
A recess 13A is formed by removing the upper half of 13 and a bracket for a potentiometer described later is formed on the upper surface of the recess 13A.
The bearing 18 of the shaft 20 of the waveform switch 19 is fixed to the bracket 18. The waveform switch 19 is supported by the bearing 21. The waveform switch 19 is disposed at a position where the waveform switch 19 can be operated with the right thumb of the accelerator grip 12. Further, on the outer periphery of the bearing 21, a spring body 22 is provided to return the waveform switch 19 to the neutral position (center position). Also, the shaft 20
At the center of the shaft, a potentiometer 23 for raising and lowering is provided as a switch position detection sensor for detecting the rotation angle before and after the waveform switch 19 (shaft 20). As shown in FIG. A switch for detecting a rising start operation (hereinafter referred to as a rising detection switch) 24 which is operated by operating the waveform switch 19 in the front side (arrow X) direction;
A switch (hereinafter, referred to as a descent detection switch) 25 for detecting a descent start operation, which is operated by operating the switch 19 in the rear (arrow Y) direction, is provided. Also, the waveform switch
Except for 19, other brackets 18, shafts 20, bearings 21, spring bodies 22, ascent detection switches 24, and descent detection switches
A case 26 covering 25 is fixed to the shaft 13.

The operation of the operation device 11 will be described. 1. The accelerator grip 12 and the shaft 13 are supported by the bearing 14 and rotate in the front-rear direction by the right and left rotation operation of the right hand, and return to the neutral position by the action of the spring body 15 when the right hand is released. The rotation angles of the shaft 13 before and after the shaft 13 are detected by the traveling potentiometer 17. 2. At the same time as the rotation of the shaft 13, the bracket 18, the waveform switch 19, and the shaft fixed to the left end of the shaft 13
20, the bearing 21, the spring body 22, the potentiometer 23, the rise detection switch 24, the fall detection switch 25, and the case 26 rotate. 3. The waveform switch 19 is supported by the bearing 21 and rotates in the front-rear direction by the operation of the right thumb to the front and back, and returns to the neutral position by the action of the spring body 22 when the thumb is released. Also,
The rotation angle of the shaft 20 of the waveform switch 19 is detected by a lifting potentiometer 23. In addition, the waveform switch 19
The rotation of the waveform switch 19 in the X direction is detected by the rise detection switch 24, and the rotation of the waveform switch 19 in the Y direction is detected by the fall detection switch 25.

As described above, the waveform switch 19 rotates with the rotation of the shaft 13 of the accelerator grip 12, so that the position of the switch 19 which can be operated by the thumb does not change, and the switch 19 is operated by the right thumb operating the accelerator grip 12. Can be operated at the same time.
Lifting operation can be performed, and work efficiency can be improved. Further, in the waveform switch 19, the thumb is stably contacted by the concave portion 19A, so that a stable operation can be performed even while operating the accelerator grip 12. Further, by detecting the rotational position of the waveform switch 19 back and forth, it is possible to output a signal for setting the ascending and descending direction and the speed (described later).

FIG. 4 shows an example of a hydraulic circuit of a lift cylinder for moving the frame 4 up and down. A pump 33 for supplying pressure oil for raising and lowering the rod 32 of the lift cylinder 31 is provided. A first electromagnetic proportional valve 34 for raising the rod 32 is interposed between the pump 33 and the cylinder 31. A second electromagnetic proportional valve 37 for lowering the rod 32 is interposed between an oil pipe 35 connecting the valve 34 and the cylinder 31 and an oil tank 36. Each solenoid proportional valve 34, 37
Is an opening signal of 0 to 100% from the controller 38 (an ascending speed command signal q and a descending speed command signal r, which will be described later).
The rod 32, ie, the frame 4
The upward or downward direction and speed are adjusted, and the frame 4 is moved up and down.

FIG. 5 is a block diagram of the controller 38 using the operating device 11. This controller 38 is constituted by a microcomputer. The speed operation signal a of the traveling potentiometer 17 (for example, DC1 to DC1)
5v / −100% to + 100% speed signal; forward is +, reverse is −) is a first analog-digital converter (hereinafter A / D).
D / A converter 41, and the speed operation signal b (for example, DC1 to 5V / 1000 to DC) of the output of the A / D converter 41.
5000 count) is subtracted from the value α (for example, 3000 count) corresponding to the neutral position in the first subtractor 42, and the speed command signal c (−2000 to +2000 count) is subtracted from the first
The operation signal near the neutral position “0” is cut by the dead zone 43. As a result, play occurs at the neutral position of the accelerator grip 12. The output signal d of the first dead zone 43 is detected by the first comparator 44 as to whether it is positive or negative, that is, forward or backward (the output signal f is "1" for forward travel and "0" for reverse travel). ) And the absolute signal e by the first absolute circuit 45.
(0 to 2000 counts) is required.

When the output signal f of the first comparator 44 is "1", that is, in the case of the forward operation, the absolute signal e becomes the first signal.
The signal is converted into an analog signal by a digital-analog converter (hereinafter, abbreviated as a D / A converter) 46, and is output to the traveling drive device 39 as a forward speed command signal g (0 to + 100% speed signal / DC1 to 5V). At this time, the second D / A converter 47
Outputs a reverse speed command signal h of "0"%.

The output signal f of the first comparator 44 is "0".
In other words, in the case of the reverse operation, the absolute signal e is converted into an analog signal by the second D / A converter 47 by the negative output signal, and the reverse speed command signal h (0 to + 100%
It is output as a speed signal / DC1 to 5v) to the traveling drive device 39, and at this time, the forward speed command signal g of "0"% is output from the first D / A converter 46.

The speed operation signal i (for example, DC1 to 5 V / −100% to + 100%) of the lift potentiometer 23
Velocity signal; + for up,-for down) is the second A / D converter
48, the speed operation signal j of the output of the A / D converter 48 (for example, DC1-5v / 1000-5000 count)
Is input to the second subtractor 51. In the second subtractor 51, a value β (for example, 3000 counts) corresponding to the neutral position is subtracted, and the speed command signal k (−2000 to +2000) is subtracted.
In the count, the operation signal near the neutral position “0” is cut by the second dead zone 52. This allows the waveform switch 19
Play occurs in the neutral position. The output signal m of the second dead zone 52 is positive or negative, that is, whether it is rising or falling.
Detected by the comparator 53 (when the output signal p rises)
The absolute signal n (0 to 2000 counts) is obtained by the second absolute circuit 54.

When the output signal p of the second comparator 53 is "1" and the rise detection switch 24 is operating, that is, in the case of a rise operation, the absolute signal n is obtained by the third D / A converter 55.
Is converted to an analog signal, and is output to the first electromagnetic proportional valve 34 as a rising speed command signal, that is, an opening signal q (0 to + 100% / DC1 to 5V). At this time, the descending speed command signal r of "0", that is, the fully closed signal is transmitted to the second electromagnetic proportional valve
Output to 37.

The output signal p of the second comparator 53 is "0".
When the descent detection switch 25 is operating, that is, in the case of the descent operation, the absolute signal n is converted into an analog signal by the fourth D / A converter 56 by the negative output signal, and the descent speed command signal, that is, Opening signal r (0 to +
100% / DC1-5V) is output to the second electromagnetic proportional valve 37. At this time, a rising speed command signal q of “0”, that is, a fully closed signal is output to the first electromagnetic proportional valve.

The operation of the controller 38 will be described. 1. When the driver grips the accelerator grip 12 with his right hand and rotates it, the rotation angle before and after the rotation is determined by the travel potentiometer.
17 is detected by the controller as a speed operation signal a.
In the case of a rotation operation to the front of the accelerator grip 12, a forward speed command signal g is output to the traveling drive device 39 in proportion to the rotation angle, and the vehicle body 1 is moved forward and rearward of the accelerator grip 12. , The reverse speed command signal h is output to the traveling drive device 39 in proportion to the rotation angle, and the vehicle body 1 is moved backward. 2. When the driver turns the waveform switch 19 with the thumb of the right hand, the rotation angle before and after the switch is set to the elevation potentiometer.
23, detected by the controller as a speed operation signal i.
In the case of a rotation operation before inputting to the waveform switch 19, a rising speed command signal (opening signal) q is output to the first electromagnetic proportional valve 34 in proportion to the rotation angle, and the frame 4 rises. In the case of the rotation operation after the waveform switch 19, a descending speed command signal (opening signal) r is outputted to the second electromagnetic proportional valve 35 in proportion to the rotation angle, and the frame 4 is lowered.

As described above, the operation of the waveform switch 19 can be performed simultaneously with the operation of the accelerator grip 12, so that the traveling and the lifting and lowering of the frame 4 can be performed simultaneously, and the rotation of the waveform switch 19 allows the frame to be moved. By setting the ascending and descending speeds of the frame 4 continuously, the ascending and descending speeds of the frame body 4 are continuously changed, and the shock at the time of ascending and descending can be eliminated.

In the above embodiment, the accelerator grip is used.
The waveform switch 19 is arranged on the left end side of 12, but in the case of a left hand operation, the waveform switch 19 is arranged on the thumb side of the left hand, that is, on the right end side. Further, a slide switch may be provided in place of the waveform switch 19.

Further, in the above embodiment, the operating device 11 is used for running and elevating operation. However, the operating device 11 is not limited to these operations, and can be used for other operations. For example, when the frame 4 is configured to be rotatable on a plane,
It is also possible to use for this rotation operation.

[0029]

As described above, according to the first aspect of the present invention, the switch rotates with the rotation of the grip shaft, so that the position of the switch that can be operated with the thumb does not change, and the switch is operated with the thumb of the hand that operates the grip. Can be operated simultaneously,
By being able to perform two operations at the same time, work efficiency can be improved. Further, by detecting the operation positions of the grip and the switch, two operation signals can be output simultaneously.

According to the second aspect of the present invention, the operation of the accelerator grip and the lifting / lowering switch can be performed at the same time, so that the traveling operation and the operation of the lifting / lowering operation of the lifter can be performed simultaneously. By setting the elevating speed continuously, the elevating speed of the lifter continuously changes, and it is possible to eliminate a shock when the lifter is raised and lowered.

[Brief description of the drawings]

FIG. 1 is a partial side sectional view of an operating device of a picking forklift according to an embodiment of the present invention.

FIG. 2 is a view of the picking forklift taken along the line AA in FIG. 1;

FIG. 3 is a layout view of an operating device of the picking forklift.

FIG. 4 is a hydraulic circuit diagram of a lift cylinder of the picking forklift.

FIG. 5 is a block diagram of a controller of the picking forklift.

FIG. 6 is a perspective view of a conventional picking forklift.

FIG. 7 is a layout view of a conventional operating device for a picking forklift.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Body 2 Mast 3 Fork 4 Frame (lifter) 5 Handle 11 Operating device 12 Accel grip 13 Shaft 14 Bearing 15 Spring body 17 Travel potentiometer (grip rotation angle sensor) 19 Waveform switch 20 Shaft 22 Spring body 23 Lifting potentiometer ( Switch position detection sensor) 24 Ascent detection switch 25 Ascent detection switch 26 Case 31 Lift cylinder 32 Rod 33 Pump 34, 37 Electromagnetic proportional valve 36 Oil tank 38 Controller 39 Traveling drive

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-2-188813 (JP, A) JP-A-6-191799 (JP, A) JP-A 8-81197 (JP, A) JP-A 64-64 70809 (JP, A) Japanese Utility Model Hei 4-57387 (JP, U) Japanese Utility Model Showa 58-114299 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66F 9/00-11 / 04

Claims (2)

(57) [Claims] 1. A grip having a shaft rotatably supported, a grip rotation angle sensor for detecting a rotation position of the grip, and a thumb operable on a shaft of the grip and a thumb of a hand for operating the grip. An operation device for a manned transport vehicle, comprising: a switch provided at a position, the switch being moved back and forth from a neutral position by the movement of the thumb back and forth, and a switch position detection sensor for detecting a movement position of the switch. 2. A manned transport vehicle comprising a lifting lifter for steering by rotating a steering wheel with one hand and rotating an accelerator grip with the other hand to change the vehicle speed, wherein the accelerator grip end portion And a switch which is provided at a position operable with the thumb of the other hand and which is rotated back and forth from a neutral position by a forward and backward movement of the thumb, and which detects a rotational position of the switch on a rotation axis of the lift switch. A manned transport vehicle comprising: a rotation angle sensor; and a controller that sets a lifting direction and a speed of the lifter based on a rotation position detected by the switch rotation angle sensor.