JP3116126B2 - Forklift truck turning / horizontal movement control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a forklift in which a large number of racks are arranged, a passage is formed between the large number of racks, and the forks travel in the passages to horizontally move a fork to carry out cargo handling. It is an object of the present invention to provide a truck capable of performing cargo handling operations smoothly and quickly.

[0002]

2. Description of the Related Art Conventionally, a number of racks are arranged, a passage is formed between the number of racks and the racks, and a forklift truck which travels in the passage to turn and horizontally move a fork to perform a cargo handling operation. In the above, the fork turning / horizontal movement operation is manually or automatically selected by a push button switch.

[0003]

Conventionally, as described above, the operation of turning or moving the fork horizontally or manually is selected by a push button switch, so that the driver can work on the narrow inter-rack passage. There is a problem that sometimes a wrong selection may be made or the user may forget to make a selection, which may cause a collision between the fork and the rack and a fall of the load due to the collapse of the load, thereby failing to reliably improve safety. Was. The present invention has been made in view of the above problems.

[0004]

SUMMARY OF THE INVENTION The present invention relates to a forklift truck which performs a cargo handling operation by turning and horizontally moving a fork, in a passage formed between shelves erected at predetermined intervals on a traveling road surface. Is provided on the forklift truck, and when a detection signal of the rack detection device is inputted, the output to the drive source for turning the fork is cut off, and the drive source for performing the horizontal movement operation is provided. The above-mentioned problem is solved as a configuration including a forklift truck turning / horizontal movement control device including a control device for transmitting only the output of the forklift truck.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment to which the present invention is applied will be described below with reference to the drawings. FIG. 1 is a conceptual diagram showing an application example of the present invention. A forklift truck 1 on which a driver rides, and a plurality of racks 34 which are erected at predetermined intervals in a warehouse and place a load on each frontage, 34 °, a management machine 31 that manages the load to be stored or will be stored, and issues a predetermined loading / unloading command to the forklift truck 1, and transmits the loading / unloading command to the lift truck 1. An IC card reader & writer 32 for writing predetermined information into an IC card 33 to be loaded and an onboard unit 29 mounted on the forklift truck 1, and the loading / unloading instruction is read by the onboard unit 29 or from the onboard unit 29. And an IC card reader and writer 51 for writing, and a display 30 at the center of the onboard unit 29 as shown in FIG. , A plurality of push button switches KS having a predetermined size are arranged at predetermined intervals around the periphery of the vehicle, and a plurality of push button switches KS arranged on the onboard vehicle 29 are provided with respective functions. Have been. The function will be described below.

[0006] KS1 is an emergency stop pushbutton switch for emergency stop of the forklift truck 1 due to any trouble, and KS2 displays the address of the currently displayed work on the display and causes the forklift truck 1 to run. A start button switch KS3 for generating a signal that satisfies one condition for completing a task, a task completion push button switch for requesting the display of the next task to be performed, and KS4 clearing input information. A clear push button switch, KS5 is a bar code information input push button switch for starting reading of bar code information to which information such as a product name is given, and KS6 is another push button switch, such as an emergency stop push button switch KS1. , A start button switch KS2 and a work completion button switch K
Shift pushbutton switches KS7 to KS16, which issue separate function commands by being operated simultaneously with S3 and the like, are numeric pushbutton switches used for inputting numerical information such as quantity changes and rack frontage numbers. The details will be described below.

KS7 is for inputting a numerical value 9 capable of inputting a numerical value 9; KS8 is for inputting a numerical value capable of inputting a numerical value 8;
Is for numerical value input that can input a numerical value 7, and KS10 is a numerical value 6
KS11 is for inputting a numerical value that can input a numerical value 5, KS12 is for inputting a numerical value that can input a numerical value 4, KS13 is for inputting a numerical value that can input a numerical value 3, KS1
4 is for numerical value input that can input numerical value 2, KS15 is numerical value 1
KS16 is a numeric input pushbutton switch capable of inputting a numeric value of zero, and KS17 is a confirmation pushbutton switch for loading the numeric information input by the numeric input pushbutton switches KS7 to KS16 into a memory. ,
KS18 to KS21 are cursor push buttons for moving the cursor. KS18 is a cursor push button switch for moving the cursor to the right.
Is a cursor movement push button switch for moving the cursor leftward, KS20 is a cursor movement push button switch for moving the cursor downward, and KS21 is a cursor movement push button switch for moving the cursor upward.

As shown in FIG. 3, the forklift truck 1 has masts 3 erected on a vehicle body 2.
The rack gears 10A and 10B are provided on the front end surface of a lift bracket (not shown) which is attached to the lift gear 3 so as to be movable up and down, and a movable head 4 is provided slidably with respect to the rack gears 10A and 10B. Head 4
And a pair of left and right forks 8, 8 locked by the carriage 13, and the carriage 13 rotates in conjunction with the shift operation.
Is swiveled about the swivel axis 9 so that cargo handling can be performed in the narrow rack passage 36. However,
The present invention can be applied to a counter-type forklift truck, a reach-type forklift truck, and a picking-type forklift truck in which a driver moves up and down together with a cargo-handling member, irrespective of the examples described above.

At the left and right sides of the vehicle body 2 of the forklift truck 1, straddle arms 5, 5 supporting a load wheel 7 at the ends thereof are fixed, and the vehicle body 2 is moved by an inertial force generated when the movable head 4 starts and stops. Prevent instability. The body 2 of the forklift truck 1
The guide rollers 11 and 11 # for traveling in the rack passage 36 are provided at four positions in the front, rear, left and right directions.

A rack detecting device for detecting that the straddle arm 5 is in the passage by abutting against a lower member 37 of a rack 34 erected on a traveling road surface at a predetermined interval on one of the straddle arms 5. 60 are provided.

As shown in FIG. 4, the rack detecting device 60 has a bracket 60A on the vertical wall surface of the straddle arm 5.
And an L-shaped arm 60C is attached to the bracket 60A.
Is rotatably supported by a pin 60B, and a roller 60K is rotatably supported on one end of an L-shaped arm 60C, and a roller 60K is mounted on the other end of the L-shaped arm 60C at a fixed distance from the vertical wall surface of the straddle arm 5. The spring 60I is hooked so as to protrude across the L-shaped arm 60
C, the operation piece 60L is fixed in the vicinity of the roller mounting position, and the limit switch 6 is mounted via the bracket 60M.
0N is operated by the operating piece 60L.

A cover 60P is fixed to the straddle arm 5 near the brackets 60A and 60M so as to form a space in which the roller 60K can protrude. Further, the forklift truck 1 has a travel distance detecting device 53 on the straddle arm 5, the mast 3 has a lifting height detecting device 54 for detecting a fork height, and the movable head 4 has a shift amount of the movable head 4. Are provided, respectively.

As shown in FIGS. 5 and 6, the travel distance detecting device 53 includes a bracket 16 fixed to the tip of the straddle arm 5, a support piece 18 pivotally attached to the lower surface of the bracket 16, A pin 21 protruding from the support piece 18,
It comprises a measuring wheel 17 rotatably supported by an arm piece 19 loosely inserted into the pin 21 and an encoder 22 for detecting the number of revolutions of the measuring wheel 17.

The arm piece 19 is biased so as to be constantly pressed to the ground side by a spring 20 inserted into the pin 21 so that the measuring wheel 17 is always brought into contact with the road surface while absorbing irregularities on the running road surface. ing. Also, the arm piece 19
The support shaft 24 is rotatably supported by a bearing 23, and a measuring wheel 17 is connected to the tip of the support shaft 24 by a key. Further, the other end of the support shaft 24 is connected to a detection shaft of the encoder 22, and the rotation speed of the measuring wheel 17 is detected by the encoder 22. 6, reference numeral 26 denotes a stopper for regulating the upper limit of the measuring wheel 17, which is elastically supported via a spring 25. In this example, a measuring wheel 17 is separately provided to detect the traveling distance of the forklift truck 1. However, the present invention is not limited to this, and the number of revolutions of the road wheel 7 or the like is directly detected. Further, the measuring wheel 1 may be disposed on the center axis of the vehicle body.
7 may be arranged.

The lift detecting device 54 will be described with reference to FIG. The lifting height detection device 54 is provided with the potentiometer 39, the lifting bracket 49 and the lifting mast 3B, respectively.
An example in which 40 is attached is shown. Therefore, the fork height can be derived from the sum of the potentiometer 39 provided on the lift bracket 49 and the potentiometer 40 provided on the lifting mast 3B. Further, other than this example, other known height detecting methods may be appropriately adopted.

The shift amount detecting device 55 has a protrusion 14 fixed to the base end of the movable head 4 as shown in FIG.
The limit switches LS1 to LS7 operated by the switch 4 are appropriately arranged behind the rack gear 10A. Therefore, when the movable head 4 shifts left and right, the protruding pieces 14 limit the switches LS1 to LS1.
The LSs 7 are sequentially operated to detect the shift amount. As another shift amount detecting device, as shown in FIG. 9, the detection shaft of the encoder 15 is meshed with the rack gear 10A and the detection shaft of the encoder 15 is meshed with the pinion gear 12 supported in the movable head 4. You may. In addition, other known shift amount detection methods other than this example may be appropriately adopted.

The loading detector 70 has a bracket 74 fixed to the carriage 13 as shown in FIGS.
A shaft 75 rotatably supported by the bracket 74
A cam 72 having a convex portion formed only at one end and one end of a lever 71 that is bent forward is fixed, and a limit switch 73 that operates when the convex portion of the cam 72 comes into contact is provided on the carriage 13. When the load comes into contact with the lever 71, the lever 71 is tilted, and the cam 72 is also tilted integrally with the lever 71 to detect that the load is placed on the fork 8 by the contact of the concave portion of the cam 72 with the limit switch 73. .

The forklift truck 1 has an onboard machine 2
9 and an IC card reader & writer 51 for reading the entry / exit command written by the management unit 31 into the onboard unit 29 and writing the entry / exit command from the onboard unit 29 are attached. As shown in FIG. 2, in the on-board unit 29, a plurality of displays 30 are arranged at the center of the on-board unit 29, and a plurality of push-button switches KS of a predetermined size are arranged around the display 30 at predetermined intervals. It is composed of things.

As shown in FIG. 17, the information content of the entry / exit command includes the distinction of entry / exit and the frontage, ie, the rack frontage number, the product name, the code number, the number, the row of shelves, and the like. The on-board unit 29 and the control device 47 of the forklift truck 1 are electrically connected, and are controlled based on a control signal output from the on-board unit 29 and the like.

The management machine 31 stores information necessary for storage and retrieval, such as the name, quantity, code number, and rack frontage number of the stored cargo, and calculates an optimal storage and retrieval command. In addition, the frontage number of the rack to be moved in and out can be calculated and written to the IC card 33 by the IC card reader & writer 32 connected to the management machine 31. The IC card 33 in which the entry / exit instruction by the rack frontage number is written is inserted into the IC card reader & writer 51 provided in the forklift truck 1, and can transmit the instruction from the management machine 31. is there. The means for transmitting the entry / exit command from the management machine 31 to the forklift truck 1 is not limited to the above-described means, but may be a wireless means,
As in this example, the information can be directly input from the on-board unit 29, and if there is an error in the information content of the entry / exit command from the management unit 31, the error can be corrected.

As shown in FIG. 1, for example, as shown in FIG. 1, a rack 34 having a plurality of frontages in a height direction and a horizontal direction is exemplified. These racks 34 are racks into which a forklift truck 1 can enter. A plurality of inner passages 36 are arranged with the inner passages 36 therebetween. The cargo handling work is performed from the rack frontage facing the passage 36 in the rack.
A unique frontage number is assigned to each of the rack frontages. That is, as shown in FIG.
, Loads W are placed at equal pitches L1 in the horizontal direction, and a code number is assigned to each of the loads W. In addition, as shown in FIG.
5 are arranged at equal pitches H1 in the height direction. When the fourth stage load W is taken out, the fork height is set to 3
H1 + α may be set. The load W is on the pallet P
An example is shown below.

Next, as means for determining whether or not the forklift truck 1 currently exists in the rack passage 36,
This can be performed by the rack detecting device 60 in which a roller rotating in contact with the lower member of the rack operates the limit switch.

As means for determining whether the forklift truck 1 is traveling forward or backward, for example, as shown in FIG.
(Hereinafter referred to as a travel operation lever.) This can be performed by operating limit switches LSF and LSR with a cam piece 28 fixed integrally with the traveling operation lever.

As shown in FIG. 3, the forklift truck 1 has an on-board unit 29 mounted thereon. The display 30 of the on-board unit 29 displays not only an entry / exit command from the management unit 31 but also a push button switch KS disposed on the on-board unit 29.
Entry and exit instructions are also input from, and the results of those inputs are displayed on the display 30. That is, shelf row, either left or right, frontage number, number of steps, number of outgoing work, distinction by picking work or not, product name, model, code number, display only or not, whether to include automatic operation, pallet Information such as whether or not to be transported, whether or not a manned vehicle, whether or not an unmanned vehicle is displayed,
Menus such as whether to display only, whether to include automatic driving, whether to transport pallets, whether to be manned, and whether to be unmanned are selectable on the display 30.

Forklift truck 1 provided with the present invention
Is shown in FIG. The control device 47 of the forklift truck 1 includes a CPU 41, a RAM 42 serving as a working memory, a ROM 43 serving as a read-only memory, a sequencer 46 and an input / output port 4.
4 and 45. The control signal of the traveling operation lever 27 of the forklift truck 1, the detection signal of the traveling distance detection device 53, the detection signal of the lift detection device 54, the shift amount detection device 55 of the movable head 4 are input to the input port 44 of the control device 47. A detection signal, a detection signal of the rack detection device 60, a frontage instruction signal from the IC card 33, a frontage instruction signal by a pushbutton switch input of the onboard unit 29, and the like are input. Based on these input signals, a signal for controlling the traveling motor and the hydraulic motor of the forklift truck 1 is transmitted via the output port 45 and a control signal for displaying the display 30 via the output port 45 in accordance with a processing procedure described later. In addition, a detection signal of the load detection device 70 may be input.

The control circuit for controlling the traveling motor includes:
By operating the pushbutton switch for starting the onboard machine 29 mounted on the forklift truck 1 and the traveling operation lever 27 provided for traveling control on the forklift truck 1, the traveling is performed only when both of the obtained signals are input. Start and obtain a traveling speed according to the ratio of operation of the traveling operation lever 27, or traveling only in the automatic frontage control mode, only when both signals from the activation pushbutton switch KS2 and traveling traveling lever 27 are input. May be started.

A series of procedures for basic operations such as unloading and unloading from the rack 34 in the passage 36 in the rack are stored in the sequencer 46, and a lift motor and a shift motor (whichever Is not displayed), and a rotation motor for rotating the carriage 13 is driven and controlled.

The operation of the forklift truck 1 using the present invention will be described with reference to the flow charts shown in FIGS. 14 to 16 in a case where the forklift truck 1 operates without any obstacles based on the entry / exit command transmitted from the management machine 31. It will be described based on.

In FIG. 14, the starter switch of the forklift truck 1 is turned on (S1), and the IC card 33 is moved to the IC card reader & of the forklift truck 1.
It is determined whether it is inserted into the writer 51 (S
2). If the IC card 33 is inserted (S
2 and Y), the forklift truck 1
6 is determined (S3). If it is present, the automatic frontage control mode is executed (S4). If it is not present (N in S3), the normal manual mode is set (S5). ).

On the other hand, when the IC card 33 is not inserted (N in S2), the presence / absence of a push button switch input from the onboard unit 29 of the forklift truck 1 is detected, and if it is detected (Y in S6). It is determined whether or not the forklift truck 1 is present in the passage 36 in the rack (S3), and if so, the automatic frontage control mode is executed (S3).
4) If no detection is made (N in S6), the process shifts to the normal manual mode (S5) (S6).

A description will be given of a case where an entry / exit command is input by a push button switch input from the on-board unit 29. When inputting a shelf row, the left character indicating the left column is displayed when an odd number is input, and the right character indicating the right column is displayed when an even number is input. Is configured to
The cursor is moved to the input position of the shelf row by appropriately operating the push button switches KS18 to KS19 for cursor movement, and zero is input by the push button switch KS16 for numeric input, and 5 is input by the push button switch KS11 for numeric input to be in the fifth row. Is confirmed, and the confirmation push button switch KS17 is operated to confirm. Next, the front-panel number is input by a push-button switch KS1
5 is 1 and the numeric input pushbutton switch KS14 is 2 respectively to designate 12 and to confirm the pushbutton switch K
The frontage number 12 is determined by operating S17. When indicating the number of steps, the cursor movement push button switch KS1 is also used.
8 to KS19 are appropriately operated to move the cursor to the input position of the number of steps, zero is input by the numerical value input push button switch KS16, 3 is input by the numerical value input push button switch KS13, and 3 is specified, and the confirmation push button switch KS17 is set. Is operated to determine that the number of steps is the third step.

When indicating the number of retrievals, similarly, the cursor movement push button switches KS18 to KS19 are appropriately operated to move the cursor to the number input position, and 2 is set by the numerical value input push button switch KS14 and the numerical value input push button switch KS is set.
The user inputs 5 at 11 and designates 25, and operates the confirmation push button switch KS17 to confirm that the number is 25.

In this example, the product name and model are displayed by inputting a code attached to the product name.
The code is input by the numeric input push button switches KS7 to KS16. The cursor movement push button switches KS18 to KS19 are appropriately operated at the input position of the code to align the cursor, and the numeric input push button switches KS7, the numeric input push button switches KS8, the numeric input push button switches KS9,
Numeric input push button switch KS10, numeric input push button switch KS11, numeric input push button switch KS12, numeric input push button switch KS13, numeric input push button switch KS14, numeric input push button switch KS15, numeric input push button switch KS16 and numeric value By sequentially inputting the input push button switch KS16, 98765-43
When the code 210-0 is designated and the push button switch KS17 for confirmation is operated, the code is determined.

Also, in this example, only menus for automatic driving, pallet transport, picking, manned vehicles and unmanned vehicles are displayed at the lower part of the display, and the cursor is moved to the displayed positions, respectively, for shifting. By pressing the push button switch KS6 and, for example, the push button switch KS5 for reading bar code data, one of the above menus is selected. FIG. 2 illustrates a screen displayed on the display by performing the above operation.

FIG. 15 shows the automatic frontage control mode.
First, the IC card reader 51 provided in the forklift truck 1
The data 47 of the IC card 33 is read into the RAM 42 (S41), and it is determined whether there is a preceding instruction of the forklift truck 1 (S42). If there is a destination instruction,
The product name, rack frontage number and the like are displayed on the display 30 (S43), and the traveling distance of the forklift truck 1 is counted (S44). Also, up to a predetermined position,
In order to shorten the cycle time, the running acceleration is controlled (S4
5) From the counted traveling distance, it is determined whether or not an arbitrary deceleration position has been reached (S46). An arbitrary deceleration position will be described with reference to FIG. 12. For example, when the leftmost load W is to be unloaded, the forklift truck 1 enters the rack passage before reaching the position, and has four widths, that is, a distance. It is necessary to drive only 4L1. In such a case, forklift truck 1
Is set so that the deceleration position is set at a position just before the front of the front of the vehicle by two steps from the target position, and the speed is gradually reduced from this position. Accordingly, the forklift truck 1 performs acceleration traveling in the first two frontage sections and decelerates in the last two frontage sections.
The deceleration start section is not limited to this example, but can be set arbitrarily.

When it is determined that the forklift truck 1 has reached the deceleration position, the forklift truck 1 is decelerated by regenerative braking until it runs at a low speed, and the traveling motor acts as a generator to generate a driving energy source for the forklift truck 1. Is supplied to the battery BA (S47, S47).
48). Furthermore, when the traveling speed of the forklift truck 1 becomes an arbitrarily set low-speed traveling, it is determined based on the traveling distance whether or not the stop position of the designated frontage is stopped (S49), and the vehicle can be stopped based on this (S49).
50). Then, a cargo handling control routine (S51) is executed. The driver checks whether the information matches the product name and quantity information specified by the entry / exit command, and if they match,
When the driver operates the work completion push button switch KS3,
The display on the original display 30 is cleared (S5).
2), return to search for the next destination instruction (S4)
2). If there is a destination instruction, the product name, rack frontage number and the like are displayed on the display 30 (S43), and when the start push button switch KS1 and the travel operation lever 27 are operated, the vehicle travels to the target position, and the above steps are performed. Perform cargo handling.

The driver checks whether or not the information matches the information on the product name and the number specified by the loading / unloading instruction. If the numbers do not match, for example, if the numbers do not match, the number is determined by the following procedure. To correct.

The cursor movement push button switch KS 18
KS19 is appropriately operated to move the cursor to the input position of the number.

When the number 25 is only 18 pieces,
Enter the number 18. That is, 1 is set by the numeric input push button switch KS15, and 8 is set by the numeric input push button switch KS8.
Is input, and 18 is specified, and the confirmation push button switch KS switch 17 is operated to determine that the number is 18, and the correction operation is completed.

The corrected number information is transmitted to the shift push button switch KS6 and, for example, the clear push button switch KS4.
If you press, the IC card writer & writer 51 of the vehicle 29
Can be read. If there is no next destination instruction, a normal manual mode is set.

Next, a description will be given, based on the flowchart shown in FIG. 16, of the loading / unloading control in the case where the fifth row of the shelf row is an odd number, and the left row, the frontage is 12 and the number of steps is 3rd.

In the above description, it is assumed that the control has already been completed so that the tips of the forks 8, 8 of the forklift truck 1 are directed to the left because of the left column. First, the forks 8, 8 are lifted up to the designated lift. (S511), the forks 8, 8 are shifted into the space of the pallet P on which the load is placed, and the forks 8, 8 are inserted (S512). Then, the forks 8, 8 are lifted up until the lower surface of the pallet P is separated from the shelf board 35 (S513), the shift is performed, and the load is taken out of the rack (S514), and thereafter, the lift is lowered (S515). ) Return to the predetermined position. These procedures are stored in the sequencer 46 based on the respective detection signals of the above-described height detecting device, shift amount detecting device 55, and fork direction detecting device (not shown).

The above embodiment is an example of a forklift truck equipped with a turnable fork capable of loading and unloading work in a narrow passage width. Therefore, in the case of a non-turnable fork, a fork direction detecting device, a shift amount It is naturally possible to omit the detection device and the like.

[0044]

According to the present invention, in particular, automatic traveling control such as automatic frontage control is performed for traveling in a passage in a rack, and in other cases, manual control by a traveling operation lever of a normal manned forklift truck is also used. Therefore, relying on the driver to check whether the vehicle is in the automatic driving state or not may result in a very mental burden on the driver. It is designed so that the driver can operate with normal driving operation without using extra energy. Work becomes safe and speedy,
And it has a tremendous effect of being able to achieve high efficiency.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing an embodiment of the present invention.

FIG. 2 is a plan view of an onboard machine used in the present invention.

FIG. 3 is a perspective view of a forklift truck.

FIG. 4 is a plan view showing an embodiment of a rack detection device.

FIG. 5 is a plan view illustrating an embodiment of a traveling distance detection device.

FIG. 6 is a side view illustrating an embodiment of a traveling distance detection device.

FIG. 7 is a side view illustrating an embodiment of a lifting height detection device.

FIG. 8 is a plan view illustrating an embodiment of a shift amount detection device.

FIG. 9 is a plan view illustrating another embodiment of the shift amount detecting device.

FIG. 10 is a side view of the traveling operation lever.

FIG. 11 is a block diagram of the present invention.

FIG. 12 is a side view of a rack used in the embodiment of the present invention.

FIG. 13 is a side view of a rack used in the embodiment of the present invention.

FIG. 14 is a flowchart of the present invention.

FIG. 15 is a flowchart of an automatic frontage control mode.

FIG. 16 is a flowchart of a cargo handling control.

FIG. 17 is a diagram for explaining IC card data.

FIG. 18 is a side view illustrating an embodiment of a loaded bag detection device.

FIG. 19 is an enlarged side view of a detection portion of the load detection device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Forklift truck 2 Body 3 Mast 4 Movable head 5 Straddle arm 7 Road wheel 8 Fork 10A Rack gear 10B Rack gear 13 Carriage 29 Onboard machine 30 Display 31 Management machine 33 IC card 34 Rack

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B66F 9/14, 9/24 B65G 1/00

Claims (2)

(57) [Claims] In a forklift truck that performs a cargo handling operation by rotating and horizontally moving a fork, a rack detecting device for detecting that the fork is in a passage formed at a predetermined interval on a traveling road surface is provided in the forklift truck. When the detection signal of the rack detection device is input, the forklift truck is provided with a control device that cuts off an output to a drive source for causing the fork to perform a turning operation and transmits only an output to a driving source for performing a horizontal movement operation. -Horizontal movement control device. 2. A forklift truck that performs a cargo handling operation by rotating and horizontally moving a fork and a rack detection signal of a rack detection device for detecting that the fork is in a passage formed at a predetermined interval on a traveling road surface and a fork. When both of the load detection signals of the load detection device that detects that a load is loaded on the input device are cut off, the output to the drive source for turning the fork is cut off, and the drive source for performing the horizontal movement operation is cut off. A forklift truck turning / horizontal movement control device equipped with a control device that transmits only output.