JP3201076B2 - Loading control device for battery-powered industrial vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling control device for a battery type industrial vehicle.

[0002]

2. Description of the Related Art Conventionally, in a battery type forklift,
The opening degree of the control valve and the number of rotations of the electric motor for cargo handling are controlled based on the operation amount of the lift lever provided in the driver's seat, and the amount of hydraulic oil sent to the lift cylinder is adjusted. As shown in FIG. 11, the hydraulic pump 40 is driven by an electric motor 41 for cargo handling, sucks up hydraulic oil stored in an oil tank 42, and supplies the hydraulic oil to a control valve (hereinafter referred to as C / V) 43. It has become. A lift lever 44 is connected to the C / V 43. By operating the lift lever 44, the valve opening of the C / V 43 is changed, and the amount of hydraulic oil sent to the lift cylinder is adjusted.

The lift lever 44 includes a lift lever 44
A cargo handling potentiometer 45 for detecting the operation amount of the cargo handling is provided, and the cargo handling potentiometer 45 is connected to the input side of the traveling cargo handling controller 46. Traveling cargo handling controller
An electric motor 41 for cargo handling is connected to the output side of the roller 46.
Have been. Then, the traveling cargo handling controller 46
Current and current corresponding to the detection signal of the
Pressure to the electric motor 41 for cargo handling,
41 is driven.

[0004] The fork is moved up and down by operating a lift lever 44. When the lift lever 44 is operated, the cargo handling potentiometer 45 detects the operation amount of the lift lever 44,
The detection signal is output to the traveling cargo handling controller 46 . Running
The cargo handling controller 46 is provided with a cargo handling potentiometer 45.
The current and voltage corresponding to the detection signal are transferred to the electric motor 41 for cargo handling.
And the cargo handling electric motor 41 responds to the current and voltage.
The number of rotations is adjusted accordingly. On the other hand, the valve opening of the C / V 43 is also determined by the operation amount of the lift lever 44, and a predetermined amount of hydraulic oil is sent to the lift cylinder to move the fork up and down.

That is, the rotation speed of the electric motor 41 for cargo handling and the valve opening of the C / V 43 are determined by the operation amount of the lift lever 44, and when the operation amount changes, the electric motor 41 for cargo handling is changed.
And the valve opening of the C / V 43 also change proportionally. For example, when the operation amount is small, the valve opening of the C / V 43 is small, and the rotation speed of the electric motor 41 for cargo handling is also low. When the operation amount is large, the valve opening of the C / V 43 is large, and the rotation speed of the electric motor 41 for cargo handling is also high.

On the other hand, the traveling of the forklift is performed by an accelerator pedal 47 in a driver's seat. As shown in FIG. 11, the accelerator pedal 47 includes
Travel potentiometer 4 for detecting the amount of depression of the vehicle
The traveling potentiometer 48 is connected to the input side of the traveling cargo handling controller 46. The traveling electric motor 49 is connected to the output side of the traveling cargo handling controller 46 . The traveling cargo handling controller 46
Current and voltage corresponding to the detection signal of potentiometer 48
Is applied to the traveling electric motor 49 and the traveling electric motor 4
9 is the number of revolutions corresponding to the current and voltage. Therefore,
By operating the accelerator pedal 47, the rotation speed of the traveling electric motor 49 is controlled and the traveling speed is determined.

[0007]

In an engine-type forklift, a hydraulic pump is driven by the power of an engine to supply hydraulic oil to a C / V. Further, an inching pedal is provided in the driver's seat, and the engine power transmitted to the driving wheels is adjusted by the amount of depression of the inching pedal.

In order to operate the fork up and down, the inching pedal is depressed so that the engine power is not transmitted to the drive wheels, the engine speed is adjusted by the accelerator pedal, and the C / V valve opening is adjusted by the lift lever. Adjust
That is, the engine speed and the valve opening can be independently adjusted by the accelerator pedal and the lift lever, which is very advantageous when performing a delicate operation of the fork.

However, in the battery type forklift, the rotation speed of the electric motor 41 for loading and unloading and the valve opening of the C / V 43 can be adjusted only by the lift lever 44, and the fine operability of the fork is inferior to that of the engine type forklift. There was a problem.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a cargo handling control device for a battery-type industrial vehicle which can improve the fine handling of cargo handling.

[0011]

In order to solve the above-mentioned problems, a traveling electric motor for traveling a vehicle, a traveling operation member operated for traveling the vehicle, and hydraulic fluid supplied to a hydraulic device for cargo handling are provided. A hydraulic pump to be driven, an electric motor for cargo handling to drive the hydraulic pump, a cargo handling operation member operated to operate the hydraulic handling device, and the cargo handling member provided between the hydraulic handling device and the hydraulic pump. A control valve that adjusts the flow rate of hydraulic oil based on the amount of operation of the vehicle, and controls the rotation speed of the traveling electric motor based on the amount of operation of the traveling operation member, and controls the electric Fine operation mode setting for setting a fine operation mode for fine operation of cargo handling in a cargo handling control device for a battery-operated industrial vehicle comprising a controller for controlling the number of rotations of a motor When the fine operation mode is set by the switch, the controller stops the control of the electric motor for traveling and stops the control of the electric motor for cargo handling based on the operation amount of the cargo handling operation member to travel. The gist of the invention is a cargo handling control device for a battery-type industrial vehicle, wherein the control is switched to the control of a cargo handling electric motor based on an operation amount of an operation member.

[0012]

When the fine operation mode setting switch is operated to enter the fine operation mode, the controller stops the control of the traveling electric motor based on the operation of the traveling operation member,
The control of the electric motor for cargo handling based on the operation of the cargo handling operation member is also stopped. Then, the controller instead controls the rotation speed of the electric motor for cargo handling based on the operation amount of the traveling operation member.

As a result, in the fine operation mode, the electric motor for cargo handling which drives the hydraulic pump is controlled by the traveling operation member. The cargo handling operation member adjusts only the opening of the control valve. Therefore, the control valve and the electric motor for cargo handling are controlled by different operating members, respectively, and a wide cargo handling operation (fine operation) can be performed.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will now be described with reference to FIGS.
This will be described with reference to FIG. FIG. 2 shows a side view of the forklift. A forklift 1 has a mast device 2 formed on the front surface of the vehicle body, which is formed vertically long.
The mast device 2 is tilted in the front-rear direction by the expansion and contraction of the tilt cylinder 3 extended from the front part of the vehicle. The mast device 2 is provided with a fork 4 having an L-shaped cross section for lifting and lowering the cargo. The fork 4 is moved up and down by expansion and contraction of a lift cylinder 5 provided at a rear portion of the mast device 2.

A pair of left and right drive wheels 6 are arranged on the lower surface of the front part of the vehicle body of the forklift 1, and a driver's seat 7 for an operator to operate the forklift 1 is provided above the vehicle body. A tilt lever 8 and a lift lever 9 are provided in front of the driver's seat 7 within a range of the operator's hand, and an accelerator pedal 10 is provided on a lower surface of the driver's seat 7. The tilt lever 8 is for tilting the mast device 2. The lift lever 9 is for raising and lowering the fork 4, and as shown in FIG.

Next, in the cargo handling control device of the forklift 1, as shown in FIG. 1, the hydraulic pump 13 is driven by an electric motor 14 for cargo handling, sucks up the working oil stored in the oil tank 15, and controls the control valve ( Below C
/ V) 16 and 17 are supplied with hydraulic oil. Therefore, the hydraulic pump 13 discharges the working oil in proportion to the rotation speed of the electric motor 14 for cargo handling. C / V16,
The tilt levers 8 and the lift levers 9 are connected to 17 respectively, and the valve opening of the C / Vs 16 and 17 are adjusted according to the operation amounts of the tilt levers 8 and the lift levers 9. The amount of hydraulic oil sent to the tilt cylinder 3 and the lift cylinder 5 is adjusted according to the valve opening of the C / Vs 16 and 17.

The tilt lever 8 is provided with a cargo handling limit switch 18, which is connected to an input side of a traveling cargo handling controller 20. The lift lever 9 includes a cargo handling limit switch 21, a cargo handling potentiometer 22 for detecting an operation amount of the lift lever 9, and a cargo handling fine operation switch 12.
Are connected to the input side of the traveling cargo handling controller 20, respectively. The accelerator pedal 10 is provided with a travel potentiometer 24 for detecting the amount of depression of the accelerator pedal 10.
Is connected to the input side of the traveling cargo handling controller 20.

On the output side of the traveling cargo handling controller 20,
A traveling electric motor 25 for driving the drive wheels 6 is connected . The traveling cargo handling controller 20 controls the traveling
Based on the detection signal of the tension meter 24,
The motor 25 is driven and controlled . That is, as shown in FIG. 5, the traveling loading / unloading controller 20 reads a rotation speed command value of the traveling electric motor 25 which is determined uniquely with respect to the depression amount of the accelerator pedal 10, and based on this command value, the traveling electric motor 25 25 is controlled. The data of the rotation speed command value with respect to the depression amount of the accelerator pedal 10 is stored in a memory provided in the traveling cargo handling controller 20 in advance.

An electric motor 14 for driving the hydraulic pump 13 is connected to the output side of the traveling cargo handling controller 20.
1 based on the ON / OFF signal of 1
Are turned ON and OFF. In addition, traveling cargo handling controller
20 is based on the detection signal of the cargo handling potentiometer 22.
Then, the drive of the electric motor 14 for cargo handling is controlled.
ing. Then, as shown in FIG. 6, the traveling cargo handling controller 20 controls the cargo handling electric motor 14 based on a rotation speed command value of the cargo handling electric motor 14 which is uniquely determined by the operation amount of the lift lever 9. In addition, the data of the rotation speed command value of the electric motor 14 for cargo handling corresponding to this command value is :
It is stored in a memory provided in the traveling cargo handling controller 20 in advance.

The fine cargo handling switch 12 provided on the lift lever 9 is connected to the traveling cargo handling controller 20.
You. Then, when the cargo handling fine operation switch 12 is turned on, the cargo
The small operation switch 12 sends an ON signal to the cargo handling control.
And the traveling cargo handling controller 20 outputs
Code. When the operation mode is set to the fine operation mode, the traveling cargo handling controller 20 outputs
The electric motor 14 for cargo handling is drive-controlled so that the electric motor 25 for traveling is not rotated even when the accelerator pedal 10 is depressed.

In the fine operation mode, the traveling cargo handling controller 20 stops controlling the electric motor 14 for cargo handling based on the operation amount of the lift lever 9. Then, as shown in FIG. 7, the traveling cargo handling controller 20
The electric motor 14 for cargo handling is determined based on the rotation speed command value of the electric motor 14 for cargo handling which is uniquely determined with respect to the depression amount of 0.
Control. The data of the command value of the number of rotations of the electric motor 14 for cargo handling is stored in a memory provided in the traveling cargo handling controller 20 in advance. Therefore, in the fine operation mode, the tilt lever 8 and the lift lever 9 only adjust the opening of the C / Vs 16 and 22.

Next, the processing executed by the traveling cargo handling controller 20 in the cargo handling control device configured as described above will be described with reference to the flowchart shown in FIG. First, in step 1 (hereinafter referred to as S1), it is determined whether or not an ON signal of the cargo handling fine operation switch 12 has been input.
If there is no ON signal, the process proceeds to S2. In S2, the traveling cargo handling controller 20 enters the normal mode and executes the normal control. That is, the traveling cargo handling controller 20 obtains a rotation speed command value based on the operation amount of the lift lever 9 as shown in FIG. 6, and drives and controls the electric motor 14 for cargo handling so that the rotation speed becomes the rotation speed command value. Further, the traveling cargo handling controller 20 obtains a rotational speed command value based on the depression amount of the accelerator pedal 10 as shown in FIG. 5, and controls the drive of the traveling electric motor 25 so as to reach the rotational speed of the rotational speed command value. Therefore, in the normal control in which the cargo handling fine operation switch 12 is not operated, the opening degree of the C / Vs 16 and 22 and the discharge amount of the hydraulic oil discharged from the hydraulic pump 13 are controlled based on the operation amount of the tilt lever 8 or the lift lever 9. Is done.
That is, the cargo handling operation is performed by the tilt lever 8 or the lift lever 9.
The travel is performed based on the operation amount of the accelerator pedal 10.
It is done by stepping on.

On the other hand, when the cargo handling fine operation switch 12 is operated in S1, the process proceeds to S3 based on the ON signal. In S3, the traveling cargo handling controller 20 enters the fine operation mode and executes the cargo handling fine operation control. That is, the traveling cargo handling controller 20 stops the drive control of the electric motor 14 for cargo handling shown in FIG. 6 based on the operation amount of the lift lever 9 and controls the drive control of the electric motor 25 for traveling based on the depression amount of the accelerator pedal 10. Stop. Then, the traveling cargo handling controller 20 obtains a rotation speed command value based on the depression amount of the accelerator pedal 10 as shown in FIG. 7, and drives and controls the electric motor 25 for cargo handling so that the rotation speed becomes the rotation speed command value. Therefore, in the cargo handling fine operation control in which the cargo handling fine operation switch 12 is operated, the C / V is controlled based on the operation amount of the tilt lever 8 or the lift lever 9.
Only the opening degrees 16 and 22 are adjusted and controlled. Then, based on the depression amount of the accelerator pedal 10, the hydraulic pump 13
The discharge amount of hydraulic oil discharged from is controlled. That is, in the cargo handling operation, the opening of the C / Vs 16 and 22 is adjusted based on the operation amount of the tilt lever 8 or the lift lever 9 in a state where the traveling is stopped, and the hydraulic pump 13 is discharged by depressing the accelerator pedal 10. The amount is controlled.

Therefore, in the cargo handling fine operation mode, the discharge amount of the hydraulic pump 13 is controlled by depressing the accelerator pedal 10, and the adjustment of the opening of the C / Vs 16 and 22 is controlled by the tilt lever 8 or the lift lever 9. Thus, a wide range of detailed cargo handling operations (fine operations) can be performed as compared with the normal mode.

Since the fine operation mode is a cargo handling operation relatively similar to that of the engine type forklift, the cargo handling operation can be performed without discomfort even when the operation is switched from the engine type forklift to the battery type forklift.

In this embodiment, the fine operation switch 12
Is provided on the grip portion 11 of the lift lever 9, so that both lever operation and switch operation can be performed simultaneously. Therefore, it is possible to carry out the cargo handling work by fine operation without difficulty.

Further, in the present embodiment, the cargo handling fine operation switch 12 is provided on the lift lever 9 and is added to the lift of the traveling cargo handling controller 20 so as to be in the fine operation mode when the switch 12 is operated. It can be implemented easily and at low cost even on a battery-powered forklift.

The present invention is not limited to the above-described embodiment, but can be embodied with the following modifications without departing from the spirit of the invention. (1) Although the cargo handling fine operation switch 12 is provided on the lift lever 9, as shown in FIG. 8, a potentiometer 27 for detecting the depression amount of the inching pedal 26 may be used instead.

That is, when the inching pedal 27 is not depressed, the traveling cargo handling controller 20 enters the normal mode and executes the normal control. That is, the traveling loading / unloading controller 20 performs the operation shown in FIG.
As shown in (1), a rotation speed command value is obtained, and the drive of the cargo handling electric motor 14 is controlled so as to be the rotation speed of the rotation speed command value.
In addition, the traveling cargo handling controller 20 includes the accelerator pedal 10
The rotational speed command value is obtained as shown in FIG. 5 based on the amount of depression of the motor, and the drive of the traveling electric motor 25 is controlled so as to reach the rotational speed of the rotational speed command value.

When the inching pedal 27 is depressed by a predetermined amount, the traveling cargo handling controller 20 enters the simultaneous operation mode and executes the simultaneous operation control. That is, as shown in FIG.
The electric motor 14 for cargo handling is determined based on the rotation speed command value of the electric motor 14 for cargo handling which is uniquely determined with respect to the depression amount of 0.
Control. Further, the traveling cargo handling controller 20 is configured as shown in FIG.
As shown in (1), the traveling electric motor 25 is controlled based on a rotation speed command value of the traveling electric motor 25 which is uniquely determined with respect to the depression amount of the accelerator pedal 10. The data of the rotation speed command values of the electric motor 14 for cargo handling and the electric motor 25 for traveling for each command value is stored in a memory provided in the traveling cargo handling controller 20 in advance.

When the inching pedal 27 is fully depressed, the traveling cargo handling controller 20 enters the cargo handling fine operation mode and executes the cargo handling fine operation control. That is, the traveling loading / unloading controller 20 obtains a rotation speed command value based on the depression amount of the accelerator pedal 10 as shown in FIG.
Drive control.

As described above, in the simultaneous operation mode, the electric motor for cargo handling is controlled by the amount of depression of the accelerator pedal 10.
The motor 14 and the traveling electric motor 25 are simultaneously driven and controlled.
Runode, it becomes possible to perform a wide range of fine loading operation (fine operation) during travel.

(2) The cargo handling fine operation switch 12 may be provided at two positions of the tilt lever 8 and the lift lever 9. In this way, when performing the cargo handling fine operation during the operation of the tilt lever 8, it is possible to save the trouble of reaching the lift lever 9 and turning on the cargo handling fine operation switch 12 each time. Of course, it may be provided in other places.

(3) Although the present invention is embodied in a forklift, it may be embodied in a battery-powered industrial vehicle equipped with a hydraulic device for cargo handling.

[0035]

As described above in detail, according to the present invention, there is an excellent effect that the fine operation of cargo handling of a battery type industrial vehicle can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a cargo handling control device.

FIG. 2 is a side view showing the entire forklift.

FIG. 3 is a flowchart showing the operation of the traveling cargo handling controller 20.

FIG. 4 is a perspective view of a lift lever 9;

FIG. 5 is an explanatory view showing a rotation speed command value of the traveling electric motor 25 based on the depression amount of the accelerator pedal 10.

FIG. 6 is an explanatory diagram showing a rotation speed command value of the loading electric motor 14 based on the operation amount of the lift lever 8 or the tilt lever 9;

FIG. 7 is an explanatory diagram showing a command value for the number of revolutions of the cargo-handling electric motor 14 based on the depression amount of the accelerator pedal 10.

FIG. 8 is a block diagram showing another example.

FIG. 9 is an explanatory view showing a command value for the number of revolutions of the cargo-handling electric motor 14 based on the depression amount of the accelerator pedal 10.

FIG. 10 is an explanatory diagram showing a rotation speed command value of the traveling electric motor 25 based on the depression amount of the accelerator pedal 10.

FIG. 11 is a block diagram showing a conventional cargo handling control device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Forklift, 2 ... Mast device, 3 ... Tilt cylinder, 4 ... Fork, 5 ... Lift cylinder, 6 ... Drive wheel, 8 ... Tilt lever, 9 ... Lift lever, 10 ... Accelerator pedal, 12 ... Cargo handling fine operation switch, 13: hydraulic pump, 14: electric motor for cargo handling, 16, 17: control valve, 20: traveling cargo handling controller, 22: cargo handling potentiometer, 24: traveling potentiometer, 25
... Electric motor for traveling.

Claims (1)

(57) [Claims] 1. A traveling electric motor for traveling a vehicle, a traveling operation member operated for traveling the vehicle, a hydraulic pump for supplying hydraulic fluid to a hydraulic device for cargo handling, and a cargo handling for driving the hydraulic pump. An electric motor, a cargo handling operation member that operates to operate the cargo handling hydraulic device, and a hydraulic oil pump provided between the cargo handling hydraulic device and a hydraulic pump, based on the operation amount of the cargo handling operation member. A control valve for adjusting the flow rate, and controlling the rotation speed of the electric motor for traveling based on the operation amount of the traveling operation member, and controlling the rotation speed of the electric motor for cargo handling based on the operation amount of the loading operation member. In a cargo-handling control device for a battery-operated industrial vehicle comprising a controller, a fine operation mode setting switch for setting a fine operation mode for fine-handling operation is provided. When the fine operation mode is set by the switch, the controller stops the control of the traveling electric motor and stops the control of the cargo handling electric motor based on the operation amount of the cargo handling member to operate the traveling operation member. A cargo handling control device for a battery-type industrial vehicle configured to switch to control of an electric motor for cargo handling based on a quantity.