JP3317394B2 - Reach type forklift marking 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 method of arranging a symbol (for example, a triangle mark) interlocked with a turning operation of a handle on a display unit at an interval corresponding to another symbol (for example, an OK mark) and a turning operation instruction amount of the handle. In addition, the present invention provides a reach-type forklift marking device that appeals to the driver to stop the turning operation of the steering wheel when the sign moves in accordance with the turning operation of the steering wheel and coincides with another sign. The purpose is.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG.
LED on the upper right side of each drive mode switch
Are arranged at predetermined positions at positions in the direction indicating the traveling direction, and the LEDs indicating the rotation direction of the handle are arranged at opposing positions.
The turning operation of the steering wheel is continued while is turned on, and the turning operation of the steering wheel is stopped when turned off.

[0003]

Conventionally, as described above, L is provided on the upper right side of each of the travel mode changeover switches.
The ED is arranged, the LED is arranged at a predetermined angle at a position in the direction indicating the traveling direction, and the LED indicating the rotation direction of the steering wheel is arranged at an opposing position.
Continue turning the handle while the ED is lit,
Since the turning operation of the steering wheel is stopped when the light is turned off, there is a problem that it is impossible to predict how much the steering wheel should be turned. The present invention has been devised to solve such a problem.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is characterized in that a left and right straddle arm supports a front wheel so as to be able to turn, and a means for detecting a steering angle of the left and right front wheels and a steering wheel. Turning drive wheel, means for detecting a steering angle of the drive wheel, a driving mode changeover switch for switching a plurality of predetermined driving modes, and control for driving in one selected driving mode by the driving mode changeover switch. Means, a display unit is provided on an operation panel of the forklift, and two symbols arranged at intervals according to the rotation instruction amount are displayed on the display unit. One of the symbols moves toward the other symbol in conjunction with the rotation of the handle. There is provided an indication device reach truck, characterized in that the the.

[0005]

According to the present invention, two symbols arranged at an interval corresponding to the rotation instruction amount are displayed on a display unit, and one of the symbols is linked to the other by rotating the handle. , It is possible to obtain an indication of stopping the turning operation of the steering wheel.

[0006]

Embodiments of the present invention will be described. As shown in FIGS. 1 and 2, a reach-type forklift (hereinafter simply referred to as a forklift) 1 includes a main body 2.
And left and right straddle arms 1 protruding from the main body 2
Each of the wheels 0 and 10 rotatably supports front wheels 12L and 12R, and the main body 2 is provided with a drive wheel 11 which can be steered by a steering wheel 6.

The straddle arm 10 can slide back and forth between the straddle arms 10 and
There is provided a mast 3 for locking cargo handling equipment 4 such as a fork or various attachments which can be moved up and down. The main body 2 has various hydraulic operation levers 7 for operating the cargo handling equipment 4, an accelerator lever 8 for outputting an accelerator signal to a traveling motor for rotatingly driving the drive wheel 11, and a traveling motor. Operation panel 6 having both a mode changeover switch 63 and a display unit 64 having features described in detail below.
2 are provided.

As shown in FIG. 7, the operation panel 62 includes a traveling mode changeover switch 63, an oblique movement mode switch P, a lateral movement mode switch Q, and a small rotation mode switch. R, the parallel movement mode switch S, and the standard mode switch T are arranged, and the traveling angle is increased by 15 degrees depending on the traveling direction and the number of pushes beside the diagonal movement mode switch P. Two operation switches P + and P- are arranged. The operation switch P + instructs advance to the left. Each time the switch is pressed, the advance angle increases by 15 degrees. The other operation switch P- instructs the advance to the right. Is the same as described above. Further, a display unit 64 composed of an LCD is provided next to the running mode changeover switch 63.

As shown in FIG. 8, the display unit 64 displays characters and graphics. In particular, the steering direction of the steering wheel 6 is displayed by reversing the steering rotation direction indicating arrow 67.
The turning direction of the steering wheel of the steering wheel 6 is indicated, and an OK mark 65 and a triangular mark 66 displayed at a certain interval from the OK mark 65 are displayed in the center portion. 6 in accordance with the rotation operation. Note that the OK mark 65 and the triangular mark 64 indicate that the steering angle of the drive wheel 11 is out of the limit range in one travel mode selected by the travel mode changeover switch 63, and that the predetermined angle is determined in the travel mode. 15 is displayed when it is necessary to correct the steering angle of the drive wheel 11 by turning the steering wheel 6 within the limited range in which the vehicle can travel.
As shown in FIG. 3, the illustration of the main body 2 and the character information of the selected traveling mode are displayed.

The steering mechanism of the front wheel 12 will be described in detail with reference to FIGS. The left front wheel 12L is rotatably mounted on a support shaft 14 via a bearing, and the support shaft 14 is fixed to the bracket 13. On the upper surface of the bracket 13, an upwardly projecting steering shaft 16L is rotatably supported by a straddle arm 10 via a bearing 21.

A fan-shaped spur gear 20 is fixed to the inner end of the bracket 13 with bolts 23, and a spur gear 19 meshing with the fan-shaped spur gear 20 is provided on the drive shaft 1.
7. The drive shaft 17 is provided in parallel with the steering shaft 16L, is rotatably supported by a boss 22, and has a timing pulley 18 fixed to the upper end thereof.

A steering motor 34L is fixed in the straddle arm 10, and a pinion 33 of the steering motor 34L is provided with a single-stage reduction gear 31, an idle gear 32 and a two-stage reduction gear 30 formed coaxially therewith. The rotation shaft 29 can be rotated. Further, a spur gear 2 is provided above the rotation shaft 29.
6 is fixed, and the detection gear 27 of the potentiometer 28 is configured to mesh with the front wheel 12.
The steering angle of L can be detected. Further, a timing pulley 25 is fixed to the upper end of the rotating shaft 29, and a timing pulley 1 of the drive shaft 17 is connected via a timing belt 35.
8, the steering torque of the steering motor 34L is transmitted, and the front wheel 12L can be steered.

As shown in FIGS. 3 and 5, the center of steering of the front wheel 12L, that is, the axis of the steering shaft 16L, is in the width direction of the body of the forklift with respect to the center line of the front wheel 12L. Eccentrically by a distance e. This is because, as shown in FIG. 13, when the vehicle is to be run right beside the vehicle body in the same direction and the steering center is located at the center of the front wheel 12L, the wheel base becomes L. The reason for this is that by providing the eccentric distance e, the wheel base of L + 2e can be secured. In addition, when the forklift is stopped, the front wheel 12L is steered. When the vehicle is stationary, the friction between the front wheel 12L and the ground can be reduced and the wheel can be rolled, so that the driving torque during steering can be reduced. Can be planned. The other front wheel 12R has the same configuration, and the forklift 1 is symmetrical with respect to the vehicle center line.

As shown in FIG. 6, the drive wheel 11 described above uses a steering torque applied to the steering wheel 6 in a chain.
From the sprocket 46 through the sprocket 45
And the input shaft 4 fixed to the sprocket 44
7. The steering is transmitted to the output shaft 48, the universal joint 42, the drive shaft 39, and the drive gear 38 via the steering torque detector 43, and the turning gear 37 is rotated to perform steering.

The turning gear 37 has a drive wheel 1.
1 is fixedly mounted. The steering torque detector 43 detects a relative twist between the input shaft 47 and the output shaft 48, and drives and rotates the power steering motor 41 in accordance therewith, and a gear case having a built-in speed reduction mechanism. The assist torque is applied to the drive shaft 39 via the
And the steering torque is reduced. Also,
A detection gear 51 of a potentiometer 50 meshes with the turning gear 37 so that the steering angle of the drive wheel 11 can be detected. The running motor 49 is driven to rotate based on the accelerator command of the accelerator lever 8, and the drive wheel 1 is driven via a speed reducer (not shown) built in the turning gear case 36.
1 can be driven to rotate.

Next, a control block will be described with reference to FIG. An accelerator signal instructed from the accelerator lever 8, a steering angle signal of the drive wheel 11, and a steering angle signal of the left and right front wheels 12L, 12R are transmitted from the potentiometers 50, 28R, 28L to the A / D converter.
Input to the data 53. The A / D converter 53 converts the input signal from an analog signal to a digital signal. Of these, the accelerator signal is transmitted from the MPU via a bus line to a traveling motor drive circuit 60 such as a chopper circuit.
To drive the running motor 49.

As shown in FIG. 7, the operation panel 62 is provided with five traveling mode changeover switches 63. The traveling mode changeover switches 63 include an oblique movement mode switch P and a lateral movement mode switch P. It comprises a mode switch Q, a small rotation mode switch R, a parallel movement mode switch S and a standard mode switch T, and these five traveling mode changeover switches 63.
Is input to the MPU.

As shown in FIG. 9, the ROM stores the steering angle data of the drive wheel 11 and the left and right front wheels 12R, 1R for all of the above five running modes.
2L of steering angle data is stored, and the steering wheel data and the drive wheel obtained by detection as described above are obtained.
Steering angle signal of the steering wheel 11, left and right front wheels 12R,
The MPU performs a predetermined calculation process on the 12L steering angle signal, and based on this calculation process, the left and right front wheels 12.
The turning control is performed so that R and 12L have a predetermined steering angle.

When the parallel movement mode switch S of the five traveling mode changeover switches 63 is selected in the MPU,
The gyro sensor 70 is used to secure the traveling direction accurately.
Is input.

Referring to FIG. 10, a control block relating to the display of the present invention will be described.
The input selected by the switch 63 and the drive wheel
A display data selection function for selecting display data based on a steering angle signal of the steering wheel 11, a steering angle signal of the drive wheel 11, and a rotation direction of the steering wheel based on the steering angle signals of the left and right front wheels 12L and 12R. A steering direction determining function for determining the traveling direction, a steering direction determining function for determining the traveling direction, and a steering instruction screen or a steering instruction screen based on a steering angle signal of the drive wheel 11 based on whether or not the steering angle exceeds the limit steering angle of the drive wheel 11. A function for selecting one of the display forms on the traveling direction display screen is included.

The ROM further includes a vehicle display data.
Data, travel direction arrow display data, character display data, right front wheel display data, left front wheel display data
Data, drive wheel display data, triangle mark display data,
It stores steering rotation direction arrow display data.

The contents of control according to the present invention will be described below with reference to FIGS. 11 to 14. Initially, hard disks such as memories and I / Os are initialized (S1), and the travel mode of the forklift 1 is firstly set. The mode is set to the standard mode (S2). Further, it is determined whether or not the changeover switch of each running mode is turned on (S3, S5, S7, S9, S11), and if it is selected, the mode is switched to the running mode (S4, S6, S).
8, S10). This procedure is stored in the ROM and shifts to the display control block.

In the display control, first, the drive wheel 11
Is determined to be able to run in the selected traveling mode, and whether the steering angle of the drive wheel 11 exceeds the limit (S13). If it is determined that the limit is exceeded, , A steering instruction screen is displayed (S14),
If it is determined that the limit has not been exceeded, a traveling direction instruction screen is displayed (S15). If the steering angle of the drive wheel 11 has fallen within the limit by turning the steering wheel, advance from the steering instruction screen. Move to the direction indication screen.

On the steering instruction screen, running mode names, for example, names such as diagonal movement, lateral movement, small turn, parallel movement and standard are displayed in characters, and a sentence "turn the steering wheel" is displayed. The direction is determined, the rotation direction of the steering wheel 6 is determined, the steering rotation direction indicating arrow 67 indicating the rotation direction of the steering wheel 6 is highlighted, the rotation amount of the steering wheel 6 is calculated, and the OK mark 65 is calculated based on the calculation result. , Triangle marks 66 are displayed at intervals according to the rotation instruction amount. This triangle 66
The above-described steps are repeated each time is rotated, and the triangular mark 66 moves toward the OK mark 65. All indications above are LC
Via a D drive circuit 68.

This triangular mark 66 coincides with the OK mark 65,
When the screen changes from the steering instruction screen to the traveling direction instruction screen, the traveling mode name, the vehicle body display, the drive wheel, the left and right front wheels 12R and 12L are displayed, and the traveling direction is determined by the MPU. As shown, a traveling direction arrow 71 is displayed toward the traveling direction.

As an example, a display example will be described with reference to FIG. 8 in the case where the diagonal movement mode changeover switch P is selected. Now, if the P + operation switch is pressed five times and the left 75 degrees is selected, the above-described drive wheel is selected. -Steering angle data of rule 11-
And steering angle data of the left and right front wheels 12R and 12L, respectively. The steering angle data and the steering angle signals of the drive wheel 11 obtained by detection as described above, When the steering angle signals of the front wheels 12R and 12L are subjected to predetermined arithmetic processing by the MPU, and the steering angle signal of the drive wheel 11 is largely deviated from the steering angle data of the drive wheel 11, the above-mentioned display is made. Date
The steering instruction screen is displayed with the
Is displayed as character information of 75 degrees left diagonal movement, and the character information of turning the handle 6 and an OK mark 6 in the center.
5 and a triangle 66 are displayed. The interval between the OK mark 65 and the triangular mark 66 is the amount of rotation of the steering wheel 6 that needs to be corrected to the steering angle required at the time of the diagonal movement of the drive wheel 11. When the 66 moves and the OK mark 65 matches the triangular mark 66, it indicates that the drive wheel 11 has been corrected to the steering angle required at the time of this oblique movement.

[0027]

According to the present invention, as described above, the display unit includes:
Since two symbols arranged at an interval corresponding to the rotation instruction amount are displayed, and one of the symbols is moved toward the other symbol in conjunction with the rotation operation of the handle, the handle It was possible to obtain an indication of stopping the rotation operation of the vehicle, and the operation became extremely easy for the driver.

[Brief description of the drawings]

FIG. 1 is a side view of a reach-type forklift of the present invention.

FIG. 2 is a plan view of a reach-type forklift of the present invention.

FIG. 3 is a front view illustrating a front wheel.

FIG. 4 is a side view illustrating a front wheel.

FIG. 5 is a plan view illustrating a front wheel.

FIG. 6 is a side view illustrating a drive mechanism.

FIG. 7 is a plan view of an operation panel.

FIG. 8 is a plan view of a display unit displaying a steering rotation direction instruction screen.

FIG. 9 is a control block diagram of the present invention.

FIG. 10 is a control block diagram related to display of the present invention.

FIG. 11 is a control flowchart relating to display according to the present invention.

FIG. 12 is a control flowchart relating to display according to the present invention.

FIG. 13 is a control flowchart relating to display according to the present invention.

FIG. 14 is a control flowchart relating to display according to the present invention.

FIG. 15 is a plan view of a display unit on which a traveling direction instruction screen is displayed.

FIG. 16 is a plan view of a conventional operation panel.

FIG. 17 is a schematic diagram for explaining a wheel base.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Reach type forklift 2 Main part 3 Mast 4 Cargo handling equipment 5 Lift cylinder 6 Handle 7 Hydraulic operation lever 62 Operation panel 63 Traveling mode changeover switch P Diagonal movement mode switch R Small turn mode switch S Parallel movement mode switch T Standard mode switch 65 OK mark 66 Triangle mark 67 Steering rotation direction instruction arrow 68 LCD drive circuit 71 Travel direction arrow

Claims (1)

(57) [Claims] 1. A front wheel is rotatably supported on each of left and right straddle arms and means for detecting a steering angle of the left and right front wheels, a drive wheel which can be turned by a steering wheel, and a steering angle of the drive wheel are detected. Means, a traveling mode changeover switch for switching a plurality of traveling modes set in advance, the traveling mode changeover switch, the control means for traveling in one selected traveling mode, the reach type forklift traveling in all directions, A display unit is provided on the operation panel of the forklift, and two symbols arranged at intervals according to the rotation instruction amount are displayed on the display unit, and one of the symbols is interlocked with the rotation operation of the handle. And move toward the other symbol. Display devices.