JP4159904B2 - Handling arm operation control device for container handling vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a container handling vehicle provided with a cargo handling arm for loading and unloading a container between a vehicle body and the ground, and more particularly to an operation control device for controlling the operation of the cargo handling arm.
[0002]
[Prior art]
Conventionally, the hook provided at the tip of the cargo handling arm is engaged with the engagement pin of the container, and the container is loaded onto the vehicle body from the ground by the operation of the cargo handling arm, and the container is lowered from the vehicle body to the ground by the reverse operation. A container handling vehicle is provided.
[0003]
By the way, there are many types of containers with different height positions of the engagement pins, and there are cases where the containers are placed on a platform P higher than the ground as shown in FIG. Even if it exists, the height position with respect to the ground will change. For this reason, when loading different types of containers or loading containers placed at different ground contact heights, the cargo handling arm can be rotated backward to a predetermined position as usual. The height positions of the hook b of the cargo handling arm a and the engagement pin C1 of the container C do not match. Accordingly, in such a case, it is necessary to operate the height position of the hook b so as to match the height of the engagement pin C1 by changing the rotation position of the cargo handling arm a, and the alignment work is performed. It was hard.
[0004]
Therefore, in order to facilitate such operations, an infrared emission detection device is provided in the vicinity of the hook, and a reflection plate is provided in the container, and the infrared rays emitted from the infrared emission detection device are reflected by the reflection plate of the container and returned. By detecting that the hook and the engagement pin have been matched, it has been provided that the container can be easily loaded even in the case described above (for example, (See Patent Document 1).
[0005]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-170905 [0006]
[Problems to be solved by the invention]
However, in the above conventional apparatus, when applying to an existing container, it is necessary to dispose the reflector in an appropriate position on the container, and the infrared emission surface of the infrared emission detection device exposed to the outside In addition, the reflector of the container is easily soiled by rain, dust, and the like, and there is a problem that malfunction is easily caused by the dirt. In addition, the infrared emission detection device is expensive, and there is a problem in that the cost of the entire device is increased.
[0007]
The present invention has been made in view of the above problems, and the object of the present invention is to make it possible to reliably match the position of the hook with the engagement pin with a simple configuration, and to inform that the match has occurred. An object of the present invention is to provide a cargo handling arm operation control device for a container handling vehicle.
[0008]
[Means for Solving the Problems]
A container handling vehicle operation control device for a container handling vehicle according to a first aspect of the present invention is provided with a cargo handling arm having a hook at a distal end thereof, which is pivotable in the front-rear direction around a base end portion. In the container handling vehicle in which the container can be freely loaded and unloaded between the vehicle body and the ground, when the cargo handling arm pivots backward, the cargo handling arm reaches a preset pivot angle. Detection means for detecting this is provided, and control means for stopping the rotation operation of the cargo handling arm based on the detection of this detection means or for operating the notification means is provided.
[0009]
In the cargo handling arm operation control device for a container handling vehicle according to a second aspect of the invention, the detection means detects an angle of the cargo handling arm with respect to the vehicle body or detects an angle of the cargo handling arm with respect to the ground.
[0010]
A container handling vehicle operation control device for a container handling vehicle according to a third aspect of the invention is characterized in that the detection means for detecting the angle of the handling arm with respect to the vehicle body includes a detector provided on either the vehicle body side or the cargo handling arm side. The detection object is provided on the other vehicle body side or the cargo handling arm side, and the detection position of the cargo handling arm is made variable by adjusting at least one of the detector and the detection object.
[0011]
In the cargo handling arm operation control device for a container handling vehicle according to a fourth aspect of the present invention, the detection means is an inclination sensor, and the control means is preset by a stop angle setting device based on a detection signal from the inclination sensor. When the cargo handling arm reaches an angle, the rotational operation of the cargo handling arm is stopped.
[0012]
A cargo handling arm operation control device for a container handling vehicle according to a fifth aspect of the present invention is provided with a regulation release means for releasing the regulation control by the control means.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0014]
FIG. 1 shows a container handling vehicle equipped with a container.
[0015]
The container handling vehicle is provided with a cargo handling arm 2 for loading and unloading the container C between the vehicle body 1 and the ground and discharging the load in the container C.
[0016]
The cargo handling arm 2 includes a horizontal portion 21 that is horizontally disposed when the container C is mounted and a vertical portion 22 that is vertically disposed in the same state, and is formed in an L shape as a whole.
[0017]
The horizontal portion 21 is rotatably supported at its rear end portion via a dump frame 2a that is rotatably supported at the rear portion of the vehicle body 1.
[0018]
The vertical portion 22 is provided with a hook 23 detachably engaged with an engaging pin C1 provided on the container C at the tip thereof.
[0019]
Further, as shown in FIG. 2, a hoisting cylinder 24 is connected between the horizontal portion 21 and the vehicle body 1, and the cargo handling arm 2 is caused to extend and retract by the elongating operation of the hoisting cylinder 24. It is configured to be rotatable in the front-rear direction around the part.
[0020]
As the container C, an open type whose upper surface is opened or a sealed type whose upper surface is also closed is used, and the rear wall can be opened and closed so that the load can be discharged. In addition, the engaging pin C1 is provided at the upper part of the front wall, the support leg C2 is provided at the bottom front part, and the support roller C3 is provided at the bottom rear part.
[0021]
Furthermore, a roller 11 for smoothly loading and unloading the container C between the vehicle body 1 and the ground is provided at the rear end portion of the vehicle body 1.
[0022]
Then, when the container C is unloaded by the container handling vehicle, first, while the container C is mounted as shown in FIG. 1, the cargo handling arm 2 is rotated upward by the hoisting cylinder 24 to tilt the container C. By rotating the cargo handling arm 2 backward, the container C can be lowered from above the vehicle body 1 to the ground as shown in FIG. Further, the ground container C can be loaded on the vehicle body 1 by the reverse operation to that described above.
[0023]
On the other hand, when discharging the load loaded in the container C, although not shown, the cargo handling arm 2 and the dump frame 2a are loaded by a lashing device (not shown) while the container C is loaded on the vehicle body 1. And the cargo handling arm 2 is rotated upward to tilt the container C, so that the load in the container C is discharged.
[0024]
By the way, this container handling vehicle is provided with a handling arm operation control device which is a main part of the present invention for controlling the handling arm 2.
[0025]
When the cargo handling arm 2 is rotated backward to unload and unload the container C placed on the ground, the cargo handling arm reaches a preset rotation position. In this case, the rotation is stopped and specifically configured as follows.
[0026]
FIG. 3 shows a control system of the cargo handling arm operation control device.
[0027]
In FIG. 3, reference numeral 3 denotes a control unit. The control unit 3 switches the control valve 32 provided in a hydraulic circuit (not shown) by an operation signal input from the operation unit 31, thereby extending and retracting the undulation cylinder 24. The cargo handling arm 2 is controlled to rotate.
[0028]
At this time, the control unit 3 receives a detection signal from the detection means 4 for detecting the rotational position of the cargo handling arm 2 and an operation signal from the restriction release switch 5 as the restriction release means. Based on these input signals, the section 3 controls the turning operation of the cargo handling arm 2 as described later.
[0029]
As shown in FIGS. 4 and 5, the detection means 4 is provided on a proximity sensor 41 as a detector provided on the vehicle body 1 and on a horizontal portion 21 of the cargo handling arm 2, and with the rotation operation of the cargo handling arm 2. And a detection piece 42 as a detection object that approaches and separates from the detection unit of the proximity sensor 41.
[0030]
The proximity sensor 41 is provided on a mounting member 43 erected on the vehicle body 1 with its mounting position being variable. Specifically, a curved long hole 43a (see FIG. 4) is formed in the attachment member 43 so as to follow the turning trajectory of the cargo handling arm 2, and the proximity sensor 41 is provided along the long hole 43a. It is provided so as to be movable, and is fixed at a predetermined position by fixing means (not shown).
[0031]
Accordingly, when the cargo handling arm 2 rotates rearward and the detection piece 42 approaches the proximity sensor 41 attached as described above, the proximity sensor 41 detects this, and this detection signal is sent to the control unit. 3 is input.
[0032]
Then, the control unit 3 switches the control valve 32 based on this detection signal to stop the extending operation of the hoisting cylinder 24, thereby stopping the backward rotation operation of the cargo handling arm 2. As described above, since the cargo handling arm 2 can be automatically stopped at a position inclined by a predetermined angle rearwardly detected by the proximity sensor 41, the hook 23 of the cargo handling arm 2 is arranged at a desired height position accordingly. be able to.
[0033]
That is, by adjusting the position of the proximity sensor 41 according to the height position of the engagement pin C1 of the container C, the hook 23 can be automatically stopped at a position that matches the position of the engagement pin C1.
[0034]
In this way, the cargo handling arm 2 can be reliably stopped at a position where the hook 23 matches the engagement pin C1 according to the type of the container C to be loaded, the facility where the container C is placed, and the like. As a result, the hook 23 can be smoothly engaged with the engagement pin C1, and the loading operation of the container C by the cargo handling arm 2 can be performed safely and efficiently.
[0035]
Further, when the container C is lowered, the hooks 23 can be automatically arranged at the same height position, so that the hooks 23 can be smoothly detached from the engagement pins C1.
[0036]
Further, the restriction release switch 5 is for releasing the restriction control for stopping the cargo handling arm 2 at a position inclined at a predetermined angle by the control unit 3 as described above. 3, the control unit 3 controls the operation of the cargo handling arm 2 based on the operation signal from the operation unit 31 by the operator without performing the restriction control.
[0037]
Therefore, the position of the proximity sensor 41 is adjusted in accordance with the container C having a high unloading frequency, and in the case of the container C, the unloading is performed by regulating the cargo handling arm 2 described above. When unloading different types of containers C or containers C placed on the platform, the restriction release switch 5 cancels the restriction control without having to adjust the position of the proximity sensor 41. Can respond.
[0038]
In the present embodiment, the proximity sensor 41 is provided on the vehicle body 1 side and the detection piece 42 is provided on the cargo handling arm 2 side. Conversely, the proximity sensor 41 is provided on the cargo handling arm 2 side. It may be provided on one side. In addition, the attachment position of the proximity sensor 41 can be adjusted. However, the detection position may be changed by expanding or contracting the detection piece 42, or the detection position may be changed by making both adjustments possible. Also good.
[0039]
Furthermore, the detector is not limited to the proximity sensor 41 and may be any detector that can detect that the cargo handling arm 2 is rotated to a position inclined by a predetermined angle, such as a limit switch. For example, in the case of a limit switch, this limit switch is provided on the vehicle body 1 side or the cargo handling arm 2 side, and a contact portion (detected body) that contacts the limit switch on the vehicle body 1 side or the cargo handling arm 2 side on the opposite side. What is necessary is just to provide.
[0040]
FIG. 6 shows another control system of the cargo handling arm operation control device.
[0041]
In FIG. 6, reference numeral 3 denotes a control unit. The control unit 3 switches the control valve 32 provided in a hydraulic circuit (not shown) by an operation signal input from the operation unit 31, thereby extending and retracting the undulation cylinder 24. The cargo handling arm 2 is controlled to rotate.
[0042]
At this time, a detection signal from the detection means 6 for detecting the rotational position of the cargo handling arm 2, a signal from the stop angle setting device 7, and an operation signal from the restriction release switch 5 are input to the control unit 3. The control unit 3 regulates and controls the turning operation of the cargo handling arm 2 as described later based on these input signals.
[0043]
As shown in FIG. 7, the detection means 6 includes a vehicle body inclination sensor 61 that detects the inclination angle of the vehicle body 1 and an arm inclination sensor that detects the inclination angle when the cargo handling arm 2 is disposed behind the rotation center. 62. Therefore, the control unit 3 calculates the inclination angle of the cargo handling arm 2 with respect to the ground based on the detection signals of the two inclination sensors 61 and 62.
[0044]
As the stop angle setting device 7, a rotary switch, a variable resistor, or the like is used. For example, as shown in FIG. 8, the dial 71 can be set in five steps of ± 2 ° left and right with the center as a reference (0 °). The setting signal set here is input to the control unit 3.
[0045]
Therefore, when loading the container C on the ground, the control unit 3 rotates the cargo handling arm 2 backward by an operation signal from the operation unit 31 and also handles the cargo handling arm 2 with respect to the ground by detection signals from the inclination sensors 61 and 62. When the calculated value coincides with the set value set by the stop angle setting device 7, the control valve 32 is switched to stop the extending operation of the hoisting cylinder 24. The pivoting movement to is stopped. Thus, since the cargo handling arm 2 can be automatically stopped at a preset angle, the hook 23 of the cargo handling arm 2 can be arranged at a desired height position accordingly.
[0046]
That is, for example, by setting the angle of the cargo handling arm 2 when the height of the engagement pin C1 of the standard container C and the hook 23 coincide with each other in advance, the angle is within ± 2 ° from the reference value. The angle at which the cargo handling arm 2 is stopped can be adjusted. Therefore, even if the container C has a different height of the engagement pin C1, if the angle is set by the stop angle setting unit 7 within the adjustment range, the height position of the hook 23 is set to the engagement of the container C. The position can be changed to match the pin C1.
[0047]
As a result, the stop angle setting device 7 is provided in the driver's seat together with the operation unit 31 so that the hook according to the container C can be easily set in the driver's seat without changing the mounting position as in the proximity sensor 41 described above. 23 height adjustments can be made.
[0048]
In this way, the cargo handling arm 2 can be reliably stopped at a position where the hook 23 matches the engagement pin C1 according to the type of the container C to be loaded, the facility where the container C is placed, and the like. As a result, the hook 23 can be smoothly engaged with the engagement pin C1, and the loading operation of the container C by the cargo handling arm 2 can be performed safely and efficiently.
[0049]
Further, when the container C is lowered, the hooks 23 can be automatically arranged at the same height position, so that the hooks 23 can be smoothly detached from the engagement pins C1.
[0050]
Furthermore, the restriction release switch 5 is the same as that described above. When the operation signal of the restriction release switch 5 is input to the control unit 3, the control unit 3 does not perform the restriction control as described above. Based on the operation signal from the operation unit 31 by the operator, the operation of the cargo handling arm 2 is controlled.
[0051]
Accordingly, a reference angle is set in advance by the stop angle setting unit 7 in accordance with the container C having a high unloading frequency, and in the case of the container C, the loading arm 2 is regulated and loaded, and the stop is stopped. If it is within the adjustment range of the angle setter 7, the corresponding container C is unloaded by adjusting the stop angle setter 7. When a container C that cannot be adjusted by the stop angle setting unit 7 or a container C placed on the platform is loaded, it can be dealt with by releasing the restriction control by the restriction release switch 5.
[0052]
If the angle of the cargo handling arm 2 with respect to the ground is calculated by the detection of the vehicle body inclination sensor 61 and the arm inclination sensor 62 as in this embodiment, the height position of the hook 23 when the container C is loaded on an inclined ground or the like. Can be accurately arranged according to the inclination. However, since equipment that frequently unloads and unloads containers C is generally leveled, arm detection is required when loading and unloading containers exclusively in such locations. It is sufficient to perform the above-described restriction control by detection by the sensor 62. In this case, the vehicle body tilt sensor 61 is not necessarily required.
[0053]
Further, in each of the above-described embodiments, when the cargo handling arm 2 reaches a preset turning angle, the detecting means 4 and 6 detect this, and the turning operation of the cargo handling arm 2 is automatically stopped. As described above, the detecting means may be operated without stopping the rotation operation of the cargo handling arm 2 when detected by the detecting means 4 and 6 as another form.
[0054]
As the notification means, for example, an alarm device 8 (see FIG. 3 and FIG. 6) such as a buzzer or a lamp is used. It is only necessary to stop the rearward rotation of 2.
[0055]
【The invention's effect】
As described above, according to the present invention, when the loading arm reaches a preset rotation angle, the rotation operation of the loading arm is stopped or the notification unit is activated based on the detection by the detection unit. By doing so, depending on the type of container to be loaded and the facility on which the container is placed, the handling arm can be reliably stopped at the position where the hook matches the engagement pin. Container loading work can be performed safely, efficiently and quickly.
[Brief description of the drawings]
FIG. 1 is a side view showing a container handling vehicle equipped with a container.
FIG. 2 is a side view showing a state when a container on the ground is loaded and unloaded by a container handling vehicle.
FIG. 3 is a block diagram showing a control system of the cargo handling arm operation control device.
FIG. 4 is a side view illustrating a configuration of a detection unit.
FIG. 5 is a rear view showing a configuration of detection means.
FIG. 6 is a block diagram showing another control system of the cargo handling arm operation control device.
FIG. 7 is a side view showing a configuration of detection means.
FIG. 8 is a front view showing a stop angle setting device.
FIG. 9 is a side view for explaining a problem when a container placed on a platform or the like is loaded.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Car body 2 Handling arm 3 Control part 4 Detection means 41 Proximity sensor (detector)
42 Detection piece (Detected object)
5 Regulation release switch (regulation release means)
6 Detection means 61 Car body inclination sensor 62 Arm inclination sensor 7 Stop angle setting device 8 Alarm device (notification means)
C Container C1 Engagement pin

Claims (5)

On the vehicle body, a cargo handling arm having a hook at the tip is provided so as to be pivotable in the front-rear direction around the base end, and the container can be loaded and unloaded between the vehicle body and the ground by this cargo handling arm. In the loading vehicle,
When the cargo handling arm pivots backward, detection means is provided for detecting when the cargo handling arm reaches a preset pivot angle, and the cargo handling arm pivots based on the detection by the detection means. A cargo handling arm operation control device for a container handling vehicle, characterized in that a control means for stopping the operation or activating the notification means is provided. 2. The cargo handling arm operation control device for a container handling vehicle according to claim 1, wherein the detection means detects an angle of the cargo handling arm with respect to the vehicle body or detects an angle of the cargo handling arm with respect to the ground. The detection means for detecting the angle of the cargo handling arm with respect to the vehicle body includes a detector provided on one of the vehicle body side and the cargo handling arm side, and a detected object provided on the other vehicle body side or the cargo handling arm side. 3. The cargo handling arm operation control device for a container handling vehicle according to claim 2, wherein the detection position of the cargo handling arm is made variable by adjusting at least one of the detector and the detected object. The detecting means is a tilt sensor, and based on a detection signal from the tilt sensor, the control means stops the rotation operation of the cargo handling arm when the cargo handling arm reaches an angle preset by a stop angle setting device. 3. A cargo handling arm operation control device for a container handling vehicle according to claim 2, wherein the cargo handling arm operation control device is used. 5. The cargo handling arm operation control device for a container handling vehicle according to claim 1, further comprising regulation release means for releasing regulation control by the control means.

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