JP4471749B2 - Industrial vehicle driving operation device and driving control device - Google Patents

Industrial vehicle driving operation device and driving control device Download PDF

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Publication number
JP4471749B2
JP4471749B2 JP2004194709A JP2004194709A JP4471749B2 JP 4471749 B2 JP4471749 B2 JP 4471749B2 JP 2004194709 A JP2004194709 A JP 2004194709A JP 2004194709 A JP2004194709 A JP 2004194709A JP 4471749 B2 JP4471749 B2 JP 4471749B2
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axis
vehicle
around
operation lever
fork
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JP2006016132A (en
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潤 西尾
良之 雨宮
秀之 向江
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Toyota Industries Corp
Toyota Central R&D Labs Inc
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Toyota Industries Corp
Toyota Central R&D Labs Inc
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/20Means for actuating or controlling masts, platforms, or forks
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/58Rests or guides for relevant parts of the operator's body
    • G05G1/62Arm rests
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Mechanical Control Devices (AREA)

Description

本発明は、産業車両において、交差する2方向に傾動操作可能にした1本の操作レバーにより、車載作業機器において作用部を略上下方向に動作させる第1動作と、車載作業機器において作用部を略前後方向に動作させる第2動作、又は、車両の前進及び後進とを制御するための運転操作装置、及び、同運転操作装置を備えた運転制御装置に関するものである。   According to the present invention, in an industrial vehicle, a single operation lever that can be tilted in two directions intersecting each other, the first operation for causing the action portion to move substantially vertically in the in-vehicle work device, and the action portion in the in-vehicle work device. The present invention relates to a driving operation device for controlling a second operation that moves substantially in the front-rear direction, or forward and backward movement of a vehicle, and a driving control device that includes the driving operation device.

この種の運転操作装置としては、特許文献1に開示されるものがある。この装置は、走行機台に旋回台を支持したバックホーに設けられ、旋回台と、この旋回台に対して略上下方向に傾動するブームと、このブームに対して略上下方向に傾動するアームと、このアームに対して略上下方向に傾動するバケットとをそれぞれ独立して制御する。この装置では、運転席の左右両側にそれぞれ設けられた操作ボックスに、交差する2方向に傾動操作可能な操作レバーがそれぞれ設けられている。すなわち、各操作レバーは、その中立位置から車両前後方向と車両左右方向とに傾動操作される。そして、右側の操作レバーを車両左右方向に傾動操作することにより、旋回台が旋回動作し、操作レバーを車両前後方向に傾動操作することにより、ブームが上下傾動動作する。また、左側の操作レバーを車両左右方向に傾動操作することにより、アームが上下傾動動作し、操作レバーを車両前後方向に傾動操作することにより、バケットが上下傾動動作する。
実開平4−15660号公報
As this type of driving operation device, there is one disclosed in Patent Document 1. This device is provided on a backhoe that supports a swivel base on a traveling machine base, and includes a swivel base, a boom that tilts in a substantially vertical direction with respect to the swivel base, and an arm that tilts in a substantially vertical direction with respect to the boom. The bucket that tilts substantially vertically with respect to the arm is controlled independently. In this device, operation levers that can be tilted in two intersecting directions are provided in operation boxes provided on the left and right sides of the driver's seat, respectively. That is, each operation lever is tilted from the neutral position in the vehicle front-rear direction and the vehicle left-right direction. Then, the right operating lever is tilted in the vehicle left-right direction to turn the swivel, and the operating lever is tilted in the vehicle front-rear direction to cause the boom to tilt up and down. Further, the arm is tilted up and down by tilting the left operation lever in the vehicle left-right direction, and the bucket tilts up and down by tilting the operation lever in the vehicle front-rear direction.
Japanese Utility Model Publication No. 4-15660

ところで、上記装置における各操作レバーは、その先端部に略球状の把持部を備え、この把持部を運転者が右手又は左手で把持するように構成されている。このとき、運転者は掌を下向きにした状態の右手又は左手で把持部を把持し、操作レバーを車両前後方向又は車両左右方向に傾動操作する。従って、操作レバーを車両前後方向又は車両左右方向に傾動操作しているときに、右手又は左手は通常下方を向いたままである。   By the way, each operation lever in the above-mentioned device is provided with a substantially spherical gripping portion at the tip thereof, and is configured such that the driver grips this gripping portion with the right hand or the left hand. At this time, the driver grips the grip portion with the right hand or the left hand with the palm facing downward, and tilts the operation lever in the vehicle front-rear direction or the vehicle left-right direction. Therefore, when the operation lever is tilted in the vehicle front-rear direction or the vehicle left-right direction, the right hand or the left hand usually remains facing downward.

このため、左手で操作レバーを車両左右方向に傾動操作させてアームを上下傾動動作させようとするときには、操作レバーの操作方向とアームの動作方向とが全く関連しなかった。従って、以前のように、旋回台の旋回動作、ブームの上下動作、アームの上下動作、及び、バケットの上下動作をそれぞれ独立して設けられた操作レバーを操作して行う構成の車両に慣れた運転者は、1本の操作レバーを交差する2方向に傾動操作させて2つの異なる動作を行わせるようにした車両には容易に慣れることができなかった。   For this reason, when the arm is operated to tilt up and down by tilting the operating lever in the left-right direction of the vehicle with the left hand, the operating direction of the operating lever and the operating direction of the arm are not related at all. Therefore, as before, I became accustomed to a vehicle having a configuration in which the swivel turning operation, the boom up-and-down operation, the arm up-and-down operation, and the bucket up-and-down operation are performed by operating the independent operation levers. The driver could not easily get used to a vehicle in which one operation lever is tilted in two directions intersecting to perform two different operations.

この発明は、このような従来の技術に存在する問題点に着目してなされたものである。その目的は、交差する2方向に傾動操作される操作レバーを傾動操作する方向と、車載作業機器の作用部の動作方向、又は、車両の走行方向とをより良く関連させることができ、車載作業機器又は車両の運転操作性を向上することができる産業車両の運転操作装置を提供することにある。また、前記運転操作装置を備えた運転制御装置を提供することにある。   The present invention has been made paying attention to such problems existing in the prior art. Its purpose is to better relate the direction of tilting the operating lever that is tilted in two intersecting directions with the operating direction of the operating part of the in-vehicle work equipment or the traveling direction of the vehicle. An object of the present invention is to provide an industrial vehicle driving operation device capable of improving the driving operability of an apparatus or a vehicle. Another object of the present invention is to provide an operation control device provided with the operation device.

上記の目的を達成するため、請求項1に記載の発明は、略棒状の把持部を有し、主として車両前後方向に延びる第1軸回りと、主として車両左右方向に延びる第2軸回りとにおいて、それぞれ中立位置から両方向に傾動操作される操作レバーを備えた産業車両における運転操作装置であって、前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両左右方向に対する直交平面上から前記第1軸回りに運転席側に所定角度だけ傾かせた。ここで、「棒状」とは、その軸線方向における太さが一定のものに限らず、軸線方向において太さが変化するものをも含む。また、「傾動操作される操作レバー」とは、実際に操作レバーが傾動するものに限らず、操作レバーに対し傾動させる向きに加わる操作力を受けるだけで傾動しないものをも含む。   In order to achieve the above object, the invention described in claim 1 has a substantially rod-shaped grip portion, and is mainly provided around a first axis extending in the vehicle front-rear direction and around a second axis extending mainly in the vehicle left-right direction. A driving operation device in an industrial vehicle provided with an operation lever that is tilted in both directions from a neutral position, wherein the axis of the grip portion when the operation lever is in the neutral position is orthogonal to the vehicle left-right direction. It was tilted from the top by a predetermined angle around the first axis toward the driver's seat. Here, the “bar-shaped” is not limited to a thickness that is constant in the axial direction, but includes a shape that changes in thickness in the axial direction. In addition, the “operating lever to be tilted” is not limited to the actually tilting of the operating lever, but also includes a lever that does not tilt only by receiving an operating force applied to the tilting direction of the operating lever.

従って、この発明においては、右手又は左手で棒状の把持部を把持して操作レバーを第1軸回りに傾動操作するとき、操作レバーは中立位置から上向き又は下向きに動く。このため、操作レバーの第1軸回りの傾動操作によって車載作業機器の作用部を略上下方向に動作させることにより、操作レバーの操作方向と車載作業機器の作用部の動作方向とをより良く関連させることができる。また、操作レバーを第2軸回りに傾動操作するとき、操作レバーは中立位置から前向き又は後ろ向きに動く。このため、操作レバーの第2軸回りの傾動操作によって車載作業機器の作用部を略前後方向に動作させたり、車両を前進及び後進させたりすることにより、操作レバーの操作方向と、車載作業機器の作用部の動作方向、又は、車両の走行方向とをより良く関連させることができる。   Therefore, in the present invention, when the rod-shaped grasping portion is grasped with the right hand or the left hand and the operation lever is tilted about the first axis, the operation lever moves upward or downward from the neutral position. For this reason, the operating direction of the operating lever and the operating direction of the operating portion of the in-vehicle work device are more closely related by operating the operating portion of the in-vehicle working device in a substantially vertical direction by the tilting operation of the operating lever around the first axis Can be made. When the operation lever is tilted around the second axis, the operation lever moves forward or backward from the neutral position. For this reason, the operating direction of the operating lever and the in-vehicle working device can be determined by operating the action part of the in-vehicle working device in a substantially front-rear direction or by moving the vehicle forward and backward by tilting the operating lever around the second axis. It is possible to better relate the operation direction of the operating portion or the traveling direction of the vehicle.

また、請求項に記載の発明は、前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両前後方向に対する直交平面上から前記第2軸回りに運転席の前方へも所定角度だけ傾かせた。 According to the first aspect of the present invention, the axis of the gripping portion when the operation lever is in the neutral position is also determined from the plane perpendicular to the vehicle longitudinal direction to the front of the driver's seat around the second axis. Tilt only the angle.

従って、この発明においては、操作レバーを右手又は左手で把持して第2軸回りに傾動操作するときに、運転者が右前方に差し出した右手、あるいは、運転者が左前方に差し出した左手により、操作レバーを無理なく把持するとともに、手首の関節を動かし易い範囲で操作レバーを第2軸回りに傾動操作することができる。   Therefore, in the present invention, when the operation lever is gripped with the right hand or the left hand and tilted around the second axis, the right hand pushed out by the driver to the right front or the left hand pushed out by the driver to the left front The operating lever can be gripped without difficulty and the operating lever can be tilted around the second axis within a range in which the wrist joint can be easily moved.

また、請求項1に記載の発明は、前記操作レバーの前記把持部を、その軸線が前記第1軸回り及び前記第2軸回りの傾動中心から離れて位置するように構成し、前記操作レバーを、その前記中立位置のときに前記把持部を把持した手の重心位置が前記操作レバーの前記傾動中心の真上に位置するように構成した。
請求項に記載の発明は、請求項に記載の発明において、前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両左右方向に対する直交平面上から前記第1軸回りに運転席側に15〜165°の範囲内の角度だけ傾かせた。
The invention according to claim 1 is configured such that the grip portion of the operation lever is configured such that an axis thereof is located away from a tilt center around the first axis and the second axis, and the operation lever The center of gravity of the hand gripping the grip portion when in the neutral position is positioned directly above the tilt center of the operation lever.
According to a second aspect of the present invention, in the first aspect of the present invention, the axis of the grip portion when the operation lever is in the neutral position is arranged around the first axis from a plane perpendicular to the vehicle lateral direction. The driver's seat was tilted by an angle in the range of 15 to 165 °.

請求項に記載の発明は、請求項に記載の発明において、前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両左右方向に対する直交平面上から前記第1軸回りに運転席側に45〜75°の範囲内の角度だけ傾かせた。 According to a third aspect of the present invention, in the second aspect of the present invention, the axis of the grip portion when the operation lever is in the neutral position is arranged around the first axis from a plane perpendicular to the vehicle lateral direction. It was tilted toward the driver's seat by an angle within the range of 45 to 75 °.

請求項に記載の発明は、請求項1〜請求項のいずれか一項に記載の産業車両における運転操作装置と、前記操作レバーの第1軸回りでの傾動操作に基づいて車載作業機器における作用部の略上下方向での台動作を制御し、操作レバーの第2軸回りでの傾動操作に基づいて前記車載作業機器における作用部の略前後方向での第2動作、又は、車両の前進及び後進を制御する制御手段とを備えた。 According to a fourth aspect of the present invention, there is provided an in-vehicle work device based on a driving operation device for an industrial vehicle according to any one of the first to third aspects and a tilting operation of the operation lever around a first axis. And the second movement of the action part of the in-vehicle work device in the substantially front-rear direction based on the tilting operation of the operation lever around the second axis, or And control means for controlling forward and reverse travel.

従って、この発明においては、右手又は左手で棒状の把持部を把持して操作レバーを第1軸回りに中立位置から上向き又は下向きに傾動操作すると、制御手段が車載作業機器における作用部を略上向き又は下向きに動作させる。また、操作レバーを第2軸回りに中立位置から前向き又は後ろ向きに傾動操作すると、制御手段が車載作業機器における作用部を略前向き又は後ろ向きに動作させ、あるいは、車両を前進又は後進させる。   Therefore, in the present invention, when the control lever is tilted upward or downward from the neutral position around the first axis by gripping the rod-shaped gripping portion with the right hand or the left hand, the control means causes the action portion of the in-vehicle work device to face substantially upward. Or operate downward. Further, when the operation lever is tilted forward or backward from the neutral position around the second axis, the control means causes the action part in the in-vehicle work device to operate substantially forward or backward, or to advance or reverse the vehicle.

請求項に記載の発明は、請求項に記載の発明において、前記車載作業機器は産業車両としてのフォークリフト・トラックにおけるフォーク昇降及び傾動装置であって前記作用部はフォークであり、前記制御手段は、前記操作レバーの前記第1軸回りでの傾動操作に基づいて前記フォーク昇降及び傾動装置におけるフォークの前記第1動作としてのフォーク昇降動作を制御し、前記操作レバーの前記第2軸回りでの傾動操作に基づいて前記フォーク昇降及び傾動装置におけるフォークの前記第2動作としてのフォーク前傾及び後傾動作を制御する。 The invention according to claim 5 is the invention according to claim 4 , wherein the in-vehicle work device is a fork lifting and tilting device in a forklift truck as an industrial vehicle, the action part is a fork, and the control means Controls the fork elevating operation as the first operation of the fork in the fork elevating and tilting device based on the tilting operation of the operation lever about the first axis, and the operation lever about the second axis. Based on the tilting operation of the fork, the fork forward and backward tilting operations as the second motion of the fork in the fork lifting and tilting device are controlled.

従って、この発明においては、右手又は左手で棒状の把持部を把持して操作レバーを第1軸回りに中立位置から上向き又は下向きに傾動操作すると、制御手段がフォークリフト・トラックにおけるフォーク昇降及び傾動装置のフォークを上動又は下動させる。また、操作レバーを第2軸回りに中立位置から前向き又は後ろ向きに傾動操作すると、制御手段が前記フォークを前傾又は後傾させる。   Accordingly, in the present invention, when the control lever is tilted upward or downward from the neutral position around the first axis by gripping the rod-shaped gripping portion with the right hand or the left hand, the control means moves up and down the fork in the forklift truck. Move the fork up or down. When the operation lever is tilted forward or backward from the neutral position around the second axis, the control means tilts the fork forward or backward.

本発明によれば、右手又は左手で棒状の把持部を把持して操作レバーを第1軸回りに傾動操作するとき、操作レバーは中立位置から上向き又は下向きに動く。操作レバーを第2軸回りに傾動操作するとき、操作レバーは中立位置から前向き又は後ろ向きに動く。従って、交差する2方向に傾動操作される操作レバーを傾動操作する方向と、車載作業機器の作用部の動作方向、又は、車両の走行方向とをより良く関連させることができ、車載作業機器又は車両の運転操作性を向上することができる。   According to the present invention, when the operating lever is tilted around the first axis by gripping the rod-shaped gripping portion with the right hand or the left hand, the operating lever moves upward or downward from the neutral position. When the operation lever is tilted about the second axis, the operation lever moves forward or backward from the neutral position. Therefore, the direction in which the operation lever that is operated to tilt in the two intersecting directions is tilted, and the operation direction of the action part of the in-vehicle work device, or the traveling direction of the vehicle can be related better. The driving operability of the vehicle can be improved.

次に、本発明を具体化した一実施形態を図1〜図8に従って説明する。
図2に示すように、産業車両としてのフォークリフト・トラック10は、カウンタバランス型のバッテリ式であって、車体11の中央に運転台12が設けられている。運転台12には、図示しないバッテリを覆うバッテリフード13が設けられ、このバッテリフード13の上側には運転シート(運転席)14が設けられている。
Next, an embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 2, the forklift truck 10 as an industrial vehicle is a counterbalance type battery type, and a cab 12 is provided in the center of a vehicle body 11. The cab 12 is provided with a battery hood 13 that covers a battery (not shown), and an operation seat (driver's seat) 14 is provided above the battery hood 13.

車体11の前側には、車載作業機器としてのフォーク昇降及び傾動装置(以下、単にフォーク装置という。)15が設けられている。フォーク装置15は、荷が載置されるフォーク16を昇降可能に支持するマスト17、このマスト17に沿ってフォーク16を昇降動作(第1動作)させるリフトシリンダ18、マスト17と共にフォーク16を前傾及び後傾動作(第2動作)させるチルトシリンダ19等により構成されている。   A fork lifting and tilting device (hereinafter simply referred to as a fork device) 15 as an in-vehicle working device is provided on the front side of the vehicle body 11. The fork device 15 includes a mast 17 that supports a fork 16 on which a load is placed so as to be able to move up and down, a lift cylinder 18 that moves the fork 16 up and down (first operation) along the mast 17, and the fork 16 together with the mast 17. A tilt cylinder 19 or the like for tilting and tilting backward (second motion) is formed.

運転シート14の右側にはアームレスト20が設けられ、このアームレスト20の前端には、フォーク16を昇降及び傾動動作させるための操作レバー21が設けられている。本実施形態では、アームレスト20及び操作レバー21が運転操作装置を構成する。   An armrest 20 is provided on the right side of the operation seat 14, and an operation lever 21 for moving the fork 16 up and down and tilting is provided at the front end of the armrest 20. In the present embodiment, the armrest 20 and the operation lever 21 constitute a driving operation device.

図3に示すように、アームレスト20は、その前端部を除く部位の上側に腕載置部20aを備え、その前端右側には、車両左前斜め上方を向く取付面20bを備えている。この取付面20bには、前記操作レバー21が立設されている。操作レバー21は、運転者の右手で把持される棒状の把持部21aよりなる。   As shown in FIG. 3, the armrest 20 includes an arm placement portion 20 a on the upper side of the portion excluding the front end portion, and a mounting surface 20 b that faces obliquely upward on the left front of the vehicle on the right side of the front end. The operation lever 21 is erected on the mounting surface 20b. The operation lever 21 is composed of a rod-shaped gripping portion 21a that is gripped by the driver's right hand.

図1、図4及び図5に示すように、操作レバー21は、その中立位置において、前記取付面20bから車両左前斜め上方に延びている。操作レバー21は、車両前後方向に延びる第1軸A1回りと、車両左右方向に延びる第2軸A2回りとにおいて、それぞれ中立位置から両方向に傾動操作されるように構成されている。このとき、操作レバー21の第1軸A1回りの傾動中心と、第2軸A2回りの傾動中心とは、共に第1軸A1と第2軸A2との交点Cにある。また、第1軸A1は主として車両前後方向に延びていればよく、例えば車両前上方に向かうように水平面に対して傾いていてもよい。同様に、第2軸A2は主として車両左右方向に延びていればよく、例えば車両左上方に向かうように水平面に対して傾いていてもよい。   As shown in FIGS. 1, 4, and 5, the operation lever 21 extends obliquely upward to the front left of the vehicle from the mounting surface 20 b in the neutral position. The operation lever 21 is configured to be tilted in both directions from a neutral position around a first axis A1 extending in the vehicle front-rear direction and around a second axis A2 extending in the vehicle left-right direction. At this time, the tilt center of the operation lever 21 around the first axis A1 and the tilt center around the second axis A2 are both at the intersection C between the first axis A1 and the second axis A2. Further, the first axis A1 only needs to extend mainly in the vehicle front-rear direction, and may be inclined with respect to the horizontal plane so as to be directed upward in front of the vehicle, for example. Similarly, the second axis A2 only needs to extend mainly in the left-right direction of the vehicle. For example, the second axis A2 may be inclined with respect to the horizontal plane so as to be directed to the upper left of the vehicle.

操作レバー21は、第1軸A1回り及び第2軸A2回りの傾動中心(交点C)から直線状に延びるように構成されている。そして、図1及び図4に示すように、中立位置のときの操作レバー21は、把持部21aを含む操作レバー21の軸線ALが、第2軸A2(車両左右方向)に対する直交平面P1から第1軸A1回りに運転シート14側へ所定の角度α=60°だけ傾いている(なお、図1〜5、図7,8では、図示の便宜上、αは60°よりも小さくなっている。)。この角度αとしては、15〜165°の範囲内であれば操作レバー21を傾動操作する方向とフォーク16の昇降動作する方向とをより良く関連させることができるという点でよく、45〜75°の範囲内であれば把持部21aを把持した状態で操作レバー21を傾動操作しやすいという点でより好ましく、55〜65°の範囲内であれば最も好ましい。   The operation lever 21 is configured to extend linearly from the tilt center (intersection point C) around the first axis A1 and around the second axis A2. As shown in FIGS. 1 and 4, the operation lever 21 at the neutral position has the axis AL of the operation lever 21 including the grip portion 21a from the orthogonal plane P1 to the second axis A2 (the vehicle left-right direction). Inclined by a predetermined angle α = 60 ° around one axis A1 toward the operation seat 14 (Note that in FIGS. 1 to 5 and FIGS. 7 and 8, α is smaller than 60 ° for convenience of illustration. ). As the angle α, if it is within the range of 15 to 165 °, the direction in which the operation lever 21 is tilted and the direction in which the fork 16 moves up and down can be better related to each other. Is more preferable in terms of easy tilting operation of the operation lever 21 with the gripping portion 21a being gripped, and is most preferably in the range of 55 to 65 °.

また、図1及び図5に示すように、中立位置のときの操作レバー21は、把持部21aを含む操作レバー21全体の軸線ALが、第1軸A1(車両前後方向)に対する直交平面P2から運転シート14の前方へ所定の角度β°=22.5°だけ傾いている(なお、図1〜5、図7,8では、図示の便宜上、βは22.5°よりも大きくなっている。)。この角度βとしては、0〜45°の範囲内であればよく、15〜30°の範囲内であればより好ましく、20〜25°の範囲内であれば最も好ましい。   As shown in FIGS. 1 and 5, the operation lever 21 at the neutral position has an axis AL of the entire operation lever 21 including the gripping portion 21 a from the orthogonal plane P <b> 2 with respect to the first axis A <b> 1 (vehicle longitudinal direction). Inclined by a predetermined angle β ° = 22.5 ° forward of the driving seat 14 (In FIGS. 1 to 5 and FIGS. 7 and 8, β is larger than 22.5 ° for convenience of illustration. .) The angle β may be in the range of 0 to 45 °, more preferably in the range of 15 to 30 °, and most preferably in the range of 20 to 25 °.

次に、フォークリフト・トラック10においてフォーク装置15を動作させるための荷役制御系について図6を用いて説明する。
操作レバー21の第1軸A1回り及び第2軸A2回りにおける中立位置からの傾動方向と、その各傾動方向における中立位置からの傾動角とは、検出部22によって検出される。この検出部22は、車体11内部に設けられたコントローラ(制御手段)23の入力側に電気的に接続されている。検出部22は、操作レバー21が第1軸A1回りにいずれかの方向に傾動操作されるときに、その方向における中立位置からの傾動角に対応した信号をコントローラ23に出力する。また、検出部22は、操作レバー21が第2軸A2回りにいずれかの方向に傾動操作されるときに、その方向における中立位置からの傾動角に対応した信号をコントローラ23に出力する。
Next, a cargo handling control system for operating the fork device 15 in the forklift truck 10 will be described with reference to FIG.
The tilting direction from the neutral position around the first axis A1 and the second axis A2 of the operation lever 21 and the tilt angle from the neutral position in each tilt direction are detected by the detection unit 22. The detection unit 22 is electrically connected to the input side of a controller (control means) 23 provided inside the vehicle body 11. When the operation lever 21 is tilted in any direction around the first axis A1, the detection unit 22 outputs a signal corresponding to the tilt angle from the neutral position in that direction to the controller 23. Further, when the operation lever 21 is tilted in any direction around the second axis A2, the detection unit 22 outputs a signal corresponding to the tilt angle from the neutral position in that direction to the controller 23.

コントローラ23の出力側には、前記リフトシリンダ18に対して作動油を供給し、又は、リフトシリンダ18から作動油を排出するためのフォーク昇降用電磁制御弁24が電気的に接続されている。また、コントローラ23の出力側には、前記チルトシリンダ19に対して作動油を供給し、又は、チルトシリンダ19から作動油を排出するためのフォーク傾動用電磁制御弁25が電気的に接続されている。   On the output side of the controller 23, a fork lifting electromagnetic control valve 24 for supplying hydraulic oil to the lift cylinder 18 or discharging the hydraulic oil from the lift cylinder 18 is electrically connected. Further, a fork tilting electromagnetic control valve 25 for supplying hydraulic oil to the tilt cylinder 19 or discharging the hydraulic oil from the tilt cylinder 19 is electrically connected to the output side of the controller 23. Yes.

フォーク昇降用電磁制御弁24及びフォーク傾動用電磁制御弁25には、それぞれ供給油路26を介して油圧ポンプ27が接続され、また、それぞれ戻り油路28を介して油タンク29が接続されている。油圧ポンプ27には、この油圧ポンプ27を駆動する荷役用電気モータ30が連結されている。荷役用電気モータ30は、コントローラ23の出力側に電気的に接続されている。本実施形態では、検出部22、コントローラ23、フォーク昇降用電磁制御弁24、フォーク傾動用電磁制御弁25、油圧ポンプ27及び荷役用電気モータ30が運転制御装置を構成する。   A hydraulic pump 27 is connected to the fork lifting electromagnetic control valve 24 and the fork tilting electromagnetic control valve 25 via a supply oil passage 26, and an oil tank 29 is connected via a return oil passage 28, respectively. Yes. A cargo handling electric motor 30 that drives the hydraulic pump 27 is connected to the hydraulic pump 27. The electric motor 30 for cargo handling is electrically connected to the output side of the controller 23. In the present embodiment, the detection unit 22, the controller 23, the fork elevating electromagnetic control valve 24, the fork tilting electromagnetic control valve 25, the hydraulic pump 27, and the cargo handling electric motor 30 constitute an operation control device.

コントローラ23は、その起動中に荷役用電気モータ30を運転制御し、油圧ポンプ27から各電磁制御弁24,25に作動油を供給する。また、コントローラ23は、操作レバー21の第1軸A1回りの傾動操作に対応して検出部22から入力する信号に基づいてフォーク昇降用電磁制御弁24を制御し、操作レバー21の第1軸A1回りの傾動方向及び傾動角に応じた動作方向及び動作速度でフォーク16を昇降動作させる。同様に、コントローラ23は、操作レバー21の第2軸A2回りの傾動操作に対応して検出部22から入力する信号に基づいてフォーク傾動用電磁制御弁25を制御し、操作レバー21の第2軸A2回りの傾動方向及び傾動角に応じた動作方向及び動作速度でフォーク16を傾動動作させる。   The controller 23 controls the operation of the cargo handling electric motor 30 during the start-up, and supplies hydraulic oil from the hydraulic pump 27 to the electromagnetic control valves 24 and 25. Further, the controller 23 controls the fork elevating electromagnetic control valve 24 based on a signal input from the detection unit 22 in response to the tilting operation of the operation lever 21 around the first axis A1, and the first axis of the operation lever 21 is controlled. The fork 16 is moved up and down at an operation direction and an operation speed according to the tilt direction and tilt angle around A1. Similarly, the controller 23 controls the fork tilting electromagnetic control valve 25 based on a signal input from the detection unit 22 in response to the tilting operation of the operation lever 21 around the second axis A2, and the second of the operation lever 21 is controlled. The fork 16 is tilted with an operation direction and an operation speed corresponding to the tilt direction and tilt angle around the axis A2.

次に、以上のように構成された本実施形態の作用について説明する。
フォーク16を昇降動作させようするときには、図7に示すように、運転者は右手RHで把持部21aを把持して操作レバー21を第1軸A1回りに傾動操作する。ここで、操作レバー21は、運転者が右手で把持した棒状の把持部21aを傾動操作する構成であり、把持部21aを含む操作レバー21の軸線ALは第2軸A2に対する直交平面P1から第1軸A1回りに運転シート14側に角度α=60°だけ傾いている。このため、運転者が右手RHで把持部21aを把持した操作レバー21を第1軸A1回りに傾動操作するとき、操作レバー21は中立位置から上向き又は下向きに動く。さらに、操作レバー21は、第1軸A1回りの傾動中心から直線状に延びるように構成されているので、操作レバー21を第1軸A1回りに傾動操作するとき、操作レバー21が中立位置から車両左右方向においてより小さく動くとともに、上下方向においてより大きく動くようになる。そして、操作レバー21を中立位置から上方へ傾動操作することでフォーク16が上昇動作し、操作レバー21を中立位置から下方へ傾動動作することでフォーク16が下降動作する。
Next, the operation of the present embodiment configured as described above will be described.
When the fork 16 is moved up and down, as shown in FIG. 7, the driver grips the grip portion 21a with the right hand RH and tilts the operation lever 21 around the first axis A1. Here, the operation lever 21 is configured to tilt and operate the rod-shaped gripping portion 21a gripped by the driver with the right hand, and the axis AL of the operation lever 21 including the gripping portion 21a extends from the orthogonal plane P1 to the second axis A2. The angle α = 60 ° is inclined toward the operation seat 14 around one axis A1. For this reason, when the driver tilts the operation lever 21 holding the grip portion 21a with the right hand RH around the first axis A1, the operation lever 21 moves upward or downward from the neutral position. Further, since the operation lever 21 is configured to linearly extend from the tilt center around the first axis A1, when the operation lever 21 is tilted around the first axis A1, the operation lever 21 is moved from the neutral position. The vehicle moves smaller in the left-right direction of the vehicle and moves more greatly in the vertical direction. Then, the fork 16 is lifted by tilting the operating lever 21 upward from the neutral position, and the fork 16 is lowered by tilting the operating lever 21 downward from the neutral position.

また、フォーク16を前傾又は後傾動作させようとするときには、図8に示すように、運転者は右手で把持した操作レバー21を第2軸A2回りに傾動操作する。ここで、操作レバー21は、把持部21aを含む操作レバー21全体の軸線ALが第1軸A1に対する直交平面P2から第2軸A2回りに運転席の前方に角度β=22.5°だけ傾いている。このため、運転者が右手RHで把持部21aを把持して操作レバー21を第2軸A2回りに傾動操作するとき、操作レバー21は中立位置から車両前方向又は後方向に動く。さらに、操作レバー21は、第2軸A2回りにおいても第1軸A1回りと同様に、中立位置から上下方向においてより小さく動くとともに、車両前後方向においてより大きく動く。そして、操作レバー21を中立位置から前方へ傾動操作することでフォーク16が前傾動作し、操作レバー21を中立位置から後方へ傾動操作することでフォーク16が後傾動作する。   When the fork 16 is to be tilted forward or backward, as shown in FIG. 8, the driver tilts the operation lever 21 held by the right hand around the second axis A2. Here, in the operation lever 21, the axis AL of the entire operation lever 21 including the gripping portion 21a is inclined by an angle β = 22.5 ° forward of the driver's seat around the second axis A2 from the orthogonal plane P2 with respect to the first axis A1. ing. For this reason, when the driver grips the grip portion 21a with the right hand RH and tilts the operation lever 21 about the second axis A2, the operation lever 21 moves forward or backward from the neutral position. Further, the operation lever 21 moves smaller around the second axis A2 in the up-down direction from the neutral position as well as around the second axis A1, and also moves more greatly in the vehicle front-rear direction. Then, the fork 16 is tilted forward by tilting the operation lever 21 forward from the neutral position, and the fork 16 is tilted backward by tilting the operation lever 21 backward from the neutral position.

次に、以上詳述した本実施形態が有する効果を列記する。
(1) 本実施形態によれば、運転者が右手で把持部21aを把持した操作レバー21を第1軸A1回りに中立位置から上下に傾動操作することでフォーク16を昇降動作させることができ、また、操作レバー21を第2軸A2回りに中立位置から車両前後方向に傾動操作することでフォーク16を前後傾動作させることができる。
Next, effects of the present embodiment described in detail above will be listed.
(1) According to the present embodiment, the fork 16 can be moved up and down by tilting the operating lever 21 holding the grip 21a with the right hand up and down from the neutral position around the first axis A1. Further, the fork 16 can be tilted back and forth by tilting the operation lever 21 around the second axis A2 from the neutral position in the vehicle front-rear direction.

従って、操作レバー21を中立位置から傾動操作するときの向きと、フォーク16の動作方向とをより良く関連させることができるので、運転者が操作レバー21を直感的に操作することができる。このため、1本の操作レバー21を交差する2方向に傾動操作させてフォーク16の昇降動作と前後傾動作とを行うようにしたフォークリフト・トラック10に不慣れな運転者であっても、操作レバー21の操作に慣れを必要としない。この結果、フォーク16の昇降動作及び前後傾動作を別々の操作レバーで行うように構成されたフォークリフト・トラックから本実施形態のフォークリフト・トラック10に乗り換えたときに、運転者の肉体的及び精神的な負担を軽減することができる。   Therefore, since the direction when the operation lever 21 is tilted from the neutral position and the operation direction of the fork 16 can be related better, the driver can operate the operation lever 21 intuitively. Therefore, even if the driver is unfamiliar with the forklift truck 10 in which the fork 16 is moved up and down and tilted back and forth by tilting the operation lever 21 in two directions intersecting with each other, the operation lever Familiarity with the operation of 21 is not required. As a result, when the forklift truck configured to perform the raising / lowering operation and the forward / backward tilting operation of the fork 16 with separate operation levers is transferred to the forklift truck 10 of the present embodiment, the physical and mental of the driver. Burden can be reduced.

(2) 操作レバー21を、第1軸A1回り及び第2軸A2回りにおける傾動中心から直線状に延びるように構成した。このため、把持部の軸線が傾動中心から外れるように構成した操作レバーに較べて、操作レバー21を第1軸A1回りに傾動操作するときに、把持部21aが中立位置から車両左右方向においてより小さく動くとともに、上下方向においてより大きく動く。同様に、操作レバー21を第2軸A2回りに傾動操作するときに、把持部21aが中立位置から上下方向においてより小さく動くとともに、車両左右方向においてより大きく動く。従って、操作レバー21の操作方向と、フォーク16の動作方向とをより明確に関連させることができる。   (2) The operation lever 21 is configured to extend linearly from the tilt center around the first axis A1 and around the second axis A2. For this reason, when the operating lever 21 is tilted around the first axis A1 as compared with an operating lever configured such that the axis of the gripping part deviates from the tilting center, the gripping part 21a is more in the vehicle left-right direction from the neutral position. Moves smaller and moves more vertically. Similarly, when the operation lever 21 is tilted about the second axis A2, the gripping portion 21a moves smaller in the vertical direction from the neutral position and moves more in the vehicle left-right direction. Therefore, the operation direction of the operation lever 21 and the operation direction of the fork 16 can be associated more clearly.

(3) 操作レバー21が中立位置のときの把持部21aを含む操作レバー21の軸線ALを、車両前後方向に対する直交平面P2から第2軸A2回りに運転シート14の前方に角度βだけ傾かせた。このため、運転者は、右手で把持部21aを無理なく把持するとともに、手首の関節を動かし易い範囲で操作レバー21を第2軸A2回りに傾動操作することができる。   (3) The axis AL of the operating lever 21 including the grip portion 21a when the operating lever 21 is in the neutral position is tilted by an angle β forward of the driver seat 14 around the second axis A2 from the orthogonal plane P2 with respect to the vehicle longitudinal direction. It was. For this reason, the driver can grip the grip portion 21a with his / her right hand and tilt the operation lever 21 around the second axis A2 within a range in which the wrist joint can be easily moved.

次に、上記実施形態以外の実施形態を記載する。
○ 前記フォークリフト・トラック10において操作レバー21を設置する位置は、運転者が右手又は左手で操作レバー21を第1軸A1回り及び第2軸A2回りに傾動操作することができる位置であればよい。この位置は、図9に例示するように、車両左右方向視で、運転シート14に着座した運転者の肩よりも前方、尻よりも上方、かつ、頭よりも下方において右手又は左手が届く範囲M内であればよい。また、図10に例示するように、鉛直方向視で、運転シート14の背もたれ部14aよりも前方において右手又は左手が届く範囲(運転シート14の座部14bの前部を含む。)N内であればよい。すなわち、操作レバー21を車両左右方向において運転シート14の中央に対応する位置に設置するとともに、右手又は左手で操作するように構成してもよい。この場合、「運転席側」とは、車両左右方向における運転シート14の中央に対する右側又は左側を含む。
Next, embodiments other than the above embodiment will be described.
The position where the operation lever 21 is installed in the forklift truck 10 may be a position where the driver can tilt the operation lever 21 around the first axis A1 and the second axis A2 with the right hand or the left hand. . As illustrated in FIG. 9, this position is a range in which the right hand or the left hand can reach in front of the driver's shoulder seated on the driving seat 14, above the shoulders, above the hips, and below the head as viewed in the vehicle left-right direction. It may be within M. Further, as illustrated in FIG. 10, in a vertical direction view, within the range (including the front part of the seat 14 b of the driving seat 14) N that the right hand or the left hand reaches in front of the backrest 14 a of the driving seat 14. I just need it. That is, the operation lever 21 may be installed at a position corresponding to the center of the driving seat 14 in the left-right direction of the vehicle, and may be configured to be operated with the right hand or the left hand. In this case, the “driver's seat side” includes the right side or the left side with respect to the center of the driver's seat 14 in the vehicle left-right direction.

○ 操作レバー21は、第1軸A1回りの傾動中心と、第2軸A2回りの傾動中心とが一致しない構成であってもよい。この場合、操作レバー21は、第1軸A1回り又は第2軸A2回りのいずれかの傾動中心から直線状に延びる構成であればよい。   The operation lever 21 may be configured such that the tilt center around the first axis A1 does not coincide with the tilt center around the second axis A2. In this case, the operation lever 21 may be configured to extend linearly from either the tilt center around the first axis A1 or the second axis A2.

○ 操作レバー21の把持部21aは、この把持部21aを把持した右手の各指の位置に合わせて、各指が入る凹部が形成された構成であってもよい。
○ 操作レバーは、実際に傾動する構成に限らず、操作レバーに対し第1軸回り及び第2軸回りに傾動させる向きに加わる操作力を受けるだけで傾動しないものであってもよい。この場合、操作レバーに加わる操作力を検出し、この操作力の方向及び大きさに基づいてフォーク16の動作方向及び動作速度を制御すればよい。
The grip part 21a of the operation lever 21 may be configured such that a concave part into which each finger enters is formed in accordance with the position of each finger of the right hand that grips the grip part 21a.
The operation lever is not limited to a configuration that actually tilts, and may be one that does not tilt only by receiving an operation force applied to the operation lever in a direction of tilting around the first axis and the second axis. In this case, an operation force applied to the operation lever may be detected, and the operation direction and operation speed of the fork 16 may be controlled based on the direction and magnitude of the operation force.

○ 本発明を、フォークの昇降動作と前後傾動作とを行うフォーク昇降及び傾動装置を備えたリーチ型フォークリフト・トラックに具体化してもよい。
○ 本発明を、フォークの昇降動作のみを行うフォーク昇降装置を備えたカウンタバランス型又はリーチ型のフォークリフト・トラックに具体化する。そして、操作レバー21に対する第1軸A1回りでの傾動操作に基づいてコントローラ(制御手段)が荷役用電気モータを制御してフォーク16の昇降動作を制御する。また、操作レバー21に対する第2軸A2回りでの傾動操作に基づいてコントローラが走行用電気モータを制御して車両の前後進を制御するように構成してもよい。
The present invention may be embodied in a reach-type forklift truck provided with a fork lifting and tilting device that performs a lifting operation and a tilting operation of the fork.
The present invention is embodied in a counterbalance type or reach type forklift truck equipped with a fork lifting device that performs only the lifting and lowering operation of the fork. The controller (control means) controls the lifting / lowering operation of the fork 16 based on the tilting operation around the first axis A1 with respect to the operating lever 21. Further, the controller may control the forward / backward movement of the vehicle by controlling the electric motor for traveling based on the tilting operation around the second axis A2 with respect to the operation lever 21.

○ 本発明を、車載作業機器としてのショベル昇降及び傾動装置を備え、作用部としてのショベルを昇降動作(第1動作)及び前後傾動作(第2動作)させる産業車両としてのショベルローダに具体化する。すなわち、操作レバーの第1軸A1回りでの傾動動作によりショベルを昇降動作させ、操作レバーの第2軸A2回りでの傾動動作によりショベルを前後傾動作させる構成とする。   The present invention is embodied in an excavator loader as an industrial vehicle that includes an excavator elevating and tilting device as an in-vehicle work device, and that causes the excavator as an action unit to move up and down (first operation) and forward and backward tilt (second operation). To do. That is, the excavator is moved up and down by a tilting operation around the first axis A1 of the operating lever, and the excavator is tilted back and forth by a tilting operation around the second axis A2 of the operating lever.

○ 上記のように、傾動中心(交点C)から直線状に延びる操作レバー21に代えて、図11(a)、(b)に示すような、折れ曲がった操作レバー40を設けた構成とする。この操作レバー40の把持部41は、その軸線ALが、操作レバー40の第1軸A1回り及び第2軸A2回りの傾動中心(交点C)から離れた位置にある。そして、操作レバー40を、操作レバー40が中立位置のときに、把持部41を把持した右手RHにおいて想定される重心位置Gが操作レバー40の傾動中心の真上に位置するように構成する。このような構成によれば、操作レバー40が中立位置のときに、把持部41を把持した右手RHを運転者が意識的に支えなくても操作レバー40が中立位置から傾動しないので、中立位置における操作レバー40の保持が楽になる。   As described above, a bent operation lever 40 as shown in FIGS. 11A and 11B is provided in place of the operation lever 21 extending linearly from the tilt center (intersection point C). The grip portion 41 of the operation lever 40 has an axis AL at a position away from the tilt center (intersection C) around the first axis A1 and the second axis A2 of the operation lever 40. Then, the operation lever 40 is configured such that the center of gravity position G assumed in the right hand RH that holds the holding portion 41 is located immediately above the tilting center of the operation lever 40 when the operation lever 40 is in the neutral position. According to such a configuration, when the operation lever 40 is in the neutral position, the operation lever 40 does not tilt from the neutral position even if the driver does not consciously support the right hand RH that grips the grip portion 41. This makes it easier to hold the operation lever 40.

以下、前記各実施形態から把握される技術的思想を列記する。
(1) 記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両前後方向に対する直交平面上から前記第2軸回りに運転席の前方へも0〜45°の範囲内の角度だけ傾かせた。
The technical ideas grasped from each of the embodiments will be listed below.
(1) a pre-Symbol the grip of the axis at the time the operating lever is in the neutral position, from the orthogonal plane relative to the vehicle longitudinal direction in the range of 0 to 45 ° even forward of the driver's seat to the second axis Tilt only the angle .

(2) 上記技術的思想(1)に記載の産業車両における運転操作装置において、前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両前後方向に対する直交平面上から前記第2軸回りに運転席の前方へも15〜30°の範囲内の角度だけ傾かせた産業車両における運転操作装置。   (2) In the driving operation device for an industrial vehicle described in the technical idea (1), the axis of the grip portion when the operation lever is in the neutral position is set to be the second from the plane orthogonal to the vehicle longitudinal direction. A driving operation device in an industrial vehicle that is tilted by an angle within a range of 15 to 30 ° around the axis and in front of the driver's seat.

(3) 上記技術的思想(2)に記載の産業車両における運転操作装置において、前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両前後方向に対する直交平面上から前記第2軸回りに運転席の前方へも20〜25°の範囲内の角度だけ傾かせた産業車両における運転操作装置。   (3) In the driving operation device for an industrial vehicle described in the technical idea (2), the axis of the grip portion when the operation lever is in the neutral position is set from the plane orthogonal to the vehicle front-rear direction. A driving operation device in an industrial vehicle that is tilted by an angle within a range of 20 to 25 ° around an axis to the front of the driver's seat.

(4) 記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両左右方向に対する直交平面上から前記第1軸回りに運転席側に55〜65°の範囲内の角度だけ傾かせた。 (4) a pre-Symbol axis of the grip part at the time the operating lever is in the neutral position by an angle in the range from the orthogonal plane relative to the vehicle lateral direction of 55 to 65 ° to the driver's side to said first axis Tilted .

(5) 記車載作業機器は産業車両としてのフォークリフト・トラックにおけるフォーク昇降装置であって前記作用部はフォークであり、前記制御手段は、前記操作レバーの前記第1軸回りでの傾動操作に基づいて前記フォーク昇降装置におけるフォークの前記第1動作としてのフォーク昇降動作を制御し、前記操作レバーの前記第2軸回りでの傾動操作に基づいて車両の前進及び後進を制御する。 (5) the working part prior SL-vehicle working equipment is a fork lift device in fork-lift trucks as industrial vehicle is a fork, the control means, the tilting operation in the first axis of the operating lever based fork lift operation as the first operation of the fork in the fork lift device controlled by, that controls the forward and reverse of the vehicle based on the tilting operation in the second axis of the operating lever.

(6) 前記産業車両における運転制御装置を備えた産業車両。
(7) 前記産業車両における運転制御装置を備えたフォークリフト・トラック。
(6) industrial vehicle provided with an operation control device in the industrial vehicle.
(7) fork-lift truck with a driving control device of the industrial vehicle.

一実施形態のフォークリフト・トラックに設けられた運転操作装置を示す側面図。The side view which shows the driving operation apparatus provided in the forklift truck of one Embodiment. フォークリフト・トラックを示す側面図。The side view which shows a forklift truck. 運転操作装置を示す斜視図。The perspective view which shows a driving | operation operation apparatus. 運転操作装置を示す正面図。The front view which shows a driving | operation operation apparatus. 運転操作装置を示す平面図。The top view which shows a driving | operation operation apparatus. 荷役制御装置を示すブロック図。The block diagram which shows a cargo handling control apparatus. 操作レバーの操作状態を示す運転操作装置の正面図。The front view of the driving operation apparatus which shows the operation state of an operation lever. 同じく操作状態を示す運転操作装置の側面図。The side view of the driving operation apparatus which similarly shows the operation state. 他の実施形態における操作レバーの設置位置を示す運転台の側面図。The side view of the driver's cab which shows the installation position of the operation lever in other embodiment. 同じく運転台の平面図。The top view of a driver's cab similarly. (a)は他の実施形態における操作レバーを示す側面図、(b)は同じく正面図。(A) is a side view which shows the operation lever in other embodiment, (b) is a front view similarly.

符号の説明Explanation of symbols

10…産業車両としてのフォークリフト・トラック、14…運転席としての運転シート、15…車載作業機器としてのフォーク昇降及び傾動装置、16…作用部としてのフォーク、20…運転操作装置を構成するアームレスト、21…同じく操作レバー、21a…把持部、22…運転制御装置を構成する検出部、23…運転制御装置を構成する制御手段としてのコントローラ、24…運転制御装置を構成するフォーク昇降用電磁制御弁、25…同じくフォーク傾動用電磁制御弁、27…同じく油圧ポンプ、30…同じく荷役用電気モータ、40…操作レバー、41…把持部、A1…第1軸、A2…第2軸、AL…(操作レバーの)軸線、C…(操作レバーの)傾動中心、P1,P2…直交平面、RH…右手、α,β…角度。   DESCRIPTION OF SYMBOLS 10 ... Forklift truck as an industrial vehicle, 14 ... Driving seat as a driver's seat, 15 ... Fork raising / lowering and tilting device as on-vehicle work equipment, 16 ... Fork as an action part, 20 ... Armrest which comprises driving operation device, 21 ... same operating lever, 21a ... gripping part, 22 ... detection part constituting the operation control device, 23 ... controller as control means constituting the operation control device, 24 ... fork lifting electromagnetic control valve constituting the operation control device 25 ... same fork tilting electromagnetic control valve, 27 ... same hydraulic pump, 30 ... same electric motor for cargo handling, 40 ... operating lever, 41 ... gripping part, A1 ... first axis, A2 ... second axis, AL ... ( Axis of operation lever, C ... center of tilting (operation lever), P1, P2 ... orthogonal plane, RH ... right hand, α, β ... angles.

Claims (5)

略棒状の把持部を有し、主として車両前後方向に延びる第1軸回りと、主として車両左右方向に延びる第2軸回りとにおいて、それぞれ中立位置から両方向に傾動操作される操作レバーを備えた産業車両における運転操作装置であって、
前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両左右方向に対する直交平面上から前記第1軸回りに運転席側に所定角度だけ傾かせるとともに前記車両前後方向に対する直交平面上から前記第2軸回りに運転席の前方へも所定角度だけ傾かせるように構成し、
前記操作レバーの前記把持部を、その軸線が前記第1軸回り及び前記第2軸回りの傾動中心から離れて位置するように構成し、
前記操作レバーを、その前記中立位置のときに前記把持部を把持した手の重心位置が前記操作レバーの前記傾動中心の真上に位置するように構成した産業車両における運転操作装置。
An industry having a substantially rod-shaped gripping portion and having an operation lever that is tilted in both directions from a neutral position around a first axis extending mainly in the vehicle longitudinal direction and around a second axis extending mainly in the vehicle left-right direction. A driving operation device in a vehicle,
Wherein the axis of the grip part at the time the operating lever is in the neutral position, the vehicle orthogonal planes from the plane orthogonal with respect to the horizontal direction with respect to only tilt allowed Rutotomoni the vehicle longitudinal direction by a predetermined angle to the driver's side to said first axis It is configured to be inclined at a predetermined angle from above to the front of the driver's seat around the second axis,
The grip portion of the operation lever is configured such that its axis is located away from the tilt centers around the first axis and the second axis,
A driving operation device in an industrial vehicle, wherein the operation lever is configured such that a gravity center position of a hand holding the holding portion is located immediately above the tilt center of the operation lever when the operation lever is in the neutral position .
前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両左右方向に対する直交平面上から前記第1軸回りに運転席側に15〜165°の範囲内の角度だけ傾かせた請求項1に記載の産業車両における運転操作装置。 The axis of the gripping portion when the operation lever is in the neutral position is tilted by an angle within a range of 15 to 165 degrees toward the driver's seat around the first axis from a plane orthogonal to the vehicle lateral direction. Item 2. A driving operation device for an industrial vehicle according to Item 1. 前記操作レバーが前記中立位置のときにおける前記把持部の軸線を、前記車両左右方向に対する直交平面上から前記第1軸回りに運転席側に45〜75°の範囲内の角度だけ傾かせた請求項2に記載の産業車両における運転操作装置。 The axis of the gripping portion when the operation lever is in the neutral position is tilted from the plane orthogonal to the vehicle lateral direction to the driver's seat side by an angle in the range of 45 to 75 ° around the first axis. Item 3. A driving operation device for an industrial vehicle according to Item 2. 請求項1〜請求項3のいずれか一項に記載の産業車両における運転操作装置と、A driving operation device in an industrial vehicle according to any one of claims 1 to 3,
前記操作レバーの第1軸回りでの傾動操作に基づいて車載作業機器における作用部の略上下方向での第1動作を制御し、操作レバーの第2軸回りでの傾動操作に基づいて前記車載作業機器における作用部の略前後方向での第2動作、又は、車両の前進及び後進を制御する制御手段とを備えた産業車両の運転制御装置。Based on the tilting operation of the operation lever around the first axis, the first operation of the action part in the in-vehicle work device is controlled in the substantially vertical direction, and the on-vehicle operation is performed based on the tilting operation of the operation lever around the second axis. An operation control apparatus for an industrial vehicle, comprising: a second operation in a substantially front-rear direction of an action part in a work device; or a control unit that controls forward and reverse of the vehicle.
前記車載作業機器は産業車両としてのフォークリフト・トラックにおけるフォーク昇降及び傾動装置であって前記作用部はフォークであり、The in-vehicle work device is a fork lifting and tilting device in a forklift truck as an industrial vehicle, and the action part is a fork,
前記制御手段は、前記操作レバーの前記第1軸回りでの傾動操作に基づいて前記フォーク昇降及び傾動装置におけるフォークの前記第1動作としてのフォーク昇降動作を制御し、前記操作レバーの前記第2軸回りでの傾動操作に基づいて前記フォーク昇降及び傾動装置におけるフォークの前記第2動作としてのフォーク前傾及び後傾動作を制御する請求項4に記載の産業車両の運転制御装置。The control means controls the fork elevating operation as the first operation of the fork in the fork elevating and tilting device based on the tilting operation of the operation lever around the first axis, and the second of the operating lever. The industrial vehicle operation control device according to claim 4, wherein the fork forward / backward tilting operation as the second motion of the fork in the fork lifting / lowering device is controlled based on a tilting operation around an axis.
JP2004194709A 2004-06-30 2004-06-30 Industrial vehicle driving operation device and driving control device Expired - Fee Related JP4471749B2 (en)

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JP2004194709A JP4471749B2 (en) 2004-06-30 2004-06-30 Industrial vehicle driving operation device and driving control device
DE200510030329 DE102005030329A1 (en) 2004-06-30 2005-06-29 Fork raising, lowering and tilting apparatus for forklift truck has bidirectional control lever that is initially set in neutral position, and can be inclined in left and right directions with respect to axis line of driver's seat

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