JP4476030B2 - Tire wear detection device and industrial vehicle equipped with the same - Google Patents

Description

  The present invention relates to a tire wear detection device that detects wear of a tire used for a wheel of an industrial vehicle, and an industrial vehicle including the tire wear detection device.

  Conventionally, a wheel used in an industrial vehicle is made of, for example, a metal rim and a rubber tire provided on the outer periphery of the rim. Exchanges are being made. Here, the degree of wear of the tire may be visually confirmed, but such confirmation work is very troublesome and naturally has a drawback that it cannot be confirmed while the vehicle is running. . Therefore, as described in the following patent document, attempts have been made to quantitatively detect tire wear with a detection device and notify the driver or vehicle manager.

  Patent Document 1 describes a technique for calculating the remaining life of a tire from a running distance and displaying the remaining life. Patent Document 2 describes wear of a driving wheel based on a speed ratio between the driving wheel and the driven wheel. A technique for judging and issuing an alarm is described. In addition, although it is not abrasion, the technique which suppresses a vehicle speed when abnormality, such as a fall of tire air pressure generate | occur | produces, for example as described in patent document 3, is proposed.

Japanese Utility Model Publication No. 58-23705 JP 2004-43165 A JP 2002-317679 A

  Now, tire wear progresses as the vehicle travels, so tire wear can be detected from the travel distance as described above. However, for example, even if a so-called stationary operation is performed in a state where the vehicle is stopped, the tire of the steered wheel is worn, so that the wear proceeds regardless of the travel distance. That is, when tire wear is detected with respect to a steered wheel, the wear situation cannot be accurately grasped unless such points are taken into consideration.

  Therefore, the present invention has an object to provide a tire wear detection device capable of accurately detecting tire wear with respect to a steered wheel, and to improve safety by accurately detecting tire wear in an industrial vehicle. It is aimed.

  In order to achieve the above object, a tire wear detection device according to the present invention is provided in an industrial vehicle in which a steering wheel is provided on a vehicle body so as to be able to turn, and the steering wheel or other wheels provided in the vehicle body are driven to travel. A tire wear detecting device for detecting wear of a tire included in the steered wheel, wherein a travel wear calculating means for deriving a travel distance of the vehicle and calculating a wear degree of the tire based on the travel distance; and Deriving the steering angle and the running speed of the vehicle, and calculating the wear degree of the tire based on these, and the wear degree by both the calculation means are integrated to calculate the total wear degree of the tire. And a total wear calculating means.

  According to such a tire wear detection device, since the wear of the tire as a whole is required from the wear of the tire accompanying traveling and the wear of the tire accompanying turning, for example, the wear when performing stationary is not leaked. It is possible to accurately detect the wear state of the tire.

  In the above configuration, the travel wear calculating means can derive the wear degree according to a preset relationship between the travel distance and the wear degree, and the relationship increases as the travel distance increases. It can be set so that the degree of wear increases in proportion to this. In this way, the amount of wear increases as the travel distance of the vehicle increases, so the degree of wear associated with travel can be calculated simply and appropriately. Further, the turning wear calculating means can derive the wear degree in accordance with a preset steering angle and a relation between the traveling speed and the wear degree, and the relation increases as the steering angle increases. It can be set so that the degree of wear increases as the degree of wear increases and the travel speed decreases. In this way, the amount of wear increases as the steering angle of the steered wheels increases, and the amount of wear increases as the friction between the tire and the road surface increases as the vehicle traveling speed decreases. Can be calculated concisely and appropriately.

  In the above configuration, the total wear calculating means adds up the value obtained by integrating the degree of wear by the running wear calculating means and the value obtained by adding up the degree of wear by the turning wear calculating means, and adds this value to the road surface condition. If the above-mentioned total degree of wear is calculated by multiplying a preset coefficient according to the above, the total degree of tire wear is calculated simply and accurately from the degree of wear related to running and the degree of wear related to turning. can do. In addition, since the road surface condition is taken into consideration, a more appropriate total degree of wear can be calculated. Note that it is not necessary to prepare only one coefficient, but a plurality of different coefficients for each road surface condition are registered (stored) in advance, and the driver selects and designates an appropriate one among them. It is also possible to make the setting possible, or to select and set an appropriate one automatically.

  An industrial vehicle according to the present invention includes the tire wear detection device according to the present invention, an accelerator sensor that detects an operation amount of an accelerator provided on the vehicle body, an accelerator operation amount by the accelerator sensor, and the tire wear detection device. And a drive control device that controls the travel of the vehicle based on the total degree of wear, and the drive control device travels while suppressing the travel acceleration with respect to the accelerator operation amount as the total wear level increases. It is set as the structure which controls.

  According to such an industrial vehicle, the tire wear is accurately detected by the tire wear detection device, and when the tire wear proceeds, the traveling acceleration is suppressed to be small. It is possible to prevent a slip or a decrease in running stability.

  Further, in addition to the above-described configuration, when the drive control device performs control for suppressing the travel acceleration with respect to the accelerator operation amount, a notification for notifying the driver of the vehicle that the travel acceleration is being suppressed. By providing the device, the driver can confirm that the travel acceleration is suppressed by the notification from the alarm device, and the suppression of the travel acceleration is not due to a malfunction or malfunction of the device. Therefore, it is possible to recognize that this is due to the progress of tire wear, so there is no need to feel anxiety or distract.

  Moreover, the industrial vehicle according to the present invention includes the tire wear detection device according to the present invention, and further includes a notification device that notifies the driver of the vehicle based on the total degree of wear by the tire wear detection device. The alarm is configured to notify that the tire needs to be replaced when the total wear degree is greater than a predetermined value. Here, the content of the notification may be determined according to the setting of the predetermined value. For example, if the predetermined value is set to the degree of wear when the tire is worn to the limit where it can safely run or the required performance is exhibited, a notification that the tire needs to be replaced immediately is given. What is necessary is just to alert | report that replacement | exchange of a tire is needed soon, when setting to the abrasion degree when a tire is worn to some time before the above limits.

  According to such an industrial vehicle, the driver can promptly change the tire upon receiving the notification from the alarm device, and is automatically notified that the tire needs to be replaced. Therefore, the driver can always replace the tire without losing time even if the driver is not concerned about the tire wear.

  In addition, as an alarm device according to the present invention, a visual alarm device (for example, a lamp or a display), an auditory alarm device (for example, a buzzer or an audio alarm), or the like can be employed.

  As described above, according to the tire wear detection device of the present invention, the tire wear associated with traveling and the tire wear associated with turning are respectively obtained, and the tire wear as a whole is obtained therefrom. Therefore, it is possible to more accurately detect the wear state of the tire.

  Moreover, according to the industrial vehicle which concerns on this invention, according to the total abrasion degree by a tire wear detection apparatus, driving | running | working acceleration is suppressed small, or the driver | operator is alert | reported that a tire needs to be replaced | exchanged. Therefore, the driver can avoid a decrease in safety due to tire wear without always knowing the tire wear status.

  Hereinafter, an embodiment in which the present invention is applied to a reach-type forklift that is a kind of industrial vehicle will be described with reference to the drawings.

  As shown in FIG. 1, the reach forklift includes a pair of left and right reach legs 2 extending in the front-rear direction on the body frame 1, and is movable in the front-rear direction along the reach leg 2. A lift device 3 is provided. A front wheel 4 that is a driven wheel is provided at the front end portion of the reach leg 2, and a rear wheel 5 that serves as a driving wheel and a steering wheel is provided at the rear portion of the vehicle body frame 1. Each of the front wheels 4 and the rear wheels 5 includes a cylindrical metal rim and a rubber tire provided on the outer periphery of the rim, and the rim of the front wheel 4 is provided on the reach leg 2. Further, the rim of the rear wheel 5 is attached to each axle provided in the drive device 13 described later.

  As shown in FIG. 1, the rear portion of the vehicle body frame 1 is covered with a bonnet 6, and a traveling motor 12 that drives the rear wheels 5 is accommodated therein. A driver's seat 7 on which a driver gets on the side of the hood 6 is provided in the upper part of the hood 6, and a steering handle 8 for steering is provided at a position facing the driver's seat 7. As shown in FIG. 2, the steering handle 8 incorporates a sensor 8a for detecting the rotation angle, and the output of the sensor 8a is transmitted to a steering control device 30 described later. As shown in FIG. 1, a floor 9 on which a driver who has boarded the driver's seat 7 puts his / her foot is disposed below the steering handle 8, and the lift device 3 is provided on the driver device 7 side of the lift device 3. An operation panel 10 is provided for operating and the like. An accelerator pedal 11 is provided on the floor 9 and, as shown in FIG. 2, a sensor 11a for detecting a tilt angle of the accelerator pedal 11, that is, an operation angle is attached. The output of the sensor 11a is transmitted to the travel control device 20 described later.

  A traction motor 12 that drives the rear wheel 5 as a drive wheel is housed in the bonnet 6, and the power of the traction motor 12 is transmitted to the rear wheel 5 via the drive device 13. As shown in FIG. 2, the travel motor 12 includes a sensor 12 a that detects the number of rotations, and the output of the sensor 12 a is transmitted to the travel control device 20. The drive device 13 supports the rear wheel 5 and is supported by the vehicle body frame 1 in the bonnet 6 so as to be turnable. The drive device 13 is driven by a steering motor 14 housed in the bonnet 6 and integrated with the rear wheel 5. To turn. As shown in FIG. 2, the drive device 13 is provided with a sensor 15 for detecting the turning angle of the drive device 13. Here, the rear wheel 5 and the drive device 13 turn integrally. Therefore, the output from the sensor 15 is transmitted to the travel control device 20 and the steering control device 30 described later as the steering angle of the rear wheel 5.

  Although not shown in FIG. 1, the operation panel 10 includes an operation lever for operating the lift device 3, a display 16 that performs display according to the present invention, and a reset switch 17 that is turned on / off. Is provided. The display on the display 16 is controlled by the display control device 40, and an ON signal that is an output from the reset switch 17 is transmitted to the travel control device 20. Although not shown in FIG. 1, a travel control device 20 that controls the travel motor 12, a steering control device 30 that controls the steering motor 14, and a display control device 40 that controls the display 16 are provided on the vehicle body frame 1. It is installed.

As shown in FIG. 2, the travel control device 20 includes a travel wear calculation unit 20a, a turning wear calculation unit 20b, a total wear calculation unit 20c, and a drive control unit 20d.
The travel wear calculator 20a calculates a travel distance M from the rotational speed B of the travel motor 12 from the sensor 12a, and multiplies the travel distance M by a predetermined coefficient to calculate a travel wear degree Wm. The relationship between the travel distance M and the travel wear degree Wm is expressed as shown in FIG. 3. For example, when the travel distance M = Mi, the travel wear degree Wm = Wmi is calculated. As is apparent from FIG. 3, the traveling wear degree Wm increases as the traveling distance M increases.
The turning wear calculating unit 20b calculates a running speed V from the rotational speed B of the running motor 12 from the sensor 12a, and the turning wear degree Wd according to the running speed V and the steering angle A of the rear wheel 5 from the sensor 15. Is calculated. That is, the relationship between the steering angle A and the turning wear degree Wd at each traveling speed V shown in FIG. 4 is stored in advance. For example, when the traveling speed V = Vi, and the steering angle A = Aj, the turning wear degree. Calculate Wd = Wdj. As is apparent from FIG. 4, the lower the traveling speed V is, and the larger the steering angle A is, the larger the turning wear degree Wd is.
The total wear calculation unit 20c calculates the total wear degree W from the running wear degree Wm calculated by the running wear calculation unit 20a and the turning wear degree Wd calculated by the turning wear calculation unit 20b. That is, the running wear degree Wm is integrated to calculate the sum (total running wear degree) ΣWm, and the turning wear degree Wd is added to calculate the sum (total turning wear degree) ΣWd, which is stored. Then, the total wear degree W is calculated from the total running wear degree ΣWm and the total turning wear degree ΣWd by the following equation.
W = (ΣWm + ΣWd) × K
Here, K is a coefficient stored in advance according to the road surface condition, and is a larger value as the road surface condition is worse and the wear progresses faster. In addition, when the ON signal is received from the reset switch 17, the total wear calculating unit 20c clears the stored total running wear degree ΣWm and the total turning wear degree ΣWd and sets each to zero.

  The drive control unit 20d sets a reference accelerator angle Cw and a limit acceleration command Dw according to the total wear degree W, and further receives an acceleration command D according to these and the operation angle C of the accelerator pedal 11 from the sensor 11a. calculate. That is, the relationship between the total wear degree W and the reference accelerator angle Cw shown in FIG. 5A is stored in advance. For example, when the total wear degree W = Wo, the reference accelerator angle Cw = Co is set. Further, the relationship between the total wear degree W and the limit acceleration command Dw shown in FIG. 5B is stored in advance. For example, when the total wear degree W = Wo, the limit acceleration command Dw = Do is set. Thereafter, the operation angle C of the accelerator pedal 11 and the reference accelerator angle Cw are compared. If the operation angle C is smaller, the operation angle C is multiplied by a predetermined coefficient to calculate an acceleration command D. If it is larger, the acceleration command D is set to the limit acceleration command Dw. As a result, the relationship between the operation angle C and the acceleration command D is expressed as shown in FIG. 5C. The larger the total wear degree W is, the smaller the operation angle C becomes, the acceleration command D becomes the limit acceleration. The command Dw is set, and the limit acceleration command Dw becomes a small value. Then, the drive control unit 20 d gives the acceleration command D to the traveling motor 12 to operate the traveling motor 12. The drive control unit 20d sends a predetermined signal (suppression signal) to the display control device 40 when the acceleration command D is set to the limit acceleration command Dw.

The steering control device 30 calculates a target value of the steering angle A based on the rotation angle of the steering handle 8 from the sensor 8a, and operates the steering motor 14 so that the steering angle A detected by the sensor 15 matches this target value. Let
The display control device 40 compares the total wear degree W calculated by the total wear calculating unit 20c with the total wear degree Wa allowed in the rear wheel 5, and if the total wear degree W is larger, the rear wheel 5 Is displayed on the display 16 (for example, “Please replace the tire”). Further, the display control device 40 determines whether or not there is a suppression signal from the drive control unit 20d, and if there is a suppression signal, a display indicating that traveling acceleration is being suppressed (for example, “travel acceleration is being suppressed”). Is displayed on the display 16.

  Hereinafter, the flow of control by the traveling control device 20 and the display control device 40 will be described with reference to FIGS. 6 and 7.

As shown in FIG. 6, first, detection by each sensor is performed. That is, the sensor 15 detects the steering angle A of the rear wheel 5 (S1), the sensor 12a detects the rotational speed B of the travel motor 12 (S2), and the sensor 8a detects the operation angle C of the accelerator pedal 11 ( S3). In response, the travel control device 20 calculates the travel distance M from the rotational speed B of the travel motor 12 (S4), and calculates the travel wear degree Wm from the travel distance M (S5). Further, the traveling speed V is calculated from the rotational speed B of the traveling motor 12 (S6), and the turning wear degree Wd is calculated from the traveling speed V and the steering angle A (S7). Then, the total wear degree W is calculated from the running wear degree Wm and the turning wear degree Wd (S8).
Subsequently, as shown in FIG. 6, the traveling control device 20 sets a reference accelerator angle Cw according to the total wear degree W (S9), and sets a limit acceleration command Dw according to the total wear degree W (S10). ). Then, it is determined whether or not the detected operation angle C is larger than the reference accelerator angle Cw (S11). If the operation angle C is smaller, an acceleration command D corresponding to the operation angle C is calculated (S12). This is given to the traveling motor 12 and controlled (S13). If the operation angle C is larger, the acceleration command D is set as the limit acceleration command Dw (S14), a suppression signal is given to the display control device 40 (S15), and then the acceleration command D is given to the traveling motor 12 for control. (S13).
Furthermore, the traveling control device 20 determines whether or not the reset switch 17 is turned on (S16). If not turned on, the traveling control device 20 proceeds to the next process, and if it is turned on, the total traveling wear degree ΣWm. And the total turning wear degree ΣWd is cleared (S17).

  As shown in FIG. 7, the display control device 40 determines whether or not the total wear degree W is larger than the allowable total wear degree Wa (S1). Proceeding to the process, if the total wear degree W is larger, the display 16 displays that the rear wheel 5 needs to be replaced (S2). Subsequently, it is determined whether or not a suppression signal is given (S3). If there is no suppression signal, the process proceeds to the next process, and if there is a suppression signal, the display 16 displays that the running acceleration is being suppressed. (S4).

  According to such an embodiment, the running wear degree Wm representing wear associated with running and the turning wear degree Wd representing wear accompanying turning are obtained, and the total wear degree W of the tire is obtained therefrom. Thus, it is possible to detect the wear state of the tire of the rear wheel 5 more accurately. Further, since the acceleration command D is reduced as the tire wear progresses, there is no inconvenience such as sudden acceleration and slippage in a tire with advanced wear, and the vehicle travels until the rear wheel 5 is replaced. Time safety can be ensured. In addition, since it is displayed on the display 16 that the acceleration command D is suppressed, the driver can confirm that the suppression is performed by looking at it. Further, if the total wear degree W exceeds the allowable total wear degree Wa, the display 16 indicates that the rear wheel 5 needs to be replaced. It can be exchanged, so you don't have to worry about tire wear. After the rear wheel 5 is replaced, simply by turning on the reset switch 17, the running wear degree Wm and the turning wear degree Wd can be calculated from 0 and the total wear degree W can be calculated again from 0. it can.

It is a perspective view concerning the embodiment of the present invention. It is a functional block diagram concerning the embodiment of the present invention. It is a control characteristic figure concerning the embodiment of the present invention. It is a control characteristic figure concerning the embodiment of the present invention. It is a control characteristic figure concerning the embodiment of the present invention. It is a control flow figure concerning an embodiment of the present invention. It is a control flow figure concerning an embodiment of the present invention.

Explanation of symbols

1 Body frame 4 Front wheel (driven wheel)
5 Rear wheels (drive wheels and steering wheels)
DESCRIPTION OF SYMBOLS 8 Steering handle 8a Sensor 11 Accelerator pedal 11a Sensor 12 Traveling motor 12a Sensor 13 Drive device 14 Steering motor 15 Sensor 16 Display 17 Reset switch 20 Travel controller 20a Traveling wear calculating part 20b Turning wear calculating part 20c Total wear calculating part 20d Drive control Part 30 Steering control device 40 Display control device

Claims (3)

A tire wear detection device for detecting wear of a tire included in a steering wheel in an industrial vehicle in which the vehicle body is provided with a steerable wheel so that the vehicle can turn, and the steered wheel or another wheel provided on the vehicle body is driven. The vehicle wear distance calculation means for deriving the travel distance of the vehicle and deriving the wear degree of the tire based on the travel distance, the steering angle of the steered wheel and the travel speed of the vehicle are derived, and based on these, the tire Turning wear calculating means for deriving the wear degree of the tire, and total wear calculating means for deriving the total wear degree of the tire by adding up the wear degrees by the two calculating means , wherein the running wear calculating means includes the travel distance Is multiplied by a predetermined coefficient to derive the degree of wear of the tire, and the turning wear calculating means derives the degree of wear according to a predetermined relationship between the steering angle and the traveling speed and the degree of wear. Do The relationship is set so that the degree of wear increases as the steering angle increases, and the degree of wear increases as the travel speed decreases. The value obtained by integrating the degree of wear by the means and the value obtained by integrating the degree of wear by the turning wear calculating means are summed, and the total wear degree is obtained by multiplying the sum by a coefficient set in advance according to the road surface condition. A tire wear detection device characterized by being derived . The tire wear detection device according to claim 1, and an accelerator sensor for detecting an operation amount of an accelerator provided on the vehicle body, an accelerator operation amount by the accelerator sensor, and a total wear degree by the tire wear detection device A drive control device that controls the travel of the vehicle, wherein the drive control device controls the drive wheels that travel while suppressing the travel acceleration with respect to the accelerator operation amount as the total wear degree increases. Industrial vehicle. The tire wear detection device according to claim 1, and a notification device for notifying a driver of the vehicle based on a total wear degree by the tire wear detection device, wherein the notification device includes the total wear degree. An industrial vehicle characterized by notifying that tire replacement is necessary when is greater than a predetermined value.

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