JP5546167B2 - Cargo handling vehicle - Google Patents

Description

  The present invention relates to a cargo handling vehicle capable of loading and unloading containers and dumping a mounted container.

  Conventionally, a vehicle body on which a container is mounted, a dump arm rotatable with respect to the vehicle body, a lift arm rotatable with respect to the dump arm, a hook arm slidably attached to the lift arm, a dump arm, Patent Document 1 discloses a cargo handling vehicle including a cargo handling device including a lift cylinder that rotates a lift arm and a slide cylinder that slides a hook arm. In this loading / unloading vehicle, the hook arm is slid to rotate the lift arm to the rear of the vehicle, and in this state, the vehicle is moved backward so that the hook provided at the tip of the hook arm is provided on the front wall of the container placed on the ground. The container can be mounted on the vehicle body by engaging with the combined piece and then rotating the lift arm forward.

  By the way, there is a case where transportation efficiency is improved by placing a container on a trailer and towing, or a container is placed on a platform such as a platform. In either case, the container is higher than the container placed on the ground, and the engagement piece of the container is also higher, so even if the vehicle is moved backward with the lift arm slightly raised, the trailer In other words, the cargo handling vehicle cannot be moved backward by being disturbed by the platform, and the hook and the engagement piece of the container cannot be engaged. Therefore, in order to engage the hook of the cargo handling vehicle with the engagement piece of the container, it is necessary to extend the hook arm so that the hook approaches the engagement piece of the container.

Reality 7-2306

  However, since the operation of moving the hook arm to change the position of the hook is not performed by the operation of loading the container placed on the ground onto the vehicle body as described above, a dedicated operation switch for operating the hook arm A cargo handling vehicle becomes expensive.

  Accordingly, an object of the present invention is to provide a cargo handling vehicle capable of loading a container placed on the ground or a trailer at a low cost.

In order to achieve the above object, in the cargo handling vehicle according to claim 1, a vehicle body on which a container is mounted, a lift arm whose base end portion is provided to be pivotable in the front-rear direction by lift arm driving means with respect to the vehicle body, A carrier device having at least an arm device having a hook that can be engaged with a container and having a hook arm that can be changed by a hook arm driving unit with respect to the lift arm; and a loading / unloading operation unit; In a cargo handling vehicle including an operation unit including auxiliary operation means and a control device that drives the carrier device in accordance with an operation of the operation unit, the vehicle body is provided at a rear portion of the carrier device and is used for a loading operation. Jack between the lower projecting position suspended from the body frame and the storage position retracted upward from the lower projecting position to suppress the lowering of the vehicle body. A jack that can be rotated by a moving means; and a carrier attitude detecting means that detects that the arm device is in an attitude in which a container can be mounted. When the auxiliary operating means is operated, the control device is jacked. a jack operating means for driving the drive means, wherein the control device, when the product later operation means is operated to unload the container with respect to the vehicle body, the auxiliary operating means arm device when is operated When the carrier posture detecting means detects that the container can be mounted, the hook arm driving means is driven.

  Accordingly, since the hook arm driving means is driven when the auxiliary operation means is operated, it is not necessary to provide a dedicated operation means for driving the hook arm, so that a cargo handling vehicle can be provided at low cost. be able to.

The auxiliary operation means is provided at a rear portion of the carrier device, and is retracted upward from the lower projecting position that is suspended from the body frame in order to suppress the lowering of the vehicle body during loading work. for between the storage position a jack operating means for driving movement of the jack which is rotatable by a jack driving means, by which is adapted to drive the hook arm driving means when the jack operating means is operated Since it is not necessary to provide a dedicated operation means for driving the hook arm, the cargo handling vehicle can be provided at low cost. The arm apparatus further includes carrier attitude detection means for detecting that the arm apparatus is capable of mounting a container, and the control apparatus is configured so that the arm apparatus can mount a container when the auxiliary operation means is operated. When the carrier attitude detection means detects that the hook arm drive means is driven, the carrier attitude detection means engages the container and the hook when the operator operates the auxiliary operation means. It is possible to detect that the work to be performed is performed and to drive the hook arm.

In order to achieve the above object, in the cargo handling vehicle according to claim 2, a vehicle body on which a container is mounted, a lift arm provided with a base end portion pivotable in the front-rear direction by lift arm driving means with respect to the vehicle body, A carrier device having at least an arm device having a hook that can be engaged with a container and having a hook arm that can be changed by a hook arm driving unit with respect to the lift arm; and a loading / unloading operation unit; In a cargo handling vehicle including an operation unit including an auxiliary operation unit and a control device that drives the carrier device according to an operation of the operation unit, one end of the arm device rotates in the front-rear direction with respect to the vehicle body. And a dump arm provided at the other end so that a lift arm is pivotable in the front-rear direction. The arm device mounts the container. Further comprising, before Symbol auxiliary operation unit dump operation means and the control device is operated to integrally rotate the lift arm and dump arm by the lift arm drive means carrier attitude detection means for detecting that a may pose The control device is configured to load and unload the container with respect to the vehicle body when the loading / unloading operation means is operated, and to allow the arm device to mount the container when the auxiliary operation means is operated. When the carrier posture detecting means detects this, the hook arm driving means is driven. Accordingly, since the hook arm driving means is driven when the dump operation means is operated, it is not necessary to provide a dedicated operation means for driving the hook arm, so that a cargo handling vehicle is provided at low cost. be able to.

The arm apparatus further includes carrier attitude detection means for detecting that the arm apparatus is capable of mounting a container, and the control apparatus is configured so that the arm apparatus can mount a container when the auxiliary operation means is operated. When the carrier attitude detection means detects that the hook arm drive means is driven, the carrier attitude detection means engages the container and the hook when the operator operates the auxiliary operation means. It is possible to detect that the work to be performed is performed and to drive the hook arm.

  The carrier posture detection means is a lift arm rotation position detection means for detecting a rotation position of the lift arm. As a result, it is possible to detect that the carrier device can be engaged with and disengaged from the container mounted on the trailer on which the container can be mounted by using only the sensor for detecting the posture of the lift arm, and thus provided at a lower cost. can do.

  Since the hook arm driving means is driven when the auxiliary operation means is operated, it is not necessary to provide a dedicated operation means for driving the hook arm, so that a cargo handling vehicle can be provided at low cost. .

In the cargo handling vehicle which concerns on embodiment of this invention, it is a side view which shows the state in which the container was mounted in the vehicle body, and the state in the middle of unloading operation | movement. (D) is a side view showing a state where the cargo handling vehicle has lowered the container to the ground, and (e) is a side view showing a state where the cargo handling vehicle dumps the container. It is the top view and side view which show only the carrier apparatus in a cargo handling vehicle. (A) is a top view which shows a locking device with a dump arm and a lift arm, (b) is the BB sectional view taken on the line in (a). It is a schematic sectional side view which shows the position periphery in which the lift arm locking device is provided. It is a side view in the rear part of the cargo handling vehicle of Fig.1 (a). It is a side view in the rear part of the cargo handling vehicle of FIG.1 (b). It is a side view which shows the state in which the trailer is not carrying the container. It is a side view which shows the state which the trailer mounted the container in the predetermined position. (A) is the 10A partial enlarged view in FIG. 9, (b) is the 10B partial enlarged view in FIG. It is a side view which shows the state which moves a container from a cargo handling vehicle to a trailer. It is a figure which shows the principal part of the working hydraulic circuit of a cargo handling vehicle. It is a figure which shows the principal part of the control block of a cargo handling vehicle. It is a flowchart which a control apparatus performs. This is a part of the container loading / unloading operation subroutine corresponding to step S102 in FIG. 14, and constitutes one subroutine together with FIG. This is another part of the container loading / unloading operation subroutine corresponding to step S102 in FIG. 14, and constitutes one subroutine together with FIG. This is a dump operation subroutine corresponding to step S104 in FIG. This is a jack operation subroutine corresponding to step S106 in FIG. It is a dump operation subroutine showing other embodiments of the present invention.

  FIG. 1A is a side view showing a state in which a container 3 is mounted on a vehicle body 1 in a cargo handling vehicle according to an embodiment of the present invention. In this figure, a vehicle body 1 is composed of a chassis frame 1a at the rear thereof, a carrier device 2 is attached to the chassis frame 1a, and a container 3 is mounted on the carrier device 2. The cargo handling vehicle is configured to selectively execute the operation of loading and unloading the container 3 on the vehicle body 1 and the operation of dumping the container 3 mounted on the vehicle body 1. The container 3 includes a roller 3r as a wheel at the time of landing at the lower rear part thereof.

  3A and 3B are a plan view and a side view showing the carrier device 2, respectively. The left side of this figure is the vehicle body front side, and the right side is the vehicle body rear side. The carrier device 2 includes a subframe 2a attached on the chassis frame 1a, a dump arm 5 whose base end (rear end) is pivotally attached to the subframe 2a, and a base end (rear end). Part) is pivotally attached to the dump arm 5 and a part of the base 7h (horizontal part) is inserted into the lift arm 6 and slides back and forth with respect to the lift arm 6. A possible L-shaped hook arm 7, a pair of lift cylinders 8 operated by hydraulic pressure, and one slide cylinder 9 are provided.

  The dump arm 5, the lift arm 6, and the hook arm 7 constitute the arm device of the present invention. Therefore, in this arm device, the base end portion constituted by the dump arm 5 is rotatable to the vehicle body 1. The intermediate part is refracted by the relative rotation of the dump arm 5 and the lift arm 6, and the hook arm 7 constituting the tip part is movable in the front-rear direction.

  One end (front end) of the lift cylinder 8 is connected to the subframe 2a, and the other end (rear end) is connected to the lift arm 6. One end (rear end) of the slide cylinder 9 is connected to the lift arm 6 and the other end (front end) is connected to the hook arm 7. The sub frame 2a is fixed to the chassis frame 1a (FIG. 1), and constitutes the vehicle body 1 together. It is also possible to omit the subframe 2a and attach the carrier device 2 directly to the chassis frame 1a.

  The dump arm 5 is pivotally attached to the subframe 2a on the rear end side by a pin 10 arranged in the left-right direction, and can be rotated rearward of the vehicle body. A roller 51 is provided on the rear end side of the dump arm 5 so as to be rotatable around a left and right axis. The lift arm 6 is pivotally attached to the front side of the dump arm 5 by a pin 11 disposed in the left-right direction, and can be rotated around the pin 11 or the pin 10 together with the hook arm 7. The hook arm 7 is formed in an L shape in a side view, and has a hook 7 a that hooks an engagement piece (lift bar) 3 a (see FIG. 3) of the container 3 at the upper end of the rotation end side (front end side). The lift arm 6 and the hook arm 7 rotate around the pin 11 with respect to the dump arm 5 during the container unloading operation, and center the pin 10 integrally with the dump arm 5 during the dump operation. Rotate as

  The slide cylinder 9 can slide the hook arm 7 from the position indicated by the solid line to the position indicated by the two-dot chain line in FIG. Further, the lift cylinder 8 applies a driving force for a pivoting operation to the lift arm 6 by its expansion and contraction operation.

  The carrier device 2 includes lock devices 13 and 52 that restrict (lock) the rotation of the arm devices (the dump arm 5, the lift arm 6, and the hook arm 7). 4A is a plan view showing the locking devices 13 and 52 together with the dump arm 5 and the lift arm 6, and FIG. 3B is a cross-sectional view taken along the line BB in FIG. The lock device includes a lift arm lock device 13 that restricts the rotation of the lift arm 6 relative to the dump arm 5 and a dump arm lock device 52 that restricts the rotation of the dump arm 5 relative to the subframe 2a (vehicle body 1). ing.

  FIG. 5 is a schematic side sectional view showing the vicinity of the position where the lift arm locking device is provided. The lift arm locking device 13 includes a lock pin 19 supported so as to be movable back and forth through a pair of brackets 15 and 16 provided on the lift arm 6. On the other hand, an engaged portion 5a having a hole 5b is provided on the tip end side of the dump arm 5, and the lock pin 19 is inserted into the hole 5b and engaged with the engaged portion 5a. This state is the locked state of the lift arm lock device 13. In the locked state, the lift arm 6 can rotate about the pin 10 together with the dump arm 5.

  The forward movement (locking direction) of the lock pin 19 is performed by the urging member 20, while the backward movement (unlocking direction) is performed by the operation device 12 provided on the hook arm 7. The operation device 12 is configured by a contact portion (round bar) attached horizontally to the rear end portion of the hook arm 7 in the left-right direction. When the hook arm 7 moves backward by the sliding operation (see FIG. 1B), the contact portion 12 contacts the roller 14 to push the lock pin 19 backward, and the hole 5b of the engaged portion 5a. Then, the lock pin 19 is removed.

  Next, the dump arm lock device 52 will be described. As shown in FIG. 4A, the dump arm locking device 52 includes a rotation shaft 53, an engagement portion 54, and a contacted portion 56. The rotation shaft 53 is a starboard side dump. The arm 5 extends in the vehicle width direction in a range extending substantially from the center in the vehicle width direction, and is rotatably attached to the dump arm 5. An engaging portion 54 is fixed to one end (right end) of the rotation shaft 53, and a contacted portion 56 is fixed to the other end (left end). A spring 55 is interposed between the engaging portion 54 and the dump arm 5.

  A pin 41 is provided in the sub-frame 2 a on the vehicle body side, and the engaging portion 54 can be engaged with and disengaged from the pin 41 by rotating around the rotation shaft 53. In the state of FIG. 4B, the engaging portion 54 is detached from the pin 41, and therefore the dump arm 5 is released from the vehicle body.

  The engagement portion 54 is rotated in the counterclockwise direction (unlock direction) by a spring 55, but the clockwise direction (lock direction) is moved by the operating device 12 provided on the hook arm 7. Done. When the hook arm 7 is moved backward by the sliding operation (see FIG. 1B), the contact portion 12 contacts the contacted portion 56 to rotate the engagement portion 54 in the clockwise direction. Engage with the pin 41.

  Further, a rear bumper 61 is provided at the rear of the carrier device 2. The rear bumper 61 includes a main body portion 61a made of steel or the like having a length over substantially the entire length in the vehicle width direction, and two left and right arm portions 61b fixed to the main body portion 61a and connected to the vehicle body 1. Yes. The arm portion 61b is made of steel mold, the longitudinal direction is orthogonal to the main body portion 61a, one end portion of the arm portion 61b is fixed to the main body portion 61a, and the plate-like fixing member 61c is fixed to the other end portion. The rear bumper 61 is rotatably attached to a position near the lower end of the upper and lower members 1c of the vehicle body 1 by the fixing member 61c.

  Thus, the rear bumper 61 is stored in the rear projecting position projecting rearward from the rear end portion of the vehicle body 1 shown in FIGS. 1A and 6 and the vehicle body 1 side shown in FIGS. 1B and 7. It is possible to rotate between the storage positions. That is, the rear bumper 61 is turned upward by about 90 ° from the rear protruding position to become the storage position, and the main body portion 61a of the rear bumper 61 in the storage position is positioned in front of the vehicle rather than being in the rear protruding position. become. Further, at this storage position, the arm portion 61b of the rear bumper 61 is substantially parallel to the upper and lower members 1c of the vehicle body 1 and is in a state of approaching the upper and lower members 1c. In this storage position, the rear bumper 61 is in a position where it does not come into contact with the rear lower end of the container 3 in the dumped state or the front lower end of the container 3 that is being unloaded.

  Further, a jack 4 is further provided at the rear of the carrier device 2. The jack 4 has a pair of left and right arm portions 4c rotatably attached to a position near the lower end portion of the upper and lower members 1c, and a roller 4b rotatably attached to the distal end portion of the arm portion 4c. doing. The jack 4 hangs down from the vehicle body 1 so that the roller 4b approaches the ground (FIG. 7), and the jack 4 rotates approximately 90 ° forward of the vehicle and the roller 4b is retracted from the ground upward. It can be rotated between the position (FIG. 6).

  Further, an interlocking mechanism 62 that interlocks the rotation of the jack 4 and the rotation of the rear bumper 61 is interposed between the jack 4 and the rear bumper 61, and the interlocking mechanism 62 is configured such that the rear bumper 61 is jacked in the retracted position. 4 is set to the lower protruding position (state shown in FIG. 7), and the rear bumper 61 sets the jack 4 to the storage position at the rear protruding position (state shown in FIG. 6). The interlocking mechanism 62 shown in the figure has a linear arm member 62a, and one end portion of the arm member 62a is rotatably attached to a fixing member 61c fixed to the end portion of the rear bumper 61. Is attached to the arm portion 4c of the jack 4 so as to be freely rotatable.

  A mounting member 1d extends from the upper and lower members 1c toward the front of the vehicle, and a body end portion of a jack cylinder 4a (jack driving means) made of a hydraulic cylinder is rotatably attached to a front end portion of the mounting member 1d. ing. The jack 4 can be rotated to the lower protruding position and the storage position by the expansion / contraction operation of the jack cylinder 4a, and the rear bumper 61 can be rotated to the rear protruding position and the storage position by the interlocking mechanism 62.

  And the rod front-end | tip part of the said jack cylinder 4a is attached to the middle part of the arm part 4c of the jack 4 so that rotation is possible. The expansion / contraction operation of the jack cylinder 4a allows the rear bumper 61 and the jack 4 to be driven to rotate in conjunction with each other. With the jack cylinder 4a extended, the rear bumper 61 is held in the retracted position and the jack 4 is in the downward protruding position. With the jack cylinder 4a shortened, the rear bumper 61 is held at the rearward projecting position and the jack 4 is held at the storage position.

The jack 4 held in the lower protruding position can suppress the lowering of the vehicle body during the loading operation. Specifically, when the loading operation for loading and unloading the load on the container 3 is performed, the jack 4 is set to the lower protruding position, so that the jack 4 can suppress the lowering of the vehicle body, and the loading and unloading of the load is performed. Work is safe. Alternatively, when the container 3 is loaded and unloaded between the vehicle body 1 and the ground, the lowering of the vehicle body can be suppressed by setting the jack 4 to the lower protruding position, and the container 3 is loaded and unloaded. Is safe.
The interlocking mechanism 62 may take other forms, for example, the interlocking mechanism 62 may be configured by the fixing member 61c on the rear bumper 61 side and the arm portion 4c of the jack 4 itself. In this case, the fixing member 61c The arm portion 4c may be integrated (not shown), and the arm portion 4c may be rotatably attached to the vehicle body 1 and driven by the jack cylinder 4a.

As shown in FIG. 4 , in this embodiment, the lift arm lock detection sensor LS <b> 1 that detects the operation state of the lift arm lock device 13 (whether it is in the lock state) and the operation state (lock) of the dump arm lock device 52. A dump arm lock detection sensor LS2 for detecting whether or not the vehicle is in a state. These lock detection sensors LS1 and LS2 are both constituted by proximity sensors. The lift arm lock detection sensor LS1 is fixed to the lift arm 6 via a bracket or the like, and is disposed behind the lock pin 19. The dump arm lock detection sensor LS2 is fixed to the dump arm 5 via a bracket or the like, and is disposed in front of the engaging portion 54.

  As shown in FIG. 5, the lift arm lock detection sensor LS <b> 1 moves when the lock pin 19 moves rearward and is disengaged from the engaged portion 5 a of the dump arm 5 (the lift arm lock device 13 is in the unlocked state). ), The rear end of the lock pin 19 is sensed in a non-contact manner, and it is detected that the lift arm lock device 13 has been unlocked. Conversely, when the lock pin 19 moves forward and engages the engaged portion 5a of the dump arm 5, the lift arm lock detection sensor LS1 does not sense the lock pin 19, and the lift arm lock device 13 locks with this. Detect that it has entered a state.

  In addition to the lift arm lock detection sensor LS1 and the dump arm lock detection sensor LS2, the carrier device 2 of the present embodiment includes an landing detection sensor LS3 (FIG. 5) including a proximity sensor, and a travel position detection sensor (illustrated). And a lift arm standing-up detection sensor LS4 (FIG. 4A). The landing detection sensor LS3 is provided in the subframe 2a as shown in FIG. 5, and the lift arm 6 is moved when the lift arm 6 is arranged along the subframe 2a without rotating upward. Sense. As shown in FIG. 1A, the traveling position detection sensor senses the container 3 or the carrier device 2 when the cargo handling vehicle is in a travelable state. The lift arm standing-up detection sensor LS4 is provided on the dump arm 5 as shown in FIG. 4A, and is in a state of being rotated rearward to a position where it can engage with the container on the trailer T. Is detected. In the present embodiment, the posture in which the lift arm 6 can engage with the container on the trailer T is a posture in which the lift arm 6 is rotated from 100 degrees to 130 degrees from the state along the subframe 2a to the rear of the vehicle (FIG. 11). In the range indicated by α).

  The detection results of the lift arm lock detection sensor LS1 and the dump arm lock detection sensor LS2 as described above are input to the control device 33 (FIG. 13) and used for operation control of the lift cylinder 8. In particular, in the present embodiment, when the container lowering operation is performed, the lift cylinder 8 is controlled based on the detection results of the lift arm lock detection sensor LS1 and the dump arm lock detection sensor LS2 so that an appropriate operation can be performed. ing.

  FIG. 12 is an operating hydraulic circuit of the lift cylinder 8, the slide cylinder 9, and the jack cylinder 4a. The lift cylinder 8, the slide cylinder 9 and the jack cylinder 4a are supplied with hydraulic oil generated by a hydraulic pump P composed of a variable displacement piston pump through oil passages 44, 46, 47, 48, a control valve 39, and the like. In the control valve 39, a first switching valve 39a for switching supply / stop of hydraulic oil to the slide cylinder 9, a second switching valve 39b for switching supply / stop of hydraulic oil to the lift cylinder 8, and a jack cylinder 4a There is provided a third switching valve 39c for switching between supply and stop of the hydraulic oil to. A first pilot check valve 37a is provided in the oil passage 46 between the first switching valve 39a and the slide cylinder 9, and a counter is provided in the oil passage 47 between the second switching valve 39b and the lift cylinder 8. A balance valve 38 is provided, and a second pilot check valve 37b is provided in the oil passage 48 between the third switching valve 39c and the jack cylinder 4a.

  In FIG. 12, the first switching valve 39a, the second switching valve 39b, and the third switching valve 39c are in a neutral position, and the hydraulic oil discharged from the hydraulic pump P is tanked from the discharge oil passage 44 through the discharge oil passage 45. Returned to T. When the first switching valve 39a is switched, the hydraulic pressure is supplied to the extending side or the contracting side of the slide cylinder 9 via the oil passage 46, and when the second switching valve 39b is switched, the lift cylinder 8 is connected via the oil passage 47. When the third switching valve 39c is switched, the hydraulic pressure is supplied to the expansion side or the contraction side of the jack cylinder 4a via the oil passage 48. The control valve 39 is provided with a relief oil passage 40 that branches from the discharge oil passage 44 on the upstream side of the second switching valve 39 b, and a relief valve 36 is provided in the relief oil passage 40.

FIG. 13 is a control block diagram of the lift cylinder 8 and the slide cylinder 9. The detection results of the lift arm lock detection sensor LS1, the dump arm lock detection sensor LS2, the landing detection sensor LS3, the lift arm standing detection sensor LS4, and the travel position detection sensor (not shown) are input to the control device 33. The first switching valve 39a, the second switching valve 39b, and the third switching valve 39c are switched by an instruction from the control device 33 based on the operation signal from the operation unit 50 and the detection result of each sensor. The lift cylinder 8 and the jack cylinder 4a are respectively controlled.

Moreover, cargo handling vehicle both as shown in FIG. 13 is provided with an operation unit 50, the operation unit 50 has a toggle switch 50a, a raised switch 50b, and a lower switch 50c. The operation unit 50 sends a command to the control device 33 in accordance with the operation given to the toggle switch 50a and the raising / lowering switches 50b , 50c . The toggle switch 50a is provided so that it can be switched among a loading / unloading operation position 50a1, a dump operation position 50a2, and a jack operation position 50a3. The combination of switching the toggle switch 50a to the loading / unloading operation position 50a1 and turning on the raising / lowering switches 50b , 50c is a combination of loading / unloading operation means, switching the toggle switch 50a to the dumping operation position 50a2, and switching the raising / lowering switches 50b , 50c . The combination of the on operation constitutes a dump operation means, and the switching of the toggle switch 50a to the jack operation position 50a3 and the on operation of the raising / lowering switches 50b , 50c constitute a combination of jack operation means. The dump operation means and the jack operation means are operation means for instructing the cargo handling vehicle to perform operations other than the operation for loading and unloading the container, and correspond to auxiliary operation means.

  The structure of the trailer T will be described with reference to FIGS. FIG. 8 shows the trailer T in a state where the container 3 is not mounted. FIG. 8A is a plan view of the trailer T, and FIG. 8B is a side view. FIG. 9 is a side view showing a state in which the trailer T with the container 3 mounted at a predetermined position and the cargo handling vehicle are connected. FIG. 10A shows a portion 10A of FIG. 9, and FIG. It is the figure which expanded each 10B part of FIG.

As shown in FIG. 8 (a) and 8 (b), the trailer T includes a long trailer frame 101 in the longitudinal direction so as to be stacked one container 3. A loading platform 102 is integrally provided on the upper surface of the trailer frame 101, and one container 3 is loaded on the loading platform 102. A dolly 103 is provided on the lower surface of the front portion of the trailer frame 101 so as to be rotatable around a rotation axis 103a in the vertical direction. A front wheel 104f is suspended through a leaf spring at a lower portion of the dolly 103, and a connected portion 105 that is detachably connected to the connecting portion 200 of the cargo handling vehicle is provided at the front portion of the dolly 103. Note that the end of the coupled portion 105 can be swung in the vertical direction by a hinge 105a. Further, a rear wheel 104r is suspended from the rear portion 101R of the trailer frame 101 via a leaf spring.

  The front wheel 104f is covered with a front fender 106f fixed to the side surface of the dolly 103, and the rear wheel is covered with a rear fender 106r fixed to the side surface of the trailer frame 101. The trailer frame 101 can be displaced in the vertical direction against the elastic force of the leaf spring with respect to the front and rear wheels 104f and 104r.

Trailer jacks J are provided at the rear left and right of the trailer frame 101 so as to be extendable and contractible. By the extension operation of the trailer jack J, the rear portion 101R of the trailer frame 101 can be supported on the ground and the rear portion 101R can be lifted.

  As shown in FIG. 8A, the trailer frame 101 includes a pair of left and right vertical frames 111 having an I-shaped cross section, and a plurality of cross members 112. . . And more, it has a long ladder shape. The rear portion 101R of the trailer frame 101 is formed with an inclined surface 114 that inclines rearwardly downward.

Between the front wheel 104f and the rear wheel 104r, side guards 115 are provided on both sides of the trailer frame 101, and a rear bumper 116 is provided on the rear side of the trailer frame 101.

  As shown in FIG. 8 and FIG. 10A, a pair of jump prevention pieces 120 are integrally provided on the cross member 112 provided at the front portion of the loading platform 102. The engaging claws 120a are integrally extended toward the rear of the loading platform 102, and these engaging claws 120a are removably engaged with the locking holes 3h of the container 3, so that the container 3 in a predetermined position is engaged. The rear part is prevented from jumping up.

  As shown in FIG. 8, a pair of guide rails 117 are fixed on the pair of vertical frames 111 of the loading platform over the entire length thereof. These guide rails 117 are parallel to each other except their rear end portions 117r, and are bent in a direction approaching each other at their rear end portions 117r. Each guide rail 117 is formed with a guide surface 117a on the outer surface thereof for contacting the roller 3r of the container 3 to guide the left and right positions of the container 3.

  As shown in FIG. 8 and FIG. 10 (b), a pair of protruding portions 125 are fixed upward on both the left and right sides of the rear end portion of the loading platform 102, and these protruding portions 125 correspond to the front portion of the container 3. The pair of insertion portions 3L provided on both sides of the lower surface can be removably inserted, thereby restricting the position of the container 3 in a predetermined position in the front-rear direction with respect to the loading platform 102. Each of the protrusion 125 and the insertion portion 3L is provided with an insertion hole. By inserting a pin 126 into the insertion hole, the front portion of the container 3 at a predetermined position is prevented from jumping up. It has become.

  Next, the operation of the cargo handling vehicle configured as described above will be specifically described with reference to the flowcharts of FIGS. The letters A and B circled in FIGS. 15 and 16 are connected by the same symbol.

  First, the container lowering operation with respect to the ground will be described with reference to a flowchart and the like. Before the container lowering operation is performed, the container 3 is mounted on the vehicle body 1 (in a travelable state) as shown in FIG. In this state, a known lashing device (not shown) is in a state of tying the container 3 to the subframe 2a (FIG. 3), a running position detection sensor (not shown) detects the loading state of the container, and a lift arm standing-up detection sensor. LS4 is off.

  When the toggle switch 50a provided on the operation unit 50 of the carrier device 2 is set to the jack operation position 50a3 (step S105), the process proceeds to a jack operation subroutine (step S106). When the lowering switch 50c is turned on in the jack operation subroutine of FIG. 18 (S409), since the lift arm standing detection sensor LS4 does not detect the standing posture (NO in step S410), the third switching valve 39c is switched. The jack cylinder 4a starts to extend (step S414). As a result, the jack 4 moves from the storage position to the lower protruding position, and the rear bumper 61 moves from the rear protruding position to the storage position.

Next, when the toggle switch 50a provided on the operation unit 50 is set to the loading / unloading operation position 50a1 (returning to step S101 in FIG. 14), the process proceeds to a container loading / unloading operation subroutine (step S102). When the lowering switch 50c is turned on in the container loading / unloading operation subroutine of FIG. 15 (step S201), whether or not the lift arm 6 is in the standing posture is determined from the detection result of the lift arm standing detection sensor LS4 (step S202). ). If the lift arm 6 is not in the upright position (NO in step S 202), the first switching valve 39a is switched by a command from the controller 33, the slide cylinder 9 starts shrinking (step S203). As a result, the hook arm 7 slides backward and retracts to the position shown in FIG. As a result, the container 3 also moves backward. If the lift arm 6 is in the standing posture in step S202 (YES in step S202), the process proceeds to step S207, which will be described later in detail.

As shown in FIG. 5, when the hook arm 7 is retracted, the contact portion 12 contacts the roller 14, and when the hook arm 7 is further retracted to the retracted end, the contact portion 12 pushes the roller 14 and the lock pin 19 backward. The lift arm 6 is unlocked by the lift arm lock device 13. By releasing the lock, the lift arm 6 is not restricted by the dump arm 5 and can be rotated independently. When the lock pin 19 moves rearward, the rear end of the lock pin 19 is detected by the lift arm lock detection sensor LS1, and the lift arm lock detection sensor LS1 is turned on. Thereby, it is detected that the lift arm locking device 13 is in the unlocked state (step S204 in FIG. 15). Further, as shown in FIG. 4B, the abutting portion 12 rotates the abutted portion 56 and the engaging portion 54 in the clockwise direction and engages with the pin 41, whereby the dump arm 5 is moved to the subframe. It becomes a state which cannot rotate with respect to 2a. Further, the tip of the engaging portion 54 is sensed by the dump arm lock detection sensor LS2, and the dump arm lock detection sensor LS2 is turned on. Thereby, it is detected that the dump arm locking device 52 is engaged (step S205).

  In steps S204 and S205, when it is detected that the lift arm locking device 13 is in the unlocked state and the dump arm locking device 52 is in the locked state, the locking devices 13 and 52 are normally brought into contact with each other. Therefore, the first switching valve 39a is switched by the command of the control device 33, the slide cylinder 9 stops contracting (step S206), and the second switching valve 39b is switched. Thus, the lift cylinder 8 starts to extend, and the lift arm 6 rotates backward about the pin 11 (step S207).

  When the lift arm 6 rotates rearward, as shown in FIG. 1 (c), the container 3 whose front side is lifted by the hook arm 7 is tilted while being in contact with the roller 51 (FIG. 3), and the rear end side is lowered. To go. Thus, the container 3 gradually slides backward, the lower roller 3r contacts the ground, and the entire container 3 lands as shown in FIG. 2 (d).

When the container 3 reaches the state shown in FIG. 2D (completely landed state), the operator normally stops the extension operation of the lift cylinder 8 by turning off the lowering switch 50c of the operation unit. As shown in FIG. 15 , when the desorption / removal switch 50c is turned off (step S208), the second switching valve 39b is switched by a command from the control device 33, and the lift cylinder 8 stops extending (step S209). Thereby, the rearward rotation of the lift arm 6 is completed.

Next, the container loading operation will be described. Prior to the container loading operation, the hook 7a provided at the tip of the hook arm 7 is engaged with the engagement piece 3a of the container 3, and the carrier device 2 is in the state shown in FIG. In this case, the lift arm lock detection sensor LS1 is turned on (unlock detection state), the dump arm lock detection sensor LS2 is turned on (engagement state detection state), and the lift arm standing detection sensor LS4 is turned off. In this state, the toggle switch 50a of the operation unit 50 is set to the loading / unloading operation position 50a1 (step S101). When the raising switch 50b (FIG. 13) is turned on (step S210), whether or not the lift arm 6 is in the standing posture. This is determined from the detection result of the lift arm standing-up detection sensor LS4 (step S211). At this time, since the lift arm 6 is not in the standing posture (NO in step S211 ), the process proceeds to step S218, the second switching valve 39b is switched by a command from the control device 33, and the lift cylinder 8 starts to contract. Thereby, the lift arm 6 starts to rotate forward. Further, as the lift arm 6 rotates, the lift arm upright detection sensor LS4 is turned on from off, and when the lift arm 6 is substantially upright, the lift arm upright detection sensor LS4 is turned off from on. The operation when the lift arm standing detection sensor LS4 senses that the lift arm 6 is in the standing posture (from YES in step S211 to step S217) will be described later.

  When the lift arm 6 rotates forward and the lift arm 6 is detected by the landing detection sensor LS3 (FIG. 5) (step S219), the second switching valve 39b is switched by a command from the control device 33, and the lift cylinder 8 stops contraction (step S220). Thereby, the forward rotation of the lift arm 6 is completed. Next, the first switching valve 39a (FIG. 12) is switched, the slide cylinder 9 (FIG. 3) starts to extend, and the hook arm 7 slides forward (step S221). As the hook arm 7 slides, the roller 14 (FIG. 5) of the lift arm locking device 13 and the contacted portion 56 (FIG. 4) of the dump arm locking device 52 are separated from the contact portion 12, and the lock pin 19 is dumped. The arm 5 is engaged and locked (the lift arm lock detection sensor LS1 is turned off), and the engaging portion 54 is released from the pin 41 and is unlocked (the dump arm lock detection sensor LS2 is turned off). Become).

  Thereafter, when the raising switch 50b is turned off (step S222), the first switching valve 39a is switched by a command from the control device 33, and the slide cylinder 9 stops extending (step S224). Alternatively, even when the raising switch 50b is not turned off, when the travel position detection sensor is turned on (step S223), the first switching valve 39a is similarly switched, and the slide cylinder 9 stops extending. Thus, the forward sliding operation of the hook arm 7 is completed.

  Then, the toggle switch 50a provided in the operation unit 50 is set to the jack operation position 50a3 (step S105), and the process proceeds to the jack operation subroutine (step S106). When the raising switch 50b is turned on in the jack operation subroutine of FIG. 18 (S401), since the lift arm standing detection sensor LS4 does not detect the standing posture (NO in step S402), the third switching valve 39c is switched. The jack cylinder 4a starts to contract (step S406). As a result, the jack 4 moves from the lower protruding position to the storage position, and the rear bumper 61 moves from the storage position to the rear protruding position (see FIG. 1A). With the above operation, the cargo handling vehicle can travel with the container 3 mounted thereon.

As described above, the container of the product descending operation, the control unit 33 based on the detection result of each sensor LS1~LS4 is to sequentially performs a command to the changeover valves 39 a to 39 c. Therefore, the operator sets the toggle switch 50a to the loading / unloading operation position 50a1, expands / contracts the lift cylinder 8 and the slide cylinder 9 simply by operating the lowering switch 50c when unloading the container and the raising switch 50b when loading the container. And the arm device can be operated.

  Next, a case where the loaded container 3 is dumped will be described. As shown in FIG. 1A, the dumping operation subroutine is performed by setting the toggle switch 50a of the operation unit 50 to the dumping operation position 50a2 from the state in which the container 3 is mounted on the vehicle body (the state in which the vehicle 3 can travel) (step S103). (Step S104). When the raising switch 50b is turned on in the dumping operation subroutine of FIG. 17 (step S301), the second switching valve 39b is switched, and the lift cylinder 8 is extended without operating the slide cylinder 9 (step S302). At this time, as shown in FIG. 4, the lock pin 19 is engaged with the engaged portion 5a of the dump arm 5, and the relative rotation of the lift arm 6 with respect to the dump arm 5 is restricted. As shown, the dump arm 5, the lift arm 6 and the hook arm 7 rotate backward integrally with each other. Thereby, the container 3 dumps and the contents of the container 3 are discharged. When the operator turns off the raising switch 50b (step S303) or a dump limit attitude detection sensor (not shown) detects that the dump limit attitude shown in FIG. 2E has been reached (step S304), the second switching valve. 39b is switched and the extension of the lift cylinder 8 is stopped (step S305).

  On the other hand, in order to return the container 3 from the dumped state (FIG. 2 (e)) to the travelable state (FIG. 1 (a)), the toggle switch 50a of the operation unit 50 is kept at the dump operation position 50a2. (The process proceeds from step S103 to the dump operation subroutine of step S104) When the lowering switch 50c is turned on (step S306), the second switching valve 39b is switched to cause the lift cylinder 8 to contract (step S307). When the operator turns off the lowering switch 50b (step S308), or when it is detected that the landing detection sensor LS3 has reached the travelable state shown in FIG. 1A (step S309), the second switching valve 39b. Are switched and the extension of the lift cylinder 8 is stopped (step S310).

  The operation of changing the container 3 to the trailer T will be described with reference to FIG. First, the cargo handling vehicle in the state of FIG. 1A is parked in parallel so that the rear end of the cargo handling vehicle is located behind the trailer T. In the cargo handling vehicle in this state, a traveling position detection sensor (not shown) detects the container mounting state, and the lift arm standing detection sensor LS4 is off. Then, the trailer jack J of the trailer T is extended to be grounded, and the rear part of the trailer T is connected to the connecting part 200 of the cargo handling vehicle by the connecting part 130 (FIG. 11A).

Similarly to the operation of lowering the container 3 with respect to the ground, when the toggle switch 50a provided in the operation unit of the carrier device 2 is set to the loading / unloading operation position 50a1 (step S101), the process proceeds to the container loading / unloading operation subroutine (step S reference 102 and FIG. 15). When the lowering switch 50c is turned on in this state (step S201), it is determined from the detection result of the lift arm standing detection sensor LS4 whether or not the lift arm 6 is in the standing posture (step S202). If the lift arm 6 is not in the upright position (NO in step S 202), the slide cylinder 9 starts shrinking (step S203). As a result, the hook arm 7 slides backward and retracts to the position shown in FIG. This also moves the container 3 backward.

Similar to the container lowering operation with respect to the ground, when the hook arm 7 is moved backward to the retracted end, the lift arm lock device 13 is released and the lift arm lock detection sensor LS1 is turned on. At the same time, the dump arm lock device is engaged, and when it is detected that the dump arm lock device is locked (steps S204 and S205), the first switching valve 39a is switched by the command of the control device 33, and the slide cylinder 9 stops contraction (step S206), the second switching valve 39b is switched, the lift cylinder 8 starts to extend, and the lift arm 6 rotates backward about the pin 11 (step S207).

  When the lift arm 6 rotates rearward, as shown in FIG. 1 (c), the container 3 whose front side is lifted by the hook arm 7 is tilted while being in contact with the roller 51 (FIG. 3), and the rear end side is lowered. To go. When the container 3 gradually slides backward, the roller 3r at the lower rear of the container comes into contact with an inclined surface 114 provided at the rear part of the trailer T. When the lift arm 6 is further rotated backward from this state, the container rolls on the inclined surface 114 and the vertical frame 111 while the roller 3r is guided in the horizontal direction by the guide surface 117a of the guide rail 117 of the trailer T. , Move toward the front side of the trailer T.

When the lift arm 6 is rotated to the position shown in FIG. 11 (a), the lift arm standing detection sensor LS4 is turned on, and the lift arm 6 has reached a position where it can engage with the container on the trailer T. The indicated lamp (not shown) is lit. The operator turns off the lowering switch 50c (step S208), and stops the rotation of the lift arm 6 at one end (step S209). In this state, the container 3 is located on the rear portion 101R side (loading vehicle side) of the trailer T with respect to the predetermined position on the trailer T. Since the container 3 cannot be transported by the trailer T in this state, the hook arm 7 is It is necessary to move the container 3 to the front side of the trailer T by extending the lift arm 6.

Therefore, the operator switches the toggle switch 50a of the operation unit 50 to the jack operation position 50a3 (step S105 to step S106 in FIG. 14), and turns on the raising switch 50b (step S401 in FIG. 18). At this time, since the lift arm standing detection sensor LS4 senses that the lift arm 6 is in the standing posture (YES in step S402), the first switching valve 39a is switched by a command from the control device 33, and the slide cylinder 9 starts expansion (step S403). When the hook arm 7 is extended to the state of FIG. 11B, the operator turns off the raising switch 50b (YES in step S404), switches the first switching valve 39a, and stops the slide cylinder 9 (step S405). . Thereby, since the hook arm 7 can be extended in the cargo handling vehicle of the present invention, even if the cargo handling vehicle cannot be moved backward due to contact with the trailer T, the hook 7a is attached to the engagement piece 3a of the container. The hooks 7a and the engagement pieces 3a of the container can be engaged. Further, when the hook arm 7 is extended, the detecting means (sensor) for detecting that the posture of the arm device is a posture that can be engaged with the container 3 is set to a posture in which the lift arm 6 stands up, that is, a posture with respect to the dump arm 5. It is made to know by detecting. Thereby, the sensor as a detection means which detects that an arm apparatus is the attitude | position which can be engaged with the container 3 may be one, and can detect it cheaply.

Again, the operator switches the toggle switch 50a of the operation unit 50 to the loading / unloading operation position 50a1 (from step S101 to step S102 in FIG. 14), and turns on the lowering switch 50c (step S201 in FIG. 15). Then, since the lift arm standing detection sensor LS4 senses that the lift arm 6 is in the standing posture (YES in step S202), the process immediately shifts to step S207, and the second switching valve 39b is switched and the lift cylinder 8 is switched. By extending, the lift arm 6 rotates backward. As a result, the container 3 is lowered from the state shown in FIG. 11B to a predetermined position on the trailer T shown in FIG.

  When the state shown in FIG. 11 (b) is reached to the state shown in FIG. 11 (c), the engaging claw 120a of the jump-off preventing piece 120 is inserted into the locking hole 3h of the container 3 so that the rear end of the container jumps up. The protrusion 125 of the trailer T is inserted into the insertion portion 3L of the container 3 so that the position of the container 3 in the front-rear direction with respect to the loading platform 102 is regulated. Further, the pins 126 are inserted into the insertion holes respectively provided in the protrusion 125 and the insertion portion 3L, thereby preventing the front portion of the container 3 from jumping up. Then, the cargo handling vehicle is parked in parallel in front of the trailer T in the state shown in FIG. 11C, and the connected portion of the trailer T is connected to the connecting portion 200 of the cargo handling vehicle (see FIG. 9). Two containers can be transported by a cargo handling vehicle.

  The operation of changing the container 3 from the trailer T to the cargo handling vehicle will be described with reference to FIG. The cargo handling vehicle in a state in which the lift arm 6 is rotated to the rear is parked in parallel so that the rear portion thereof is located behind the trailer T (FIG. 11C). Then, the trailer jack J of the trailer T is extended to be grounded, and the rear part of the trailer T is connected to the connecting part 200 of the cargo handling vehicle by the connecting part 130 (FIG. 11A).

At this time, the hook arm 7 is at the position indicated by the alternate long and short dash line. In this state, the hook 7 a cannot be engaged with the engagement piece 3 a of the container 3, so the hook arm 7 is extended with respect to the lift arm 6. There is a need. Therefore, the operator switches the toggle switch 50a of the operation unit 50 to the jack operation position 50a3 (step S105 to step S106 in FIG. 14), and turns on the raising switch 50b (step S401 in FIG. 18). At this time, since the lift arm standing detection sensor LS4 senses that the lift arm 6 is in the standing posture (YES in step S402), the first switching valve 39a is switched by a command from the control device 33, and the slide cylinder 9 starts expansion (step S403). When the hook arm 7 is extended to the state indicated by the solid line in FIG. 11C and the hook 7a and the engagement piece 3a are engaged, the operator turns off the raising switch 50b (YES in step S404), and the first The switching valve 39a is switched to stop the slide cylinder 9 (step S405).

In this state, the toggle switch 50a of the operation unit 50 is set to the loading / unloading operation position 50a1 (step S101). When the raising switch 50b (FIG. 13) is turned on (step S210), whether or not the lift arm 6 is in the standing posture. Is determined from the detection result of the lift arm standing detection sensor LS4 (step S211 ). Since the lift arm 6 is in the standing posture (YES in step S211 ), the process proceeds to step S212. As a result, the second switching valve 39b is switched by a command from the control device 33, the lift cylinder 8 starts to contract (step S212), and the lift arm 6 starts to rotate forward. Thereby, the container 3 moves to the cargo handling vehicle side while lifting the front part. At this time, since the front portion of the container 3 is lifted, the insertion portions 3L provided on both sides of the lower surface of the front portion of the container 3 come out from the protrusions 125 provided on the loading platform 102 of the trailer T, and the front and rear direction with respect to the trailer T Can be moved. Then, when the lift arm 6 pivots forward and is almost upright, and the lift arm standing-up detection sensor LS4 is turned off from on (YES in step S213), the second switching valve 39b is once commanded by the control device 33. Is switched to stop the lift cylinder 8 (step S214), and the rotation of the lift arm 6 is stopped.

  Subsequently, the first switching valve 39a is switched by a command from the control device 33, the slide cylinder 9 starts to contract (step S215), and the hook arm 7 moves in a direction to contract with respect to the lift arm 6. When the hook arm 7 moves, the contact portion 12 comes into contact with the roller 14, and when the hook arm 7 further moves to the slide limit end, the lock pin 19 also moves, and the rear end of the lock pin 19 is the lift arm lock detection sensor. Sensed by LS1, lift arm lock detection sensor LS1 is turned on. Thereby, it is detected that the lift arm locking device 13 is in the unlocked state (step S217). Further, since the turning radius of the hook 7a provided at the tip of the hook arm 7 is reduced when the lift arm 6 is rotated, the working space for container loading is reduced.

  The second switching valve 39b is switched by a command from the control device 33, the lift cylinder 8 starts to contract (step S218), and the forward rotation of the lift arm 6 is resumed. When the lift arm 6 rotates forward and the lift arm 6 is detected by the landing detection sensor LS3 (FIG. 5) (step S219), the second switching valve 39b is switched by a command from the control device 33, and the lift cylinder 8 stops contraction (step S220). Thereby, the forward rotation of the lift arm 6 is completed. Next, the first switching valve 39a (FIG. 12) is switched, the slide cylinder 9 (FIG. 3) starts to extend, and the hook arm 7 slides forward (step S221). As the hook arm 7 slides, the roller 14 (FIG. 5) of the lift arm locking device 13 and the contacted portion 56 (FIG. 7) of the dump arm locking device 52 are separated from the contact portion 12, and the lock pin 19 is dumped. The arm 5 is engaged and locked (the lift arm lock detection sensor LS1 is turned off), and the engaging portion 54 is released from the pin 41 and is unlocked (the dump arm lock detection sensor LS2 is turned off). Become).

  Thereafter, when the raising switch 50b is turned off (step S222), the first switching valve 39a is switched by a command from the control device 33, and the slide cylinder 9 stops extending (step S224). Alternatively, even when the raising switch 50b is not turned off, when the travel position detection sensor is turned on (step S223), the first switching valve 39a is similarly switched, and the slide cylinder 9 stops extending. Thus, the forward sliding operation of the hook arm 7 is completed.

  Then, the toggle switch 50a provided in the operation unit 50 is set to the jack operation position 50a3 (step S105), and the process proceeds to the jack operation subroutine (step S106). When the raising switch 50b is turned on in the jack operation subroutine of FIG. 18 (S401), since the lift arm standing detection sensor LS4 does not detect the standing posture (NO in step S402), the third switching valve 39c is switched. The jack cylinder 4a starts to contract (step S406). As a result, the jack 4 moves from the lower protruding position to the storage position, and the rear bumper 61 moves from the storage position to the rear protruding position.

As described above, the jack operating means of the auxiliary operating means, that is, the toggle switch 50a which is an operation for operating the jack is switched to the jack operating position 50a3, and the hook arm 7 is expanded and contracted by turning on the raising / lowering switches 50b and 50c. Thus, since the position of the hook 7a is changed, there is no need to provide a dedicated operation switch for changing the position of the hook 7a. Therefore, the cargo handling vehicle can be provided at low cost. Further, when the jack operating means is operated, the operation of the jack (the expansion / contraction operation of the jack cylinder 4a) and the hook arm 7 are determined depending on whether or not the posture of the lift arm 6 is rotated to the posture for loading and unloading the container 3 on the trailer T. The hook arm 7 can be operated reliably during the container loading / unloading operation. Furthermore, the hook arm 7 can be expanded and contracted only by changing the control device 33 for an existing cargo handling vehicle, and can be loaded onto and unloaded from the trailer T. Even when the jack operating means is operated to move the hook 7a when the lift arm standing-up detection sensor LS4 is out of order, the jack 4 only operates, so that another arm (for example, the lift arm 6 ) is driven, and the container 3 can be operated safely without unexpected movement.

In this embodiment, the lift arm 6 is rotated from the state in which the hook 7a and the engagement piece 3a of the container 3 are engaged (FIG. 11C), thereby being provided on the loading platform 102 of the trailer T. Although it has been moved to the cargo handling vehicle side while removing the insertion portions 3L provided on both sides of the lower surface of the front portion of the container 3 from the projection 125, the hook 7a and the engagement piece 3a of the container 3 are engaged (see FIG. 11 (c)), the hook arm 7 is further extended to lift the front portion of the container 3, and the lift arm 6 is rotated after the insertion portion 3L of the container 3 is securely pulled out from the protrusion 125 of the trailer T. It may be loaded on a cargo handling vehicle. Thereby, damage to the projection part 125 of the trailer T and the insertion part 3L of the container 3 can be prevented.

  Another embodiment of the present invention will be described. In the present embodiment, not the operation for operating the jack but the operation for performing the dump operation is also used. In the other embodiments, the dump operation subroutine shown in FIG. 17 is only changed as shown in FIG. 19, and the detailed description of the structure and other operations will be omitted because they are the same.

When the container 3 is transferred from the cargo handling vehicle to the trailer T, first, the container 3 is moved down to the state shown in FIG. Then, the operator switches the toggle switch 50a of the operation unit 50 to the dump operation position 50a2 (step S103 to step S104 in FIG. 14), and turns on the raising switch 50b (step S501 in FIG. 19). At this time, since the lift arm standing detection sensor LS4 senses that the lift arm 6 is in the standing posture (YES in step S502), the first switching valve 39a is switched by a command from the control device 33, and the slide cylinder 9 starts expansion (step S507). When the hook arm 7 is extended to the state of FIG. 11B, the operator turns off the raising switch 50b (YES in step S508), switches the first switching valve 39a, and stops the slide cylinder 9 (step S509). . Thereafter, when the operator switches the toggle switch 50a of the operation unit 50 to the loading / unloading operation position 50a1 and turns on the lowering switch 50c, the lift arm 6 rotates rearward, so that the container 3 can be lowered. In order to remove the hook 7a from the engagement piece 3a of the container 3, when the toggle switch is again switched to the dump operation position 50a2 and the lowering switch 50c is turned on (step S510 in FIG. 19), the lift arm standing detection sensor LS4 is Since it is sensed that the lift arm 6 is in the standing posture (YES in step S511), the first switching valve 39a is switched by a command from the control device 33, and the slide cylinder 9 starts to contract (step S516). Thereby, since the hook 7a moves in the direction away from the engagement piece 3a of the container 3, it is removed from the engaged state.

On the other hand, when the container 3 is transferred from the trailer T to the cargo handling vehicle, the arm device is operated to the posture shown by the one-dot chain line in FIG. Then, the operator switches the toggle switch 50a of the operation unit 50 to the dump operation position 50a2 (step S103 to step S104 in FIG. 14), and turns on the raising switch 50b (step S501 in FIG. 19). At this time, since the lift arm standing detection sensor LS4 senses that the lift arm 6 is in the standing posture (YES in step S502), the first switching valve 39a is switched by a command from the control device 33, and the slide cylinder 9 starts expansion (step S507). When the hook arm 7 is extended to the state of FIG. 11B, the operator turns off the raising switch 50b (YES in step S508), switches the first switching valve 39a, and stops the slide cylinder 9 (step S509). . Subsequently, the operator switches the toggle switch 50a of the operation unit 50 to the loading / unloading operation position 50a1 and turns on the raising switch 50b, thereby rotating the lift arm 6 forward and sliding the hook arm 7 forward. The state shown in (a) is reached and the transfer work is completed.

As described above, the hook arm 7 can be expanded and contracted by switching the toggle switch 50a, which is the operation for operating the jack of the auxiliary operation means, that is, the operation of the jack, to the dump operation position 50a2 and turning on the raising / lowering switches 50b , 50b. Thus, since the position of the hook 7a is changed, there is no need to provide a dedicated operation switch for changing the position of the hook 7a. Therefore, the cargo handling vehicle can be provided at low cost. Further, when the dumping operation means is operated, the dumping operation (extension / contraction operation of the lift cylinder 8) and the hook arm 7 are performed depending on whether or not the posture of the lift arm 6 is rotated to the posture for loading and unloading the container 3 on the trailer T. Since the expansion and contraction is selectively operated, the hook arm 7 can be reliably operated during the container loading / unloading operation. Furthermore, the hook arm 7 can be expanded and contracted only by changing the control device 33 for an existing cargo handling vehicle, and can be loaded onto and unloaded from the trailer T. Further, by using the dump operation means of the auxiliary operation means as the operation means of the hook arm 7, the jack 4 can be moved manually so that an existing cargo handling vehicle having no jack operation means of the auxiliary operation means can be used. Can also be applied.

In the description of each of the above embodiments, the loading of the container 3 mounted on the trailer T has been described. However, when the container 3 is placed at a higher position than the loading vehicle such as a platform, the loading vehicle is restricted from moving backward. Even if the hook 7a and the engagement piece 3a of the container 3 cannot be engaged, the hook 7a and the engagement piece 3a of the container 3 can be engaged by performing the same operation. it can.

The present invention is not limited to the above embodiments. The lift arm standing detection sensor LS4 is used as the carrier posture detection means, but the posture where the landing detection sensor LS3 is off (the lift arm 6 stands up from the posture along the subframe 2a (see FIG. 1A)). It is also possible to drive the slide cylinder 9 using this method. Further, in order to change the position of the hook 7a, the hook arm 7 is provided so as to slide with respect to the lift arm 6. However, the hook arm 7 is provided on the lift arm 6 so as to be swingable via the shaft. You may make it change the position of the hook 7a by rocking | fluctuating 7.
May also be utilized operating means other than those mentioned in the examples for the auxiliary operating means for combined operating means for operating the hook arm 7. For example, in a cargo handling vehicle configured to drive a lock device for securing the container 3 to the arm device or the vehicle body 1 by an actuator and to start the operation by operating the lock driving switch (not shown) ), The hook arm 7 may be expanded and contracted using a lock driving switch, and the door (not shown) of the container 3 is opened and closed by an actuator, and the actuator is opened and closed by operating the door opening and closing switch. In the cargo handling vehicle configured as described above, the hook arm 7 may be expanded and contracted using a door opening / closing switch.

1 Car body 2 Carrier device 6 Lift arm 8 Lift cylinder (lift arm driving means)
7 Hook arm 9 Slide cylinder (hook arm drive means)
32 Lift arm standing-up detection sensor LS4 (carrier posture detection means, lift arm rotation position detection means)
33 Control device 50 Operation section

Claims (3)

A vehicle body with a container,
A lift arm provided with a base end pivotable in the front-rear direction by the lift arm driving means with respect to the vehicle body, and a hook that can be engaged with a container. A carrier device comprising at least an arm device having a hook arm provided so that the position thereof can be changed;
An operation unit having a loading / unloading operation means and an auxiliary operation means;
In a cargo handling vehicle provided with a control device that drives the carrier device according to an operation of the operation unit,
Provided at the rear part of the carrier device, between a lower protruding position suspended from the vehicle body frame to suppress the lowering of the vehicle body during loading work and a storage position retracted upward from the lower protruding position. A jack that is rotatable by a jack driving means;
A carrier posture detecting means for detecting that the arm device is in a posture in which a container can be mounted;
The auxiliary operation means is a jack operation means that causes the control device to drive the jack drive means when operated,
The control device is configured to load and unload the container with respect to the vehicle body when the loading / unloading operation means is operated, and that the arm device is in a posture in which the container can be mounted when the auxiliary operation means is operated. A cargo handling vehicle characterized in that, when the carrier posture detection means detects, the hook arm drive means is driven. A vehicle body with a container,
A lift arm provided with a base end pivotable in the front-rear direction by the lift arm driving means with respect to the vehicle body, and a hook that can be engaged with a container. A carrier device comprising at least an arm device having a hook arm provided so that the position thereof can be changed;
An operation unit having a loading / unloading operation means and an auxiliary operation means;
In a cargo handling vehicle provided with a control device that drives the carrier device according to an operation of the operation unit,
The arm device further includes a dump arm in which one end is provided to be rotatable in the front-rear direction with respect to the vehicle body and a lift arm is provided in the other end to be rotatable in the front-rear direction.
Further comprising carrier posture detection means for detecting that the arm device is in a posture in which a container can be mounted;
Before SL auxiliary operation unit is dump operation means for integrally rotating the lift arm and dump arm by the control apparatus lifting arm driving means is operated,
The control device is configured to load and unload the container with respect to the vehicle body when the loading / unloading operation means is operated, and that the arm device is in a posture in which the container can be mounted when the auxiliary operation means is operated. A cargo handling vehicle characterized in that, when the carrier posture detection means detects, the hook arm drive means is driven.   The cargo handling vehicle according to claim 1 or 2, wherein the carrier attitude detection means is a lift arm rotation position detection means for detecting a rotation position of the lift arm.

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