JP6237444B2 - Industrial vehicle - Google Patents

Description

  The present invention relates to an industrial vehicle, and more particularly to an industrial vehicle provided with a gradient sensor that detects a gradient of a road surface.

As a conventional technique related to an industrial vehicle, for example, a vehicle control device disclosed in Patent Document 1 is known.
This vehicle control device increases the driving torque of the power source by a predetermined increase rate when starting from a vehicle stop state, a power source that outputs driving torque to the driving wheels, road surface gradient detecting means that detects the road surface gradient. Driving torque control means.
The vehicle control device further includes an increase rate changing means for changing to a gradient road increase rate larger than the predetermined increase rate when the detected road surface gradient is equal to or greater than a predetermined value.

According to this vehicle control device, it is possible to improve the responsiveness at the time of start on a slope road.
That is, when the vehicle starts on a high gradient road, the start start timing is advanced by quickly raising the drive torque before the vehicle actually starts moving.

JP2012-153175A

By the way, when an industrial vehicle traveling on a flat road enters an uphill road, there is a concern that the vehicle speed decreases and a sufficient vehicle speed cannot be obtained when traveling on the flat road.
For example, when an industrial vehicle traveling on a flat road at a constant speed enters a high slope uphill road, the constant speed cannot be obtained on the uphill road.
Incidentally, the vehicle control device disclosed in Patent Document 1 is merely a technique for improving the responsiveness when starting on a slope road, and an industrial vehicle enters a climbing road from a flat road and travels on a flat road. It does not solve the problem of not being able to increase the vehicle speed.
Therefore, when entering an uphill road, it is necessary to perform output control corresponding to the slope of the uphill road with respect to the drive device of the industrial vehicle. For example, an industrial vehicle may be provided with a gradient detection sensor, and output control for the drive device may be performed based on the gradient detection value of the gradient detection sensor.
However, when the industrial vehicle turns, the gradient detection sensor is affected by the acceleration caused by the turn, and even if it is a flat road, it outputs a gradient detection value indicating the gradient as an uphill road, and erroneously detects the flat road as an uphill road. There's a problem.

  The present invention has been made in view of the above problems, and an object of the present invention is an industrial vehicle that does not change the output control for the drive device even if the gradient detection sensor erroneously detects the gradient due to turning of the vehicle body. Is in the provision of.

In order to solve the above-described problems, the present invention provides a gradient for detecting a gradient of a road surface in an industrial vehicle including a driving device mounted on a vehicle body and a control device that performs output control on the driving device. comprising a detection sensor, a turning detection means for detecting turning of the vehicle, wherein the control device is a pre-Symbol gradient detecting sensor or slope setting value slope detection value is preset to detect, said pivot detecting means When the turning of the vehicle body is not detected, output control is performed to increase the output to the driving device , the gradient detection value detected by the gradient detection sensor is equal to or greater than the gradient setting value, and the turning detection means is connected to the vehicle body. when detecting the turning, and, if the gradient detected value the gradient detecting sensor detects is less than the slope setting value, and characterized in that the status quo without changing the output to the drive unit That.

According to the present invention, the control device, a gradient detection sensor is higher gradient set value slope detection value is preset to detect, if the turning detecting means has detected a vehicle body turning, and the slope detection sensor detects When the gradient detection value is less than the gradient setting value, output control is performed to maintain the current state without changing the output control for the driving device.
On the other hand, the control device is a gradient detection sensor is higher gradient set value slope detection value is preset for detecting, when said turning detecting means does not detect the turning of the vehicle, an output that increases the output to the drive unit Take control.
As a result, even if the gradient detection sensor erroneously detects the gradient due to the influence of acceleration accompanying turning, the output control for the driving device is not changed.
Further, when the turning of the vehicle body is not detected and the gradient detection value detected by the gradient detection sensor is equal to or greater than a preset gradient setting value, output control for the driving device according to the road surface gradient can be performed.

In the industrial vehicle, the vehicle body includes steerable steerable wheels, and the turning detection means includes a tire angle detection sensor that detects a tire angle of the steered wheels, and is detected by the tire angle detection sensor. It is good also as a structure which detects turning of the said vehicle body based on a tire angle detection value.
In this case, the tire angle detection sensor can detect the tire angle detection value of the steered wheel, and can determine whether the vehicle body is turning based on the tire angle detection value.

  ADVANTAGE OF THE INVENTION According to this invention, even if a gradient detection sensor misdetects a gradient by turning of a vehicle body, the industrial vehicle which does not change the output control with respect to a drive device can be provided.

It is a side view which shows the forklift which concerns on embodiment of this invention. 1 is a schematic plan view of a forklift according to an embodiment of the present invention. It is a schematic block diagram which shows schematic structure of the output control in the forklift which concerns on embodiment of this invention. It is a flowchart which shows the output control in the forklift which concerns on embodiment of this invention. It is a figure which shows the detected value of a gradient detection sensor when an industrial vehicle turns on a flat road and starts.

Hereinafter, a forklift as an industrial vehicle according to an embodiment of the present invention will be described with reference to the drawings.
Note that “front / rear”, “left / right”, and “up / down” that specify the direction are based on a state in which the forklift operator is seated on the driving seat of the driver's seat and faces the forward side of the forklift.

As shown in FIG. 1, a forklift 10 as an industrial vehicle includes a cargo handling device 12 as a cargo handling means at a front portion of a vehicle body 11.
A driver's seat 13 is provided near the center of the vehicle body 11, and a battery 14 is accommodated below the driver's seat 13 in the vehicle body 11.
A driving wheel 15 as a front wheel is provided at the front portion of the vehicle body 11, and a steerable steering wheel 16 as a rear wheel is provided at the rear portion of the vehicle body 11.
The vehicle body 11 is provided with a traveling motor 17 as a driving device for traveling that generates a traveling driving force.
A power transmission mechanism (not shown) is provided between the traveling motor 17 and the driving wheel 15, and the power transmission mechanism transmits the traveling driving force of the traveling motor 17 to the driving wheel 15.
The forklift 10 according to the present embodiment is a battery forklift that is operated by electric power of a battery 14 mounted on a vehicle body 11.

The cargo handling device 12 includes a mast 18 having an outer mast 19 and an inner mast (not shown).
The pair of left and right outer masts 19 is provided with an inner mast that can slide inside the outer mast 19.
The outer mast 19 is provided with a tilt cylinder 20 that is operated by hydraulic pressure, and the operation of the tilt cylinder 20 causes the mast 18 to tilt in the front-rear direction.
The inner mast is provided with a lift cylinder 21 that is actuated by hydraulic pressure. The operation of the lift cylinder 21 causes the inner mast to slide up and down in the outer mast 19.
The mast 18 is provided with a pair of left and right forks 22 via a lift bracket 23, and the lift bracket 23 is provided so as to move up and down with respect to the inner mast.

A driver's seat 13 in the vehicle body 11 is provided with a driver's seat 24 on which an operator can sit.
The driving seat 24 is disposed on a seat stand 25 provided in the vehicle body 11 .
A steering wheel 26 for steering is provided in front of the driving seat 24.
An accelerator pedal 27 is provided on the floor of the driver's seat 13, and the accelerator pedal 27 is for adjusting the vehicle speed of the forklift 10.
The forklift 10 controls the driving of the travel motor 17 so that the vehicle speed is in accordance with the amount of depression of the accelerator pedal 27 by the operator.
The vehicle body 11 is equipped with a controller 29 that performs various controls of the forklift 10.
A display unit 28 is provided at the front portion of the steering wheel 26.
The display unit 28 is installed at a position that can be easily seen by an operator seated on the vehicle body 11.

As shown in FIG. 2, the vehicle body 11 is provided with a tire angle detection sensor 31 that detects the tire angle (tire angle) θ of the steering wheel 16.
The tire angle detection sensor 31 is, for example, a potentiometer provided on a steering shaft (not shown) of the steering wheel 16.
The tire angle detection sensor 31 detects the tire angle θ of the steered wheel 16 corresponding to right steering or left steering of the steering wheel 26.
Note that the tire angle θ of the steered wheels 16 is an angle based on the state when the forklift 10 goes straight.
As the tire angle θ, for example, a tire angle range during right steering (0 to + 90 °) and a tire angle range during left steering (0 to −90 °) are set.
The tire angle detection sensor 31 always detects the tire angle θ of the steering wheel 16 with respect to the traveling direction.

As shown in FIG. 2, the vehicle body 11 is provided with a gradient detection sensor 32.
The gradient detection sensor 32 is a sensor that detects the gradient of the road surface from the front and rear inclination of the vehicle body 11 and outputs a signal of a gradient detection value.
The gradient detection sensor 32 of this embodiment is a liquid level sensor that detects the gradient of the road surface by the inclination of the liquid level of the liquid sealed in the sensor main body (not shown) and the sensor main body.

Next, a schematic configuration of the output control of the traveling motor 17 in the forklift 10 will be described.
As shown in FIG. 3, the controller 29 of this embodiment is connected to a drive circuit 30 that controls the drive of the travel motor 17.
The travel motor 17 is connected so as to be able to receive power supply from the battery 14 via the drive circuit 30.
The travel motor 17 is driven by the operation of the drive circuit 30 based on a command from the controller 29.
In this embodiment, the controller 29 corresponds to a control device, and includes a CPU (not shown) that executes various controls in a predetermined procedure, a memory that stores various data, and the like.
A memory (not shown) provided in the controller 29 stores a program for controlling the driving torque of the traveling motor 17.

The controller 29 is communicably connected to a display unit 28 provided in the driver's seat 13.
The display unit 28 includes a display unit (not shown) as a display unit for displaying various information, and also includes a keyboard unit (not shown) as an input unit.
The controller 29 is connected to the tire angle detection sensor 31 and receives a signal of a detection value of the tire angle detection sensor 31.

In the present embodiment, the controller 29 includes a tire angle comparison unit 33 as tire angle comparison means.
The tire angle comparison unit 33 compares a tire angle setting value set in advance with respect to the tire angle θ of the steered wheels 16 and a tire angle detection value detected by the tire angle detection sensor 31.
The controller 29 stores a preset value for the tire angle θ of the steered wheels 16.
The controller 29 recognizes whether or not the vehicle body 11 is turning based on a comparison result between the tire angle setting value and the tire angle detection value by the tire angle comparison unit 33.
When the tire angle detection sensor 31 detects a tire angle detection value that is less than the tire angle setting value (the tire angle setting value during right steering and the tire angle setting value during left steering), the controller 29 is turning the vehicle body 11. Not recognized.
When the tire angle detection sensor 31 detects a tire angle detection value equal to or greater than the tire angle setting value, the controller 29 recognizes that the vehicle body 11 is turning.
That is, the controller 29 determines whether the vehicle body 11 is turning based on the tire angle detection value detected by the tire angle detection sensor 31.
Therefore, in the present embodiment, the tire angle detection sensor 31 and the controller 29 correspond to a turning detection unit that detects turning of the vehicle body 11.

The controller 29 is connected to a gradient detection sensor 32 provided on the vehicle body 11 and receives a signal of a gradient detection value detected by the gradient detection sensor 32.
The controller 29 of this embodiment includes a gradient detection value comparison unit 34 as gradient comparison means.
The gradient detection value comparison unit 34 compares a preset gradient setting value with the gradient detection value.
In the present embodiment, a preset gradient setting value is stored in the controller 29.
When the turning of the vehicle body 11 is not detected and the gradient detection value detected by the gradient detection sensor 32 is equal to or greater than the gradient setting value, the controller 29 drives the driving motor 17 with respect to the drive circuit 30 based on the gradient detection value. Command output control to increase torque at a predetermined rate.
On the other hand, when the gradient detection value is less than the slope setting value, the controller 29 outputs a control to increase the driving torque of the driving motor 17 in the driving circuit 30 on the basis of the slope detection value is not performed, the driving torque of the driving motor 17 The current output control is maintained.
Note that the gradient setting value can be changed by an input operation on the keyboard unit of the display unit 28.

The procedure of output control by the controller 29 shown in FIG. 4 will be specifically described. First, the controller 29 determines whether or not the gradient detection value of the gradient detection sensor 32 is equal to or greater than the gradient set value (see step S1). )
If the gradient detection value of the gradient detection sensor 32 is greater than or equal to the gradient setting value, the process proceeds to step S2.
When the gradient detection value of the gradient detection sensor 32 is less than the gradient setting value, the process proceeds to step S4, and the output control for the traveling motor 17 is not changed and the current state is maintained.
In step S2, if the tire angle detection value of the tire angle sensor 31 is equal to or less than or tire angle set value, the tire angle detection value of the tire angle sensor 31 is less than the tire angle set value, step S3 Proceed to
When the tire angle detection value of the tire angle detection sensor 31 is equal to or larger than the set value, the process proceeds to step S4, and the output control for the traveling motor 17 is not changed and the current state is maintained.
In step S3, an output control for increasing the driving torque of the traveling motor 17 at a predetermined rate is commanded to the driving circuit 30 based on the detected gradient value.
A program for executing a series of output control procedures shown in FIG. 4 is stored in a memory provided in the controller 29.

For example, when the vehicle body 11 turns at the start of a flat road, the gradient detection sensor 32 erroneously detects the gradient due to the influence of acceleration during the turn, and for example, as shown in FIG. Indicates the gradient detection value.
In this case, the controller 29 determines in step S2 that the tire angle detection value of the tire angle detection sensor 31 is equal to or greater than the tire angle setting value, and thus the process proceeds to step S4, where the output control for the travel motor 17 is not changed and the current state is maintained. It remains.
That is, the controller 29 does not issue an output control command for increasing the predetermined ratio of the drive torque to the traveling motor 17 based on the erroneous detection of the gradient detection sensor 32.

Next, consider a case in which the forklift 10 traveling on a flat road enters a climbing road having a gradient equal to or greater than a gradient setting value by going straight.
In this case, in step S1, it is determined that the gradient detection value of the gradient detection sensor 32 is equal to or greater than the gradient setting value, and the process proceeds to step S2.
In step S2, it is determined that the tire angle detection value of the tire angle detection sensor 31 is less than the tire angle setting value.
For this reason, it progresses to step S3 and the output control which increases the drive torque of the traveling motor 17 with respect to the drive circuit 30 by a predetermined ratio is performed with respect to the drive circuit 30 based on the gradient detection value.
That is, the controller 29 can recognize that the forklift 10 is traveling on an uphill road with no inclination of the vehicle body 11 and performs output control to increase the driving torque of the traveling motor 17 at a predetermined rate according to the inclination. be able to.
Therefore, even if the forklift 10 traveling on a flat road enters the uphill road, the vehicle speed (for example, the maximum speed) during traveling on the flat road can be obtained.
When the forklift 10 that travels straight on an uphill road having a gradient equal to or greater than the gradient setting value turns at a tire angle that is equal to or greater than the tire angle setting value while traveling on the uphill road, the driving torque of the traveling motor 17 according to the gradient The output control for increasing the value at a predetermined rate is stopped.
In this case, the forklift 10 travels by normal drive torque output control in traveling on a flat road.

According to this embodiment, there exist the following effects.
(1) When the turning of the vehicle body 11 is detected based on the detected tire angle, the controller 29 issues a command to the drive circuit 30 to perform output control to maintain the current state without changing the drive torque of the travel motor 17. . On the other hand, when the turning of the vehicle body 11 is not detected and the gradient detection value detected by the gradient detection sensor 32 is equal to or greater than a preset gradient setting value, the controller 29 determines a predetermined drive torque for the travel motor 17 with respect to the drive circuit 30. Output control command to increase at a rate. As a result, even if the gradient detection sensor 32 is erroneously detected due to the influence of acceleration associated with the turning of the vehicle body 11, the current state can be maintained without changing the output control for the travel motor 17. Further, when the turning of the vehicle body 11 is not detected and the gradient detection value detected by the gradient detection sensor 32 is equal to or greater than a preset gradient setting value, the driving torque of the traveling motor 17 is increased at a predetermined rate according to the road surface gradient. Output control can be performed. Even if the forklift 10 traveling on a flat road enters the uphill road, the vehicle speed (for example, the maximum speed) during traveling on the flat road can be obtained.

(2) Since the turning detection means is the tire angle detection sensor 31 and the controller 29, it is possible to easily detect the turning of the vehicle body 11, and it is not necessary to provide any other means for detecting the turning of the vehicle body 11. . Further, when the tire angle detection value of the tire angle detection sensor 31 is less than the preset tire angle setting value, the turning of the vehicle body 11 is not detected, and when the tire angle detection value is equal to or larger than the tire angle setting value, the turning of the vehicle body 11 is detected. Yes. Therefore, it is possible to perform output control that increases the driving torque of the traveling motor 17 at a predetermined rate according to the gradient of the road surface not only when the vehicle is traveling straight but also when the vehicle is traveling straight.

(3) Since the gradient setting value can be easily changed by input to the display unit 28, for example, it is possible to meet the request of each operator of the forklift 10, and the use conditions and environment of the forklift 10 can be changed. The slope setting value can be set together.

(4) When the forklift 10 that travels straight on an uphill road having a slope equal to or greater than the slope setting value turns during the running of the uphill road, the output control for increasing the driving torque of the travel motor 17 at a predetermined rate according to the slope is performed. Canceled. When the forklift 10 travels while turning on an uphill road, the power of the travel motor 17 can be suppressed.

  The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the gist of the invention. For example, the following modifications may be made.

In the above embodiment, the tire angle detection sensor is used as a part of the turning detection means for detecting turning of the vehicle body, but this is not restrictive. As part of the turning detection means for detecting turning of the vehicle body, means other than a tire angle detection sensor, for example, a steering angle detection sensor for detecting the steering angle of the steering wheel, or a gyro sensor for detecting turning of the vehicle body by detecting angular velocity May be used.
In the above embodiment, a liquid level sensor is used as the gradient detection sensor, but the gradient detection sensor is not limited to the liquid level sensor. The gradient detection sensor may be, for example, a pendulum type provided with a pendulum inside the sensor body.
In the above embodiment, the gradient set value can be changed by inputting the display unit, but the gradient set value may be fixed. In addition, a travel mode such as a high power mode in which the drive torque is increased as compared with the normal power mode and the normal power mode may be set in advance. In this case, when the gradient correction value is equal to or greater than the gradient set value, the output control may be performed by switching the traveling mode from the normal power mode to the high power mode.
In the above embodiment, the controller corresponds to a part of the turning detection means and the control device. However, a part of the turning detection means and the control device may be provided separately.
In the above embodiment, the battery forklift as an industrial vehicle has been described. However, the present invention can also be applied to an engine forklift, for example. Industrial vehicles include towing vehicles and construction vehicles in addition to forklifts.

DESCRIPTION OF SYMBOLS 10 Forklift 11 Car body 12 Cargo handling device 13 Driver's seat 15 Driving wheel 16 Steering wheel 17 Traveling motor 18 Mast 22 Fork 28 Display unit 29 Controller 30 Driving circuit (for traveling motor)
31 Tire angle detection sensor 32 Gradient detection sensor 33 Tire angle comparison unit 34 Gradient detection value comparison unit

Claims (2)

In an industrial vehicle including a driving device for traveling mounted on a vehicle body and a control device that performs output control on the driving device,
A gradient detection sensor for detecting the gradient of the road surface;
Turning detection means for detecting turning of the vehicle body,
The controller is
Before Symbol gradient detecting sensor or slope setting value slope detection value is preset for detecting, when said turning detecting means does not detect the turning of the vehicle, it performs output control to increase the output to the drive device,
The gradient detection value detected by the gradient detection sensor is greater than or equal to the gradient set value, and the turning detection means detects turning of the vehicle body , and the gradient detection value detected by the gradient detection sensor is less than the gradient set value. In the case, the industrial vehicle is characterized in that the output to the drive device is not changed and the current state is maintained. The vehicle body includes steerable steering wheels,
The turning detection means includes a tire angle detection sensor for detecting a tire angle of the steered wheel,
2. The industrial vehicle according to claim 1, wherein the turning of the vehicle body is detected based on a tire angle detection value detected by the tire angle detection sensor.

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