JP6320140B2 - forklift - Google Patents

Description

  The present invention relates to a forklift including a transfer assist device having a load handling arm capable of transferring a load between a pallet supported by a load handling fork and its peripheral portion.

  For example, in Patent Document 1, a pair of left and right columns are erected on the front of the vehicle body at the rear of the mast device that constitutes the lift device, and work arms that can be bent are arranged on these columns so as to be movable up and down. Things have been proposed.

JP 2009-184826 A

  In Patent Document 1, the support column is bent and bent rearward at the upper part of the mast of the lift device. When the work arm is not used, the work arm is moved to the upper end of the mast and retracted upward. .

  Forklifts, for example, sometimes carry out cargo handling work by entering and leaving a narrow space such as inside a container or in a cargo compartment. However, in Patent Document 1, a column protrudes upward from the mast, and the ceiling height of the entry / exit space is increased. Is limited. Further, in the retracted posture in which the working arm is on the upper end side of the column, there is a problem that the ceiling height is further restricted by the working arm. Furthermore, in order to equip a pair of left and right working arms, it is necessary to separately install a support post on the forklift, which increases the cost.

  An object of the present invention is to solve the above problems and to provide a forklift having a cargo handling arm that can enter and exit a space where the ceiling height is limited.

According to the first aspect of the present invention, there is provided a mast device having a pair of left and right outer masts erected at the front portion of the vehicle body, and an inner mast guided by the outer masts so as to be movable up and down. And a lift device including a cargo handling fork provided on the carriage, and a transfer device capable of transferring a load between a pallet supported by the cargo handling fork and a peripheral portion outside the vehicle body. A forklift comprising an auxiliary device,
The transfer assist device includes:
And cargo handling arm provided on the arm support device and the arm support device detachably provided in the arm mounting base and to the arm mounting base provided on one of the pair of left and right outer masts of the mast assembly,
A weight that is provided on the other of the pair of left and right outer masts of the mast device and balances the weight with respect to the cargo handling arm,
The arm support device is an arm rotation mechanism that rotates a cargo handling arm 180 degrees around a support axis parallel to the outer mast between a cargo handling posture extending forward and a storage posture extending backward. It is characterized by having.

The invention according to claim 2 is the configuration according to claim 1,
Between the arm support device and the cargo handling arm, a parallel link type lifting mechanism capable of translating the cargo handling arm is provided.
The cargo handling arm includes a plurality of joint portions provided so that a plurality of arm portions can be bent around an axis parallel to a support axis, a load receiving base provided at a tip arm portion, and a load on the load receiving base. A load transfer tool to be transferred;
The tilt cylinder interposed between the vehicle body and the mast device and tilting the mast device in the front-rear direction is provided with the vertical tilt of the cargo handling arm.

According to the first aspect of the invention, one provided with a handling arm of the left and right outer masts, by providing a weight to the other of the left and right outer masts, for example, it is left evenly distribute the load in the vehicle body front In addition, there is no need to provide a separate support on the vehicle body for the cargo handling arm. In addition, by making the cargo handling arm pivotable between the cargo handling posture and the storage posture by the arm turning mechanism, the projecting width to the outside of the vehicle body can be reduced, and restrictions and restrictions by the cargo handling arm can be reduced as much as possible. It is possible to enter and exit a narrow space where the ceiling height and width are limited.

  According to the second aspect of the invention, the structure and operation can be simplified and the position adjustment of the load receiving stand with respect to the load can be achieved by the load handling arm in which a plurality of arm portions are connected so as to be bent around an axis parallel to the support axis. Can be easily performed. In addition, the cargo handling arm and the load transfer tool can hold the load on the load receiving table and stably transfer the load, thereby reducing the fatigue of the operator. Furthermore, using the tilt cylinder that tilts the cargo handling fork up and down, the cargo handling arm can be tilted up and down together with the load receiving platform and the load holding tool, and there is no need to separately equip the tilting mechanism.

It is a top view which shows the Example of the forklift with a cargo handling arm which concerns on this invention. It is a right view of the forklift. It is a top view which shows operation | movement of a cargo handling arm. It is a front view which shows a cargo handling arm and a mast apparatus. It is a rear view which shows a cargo handling arm and a mast apparatus. It is sectional drawing of the planar view which shows a mast apparatus.

[Example 1]
Embodiments of a forklift with a cargo handling arm according to the present invention will be described below with reference to the drawings.

  As shown in FIGS. 1 and 2, this forklift is a small one called an electric battery fork. For example, when the forklift is placed in a container and a worker loads the load M in the container onto the pallet P, for example, If the weight of the load M exceeds 10 kg, a large amount of labor is required, which may impose a burden on the worker, and the load M in the container is loaded on the pallet P, or the load M on the pallet P is loaded in the container. At the time of taking out, the labor is reduced by using a transfer assist device 30 provided with a cargo handling arm (manipulator) 31 provided on the forklift.

The forklift is provided with a lift device 14 capable of raising and lowering a cargo handling fork 13 at a front portion of a vehicle body 11 having a pair of left and right driving front wheels 12F and a pair of left and right steering rear wheels 12R. The lift device 14 is supported by a bearing bush 16B provided in the lower part of the vehicle body 11 near the front portion of the front wheel 12F and supported by a bearing bush 16B shown in FIG. 15 is erected on the vehicle body 11. A pair of left and right tilt cylinders 17 supported by the front portion of the vehicle body 11 are connected to a mast device 15 (outer masts 21L and 21R), and the tilt cylinder 17 causes the mast device 15 to move in the front-rear direction around the boss shaft 16A. In addition, the cargo handling fork 13 can be tilted in a predetermined range in the vertical direction.

(Mast device / lift device)
As shown in FIGS. 4 to 6, the mast device 15 includes a pair of left and right outer masts (mast) 21L and 21R supported by the vehicle body 11 via a boss shaft 16A, and inner sides of the outer masts 21L and 21R. The inner masts 22L and 22R are supported through a plurality of guide rollers 22a to 22d so as to be movable up and down. In addition, a pair of left and right lift cylinders 23L and 23R, which are drive devices for the lift device 14, are provided on the rear portions of the left and right outer masts 21L and 21R, and the piston rods are connected to the upper end of the inner masts 22R and 22L. It is connected to and can be driven up and down. A carriage 24 is disposed on the inner masts 22L and 22R through a plurality of guide rollers 24a to 24c so as to be movable up and down, and a pair of left and right cargo handling forks 13 having a backrest 25 are supported on the carriage 24. Further, a sprocket 26a is rotatably supported on the upper end side of the inner mast 22, and a chain 26b having both ends connected between the lower ends of the outer masts 21L and 21R and the inner masts 22L and 22R is wound around the sprocket 26a. A winding transmission mechanism 26 to be rotated is provided. Therefore, the winding transmission mechanism 26 constitutes a double speed mechanism for moving the carriage 24 up and down at a double speed by extending and lowering the inner cylinder 22 by expanding and contracting the lift cylinder 23.

(Handling support device)
As shown in FIGS. 3 to 5, the cargo handling assisting device 30 includes a pair of arm mounting bases (mounting bases) 32 and 32 that are mounted on the right outer mast 21 </ b> R of the mast device 15 at predetermined intervals in the vertical direction. The arm support device 33 is detachably attached. Further, a balance weight (weight) 34 for balancing the left and right loads applied to the mast device 15 is detachably attached to the left outer mast 21L.

  The arm support device 33 includes an upper and lower support brackets 33a and 33b attached to a pair of upper and lower arm mounting bases 32 via fasteners such as screw shafts and nuts, and an outer support bracket 33a and 33b. A rotation frame 33d that can be freely rotated via a support shaft 33c on a support axis Oa parallel to the mast 21R and can be fixed at a position separated by 180 ° is provided, and a parallel link type lifting mechanism is provided on the rotation frame 33d. A cargo handling arm 31 is supported via 35.

  As shown in FIG. 1, the cargo handling arm 31 is rotated 180 ° around the support axis Oa together with the lifting mechanism 35 and the rotary frame 33d by the pivot frame 33d, and the cargo handling arm 31 extends forward. (A) and the arm rotation mechanism 36 which can change an attitude | position between the handling attitude | position (b) where the cargo handling arm 31 is located back is comprised.

  The parallel link type lifting mechanism 35 has an upper portion and a lower link frame 35A and 35B that are rotatably supported via horizontal pins at predetermined intervals in the vertical direction at an intermediate portion of the rotation frame 33d. The link frames 35A and 35B are rotatably connected to the base frame 40 of the cargo handling arm 31 via horizontal pins. Further, the output rods of a pair of elevating cylinders 35C that are swingably supported at the lower end of the rotating frame 33d are pin-connected to a connecting bracket 35D provided at an intermediate portion of the lower link frame 35B. Further, a telescopic guide rod 35E is swingably supported at the upper end portion of the rotating frame 33d, and the guide rod 35E is slidable on a slide support member 35F provided rotatably at an intermediate portion of the lower link frame 35B. It is supported through. Therefore, in this lifting mechanism 35, the cargo handling arm 31 can be lifted and lowered while maintaining a substantially horizontal posture by extending and retracting the lifting cylinder 35C.

  The cargo handling arm 31 is supported by the first to fourth joint portions 42A to 42D, for example, between the first to fourth joint portions 42A to 42D, and the first to third arm portions 41A to 41C are connected to each other. The first to third arm portions 41A to 41C are connected so as to be bendable within a predetermined range around an axis parallel to the axis Oa. A load receiving platform 43 is provided at the distal end of the fourth joint portion 42D, and an adsorbing tool capable of adsorbing and holding the load M on the upper portion of the load receiving platform 43, and an exit / withdrawal device capable of moving forward and backward from the load receiving platform 43. The load transfer tool 44 which consists of is provided.

  In the above configuration, the load receiving platform 43 can be raised and lowered by the lifting mechanism 35, but the cargo handling arm 31 and the load receiving platform 43 cannot be tilted up and down. However, by tilting the mast device 15 and the cargo handling fork 13 in the front-rear direction by the tilt cylinder 17, the cargo handling arm 31 can be tilted via the arm support device 33 and the load receiving platform 43 can be tilted in the vertical direction.

The operations of the lifting mechanism 35, the cargo handling arm 31, and the suction tool are performed by a cargo handling arm controller (not shown) provided in the driver's seat.

  When the cargo handling arm 31 is in the stowed posture (b), the driver rotates the cargo handling arm 31 180 degrees from the stowed posture (b) and positions and fixes the cargo handling arm 31 in the cargo handling posture (b). Then, the pallet P is placed on the cargo handling fork 13 to allow the vehicle body 11 to enter the container.

  The driver operates the cargo handling arm 31 using the cargo handling arm controller in the driver's seat, pushes the cargo receiving platform 43 to the facing position at the bottom of the load M, and stops the loading / unloading tool 44. Then, the suction tool at the tip is attracted to the load M, the retracting tool is contracted, and the load M is placed on the load receiving platform 43. The cargo handling arm 31 is operated and the cargo receiving platform 43 is stopped facing the placement position on the pallet P. Then, the loading / unloading tool is protruded to push the load M held by the suction tool onto the pallet P from the load receiving platform 43, and the suction tool is separated from the load M to complete the transfer. By repeating this, the load M in the container is sequentially transferred onto the pallet P. When the transfer is completed, the vehicle body 11 is retracted and removed from the container.

  When the cargo handling arm 31 is not used, the cargo handling arm 31 is rotated 180 degrees from the cargo handling posture (A) in which the cargo handling arm 31 extends forward, and the storage posture (B) in which the cargo handling arm 31 extends in the rearward direction. Thereby, the cargo handling work can be performed without causing the cargo handling arm 31 to become an obstacle to the traveling of the forklift. When the cargo handling arm 31 is not used for a long time, the arm support device 33 is removed from the arm attachment base 32R, and the balance weight 34 is removed from the weight attachment base 32L. Thereby, it can be used as a normal forklift that is not equipped with the cargo handling arm 31.

  According to the above embodiment, the load handling arm 31 is provided on the right outer mast 21R and the balance weight 34 is provided on the left outer mast 21L, whereby the load can be evenly distributed at the front portion of the vehicle body 11, and For the arm 31, it is not necessary to stand a support column separately on the vehicle body 11. Further, the arm support device 33 allows the cargo handling arm 31 to rotate between a cargo handling posture (a) extending forward and a storage posture (b) extending rearward, thereby increasing the outward projecting width of the vehicle body 11. The traffic restriction by the cargo handling arm 31 can be reduced as much as possible, and it is possible to enter and exit a narrow space where the ceiling height and width are limited.

  Further, the structure and operation can be simplified by the cargo handling arm 31 in which the first to third arm portions 41A to 41C are connected to be freely bent around an axis parallel to the support axis Oa, and the load receiving platform 43 for the load M can be simplified. Position adjustment can be easily performed. Further, the cargo handling arm 31 and the load transfer tool 44 can stably transfer the load M while holding the load M on the load receiving platform 43, thereby reducing the fatigue of the operator. Furthermore, using the tilt cylinder 17 that tilts the cargo handling fork 13 up and down, the cargo handling arm 31 can be tilted up and down together with the load receiving platform 43 and the load transfer tool 44, and a tilting mechanism must be provided separately. There is no.

  In the above embodiment, the cargo handling arm 31 is provided on the right outer mast 21R, and the balance weight 34 is provided on the left outer mast 21L.

M Load P Pallet Oa Support axis 11 Car body 13 Cargo handling fork 14 Lift device 15 Mast device 17 Tilt cylinders 21R, 21L Outer mast (fixed mast)
30 Transfer assist device 31 Loading arm 32 Arm attachment base 33 Arm support device 34 Balance weight 35 Lifting mechanism 35F Slide support member 36 Arm rotation mechanisms 41A to 41C First to third arm portions 42A to 42D First to fourth Joint part 43 Loading platform 44 Cargo transfer tool (b) Carrying posture (b) Storage posture

Claims (2)

A mast device having a pair of left and right outer masts erected at the front of the vehicle body, an inner mast guided to be movable up and down by the outer masts, a carriage guided to be movable up and down by the inner mast, and A forklift comprising: a lifting device provided with a loading fork; and a transfer assist device capable of transferring a load between a pallet supported by the loading fork and a peripheral portion outside the vehicle body. Because
The transfer assist device includes:
And cargo handling arm provided on the arm support device and the arm support device detachably provided in the arm mounting base and to the arm mounting base provided on one of the pair of left and right outer masts of the mast assembly,
A weight that is provided on the other of the pair of left and right outer masts of the mast device and balances the weight with respect to the cargo handling arm,
The arm support device is an arm rotation mechanism that rotates a cargo handling arm 180 degrees around a support axis parallel to the outer mast between a cargo handling posture extending forward and a storage posture extending backward. A forklift characterized by comprising: Between the arm support device and the cargo handling arm, a parallel link type lifting mechanism capable of translating the cargo handling arm is provided.
The cargo handling arm includes a plurality of joint portions provided so that a plurality of arm portions can be bent around an axis parallel to a support axis, a load receiving base provided at a tip arm portion, and a load on the load receiving base. A load transfer tool to be transferred;
The forklift according to claim 1, wherein a tilt cylinder interposed between a vehicle body and a mast device and tilting the mast device in the front-rear direction is subjected to a vertical tilt of the cargo handling arm.

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