JP6355143B1 - forklift - Google Patents

Abstract

Provided is a forklift capable of safely handling a ladle and capable of switching a closed lid to an open state without raising the ladle. A forklift 1 that transports a ladle 2 having a cylindrical fork insertion opening 2B provided on the right and left sides of a refractory container 2A rotates about an axis R1 that extends in the front-rear direction X. A pair of left and right forks 40A, 40B which are configured to be configured and have a cylindrical shape extending in the front-rear direction X and spaced from each other in the left-right direction Y, and a closed state in which the inside of the ladle 2 is closed from above A lid 50 that can be switched to an open state that opens the inside of the pan 2, a fork lifting / lowering actuator that lifts and lowers the forks 40 </ b> A and 40 </ b> B, and a lid 50 that can be opened and closed independently of the lifting / lowering operation of the forks 40 </ b> A and 40 </ b> B. And a lid opening / closing actuator. [Selection] Figure 11

Description

  The present invention relates to a forklift that conveys a ladle.

  In general, as a forklift that transports a ladle containing molten metal (molten metal), a rotating mechanism that rotates a pair of left and right forks about an axis extending in the front-rear direction to tilt the ladle and pour out the molten metal Forklifts equipped with are known. Moreover, as a ladle, a ladle having a fork insertion port at the bottom of a refractory container is known (see, for example, Patent Document 1).

FIG. 16 (A) is a schematic diagram showing a conveying mode of the ladle 102 by a conventional forklift, and FIG. 16 (B) is a schematic diagram showing a state where the ladle 102 is tilted.
As shown in FIG. 16A, in the conventional forklift, the forks 140A and 140B are inserted into the fork insertion port 102B provided in the lower part of the fireproof container 102A, and the ladle 102 is lifted and conveyed by the forks 140A and 140B. . Further, as shown in FIG. 16B, when pouring molten metal from the refractory container 102A of the ladle 102, the ladle 102 is rotated by rotating the forks 140A and 140B around the axis R extending in the front-rear direction X. Tilt.

  Patent Document 2 describes a vehicle equipped with a lid for suppressing the temperature drop of the molten metal in the ladle, and interlocks with the raising and lowering of the ladle to reduce the work of opening and closing the lid. A configuration in which the lid opens and closes is described. Specifically, the vehicle of Patent Document 2 is configured such that a pulling member such as a chain pulls the free end of the lid when the ladle rises, and when the ladle is at a low position, the lid Is closed to close the inside of the ladle from above, and when the ladle is at a high position, the lid is open to open the inside of the ladle.

Utility Model Registration No. 3102700 JP-A-52-40439

  By the way, when the ladle 102 is tilted by rotating the forks 140A and 140B, the ladle 102 may slide out suddenly in the direction indicated by the arrow D in the drawing with respect to the forks 140A and 140B. Therefore, the operator needs to pay close attention to the handling of the ladle 102, and the physical and mental workload of the operator is very high. Under these circumstances, a forklift that can handle the ladle safely has been demanded.

  Moreover, although the vehicle of patent document 2 can suppress the temperature fall of a molten metal when a lid | cover becomes a closed state, since a lid | cover opens and closes in conjunction with raising / lowering of a ladle, There is a problem that the closed lid cannot be switched to the open state without being raised.

  The present invention has been made in view of the above circumstances, can safely handle the ladle, and can switch the closed lid to the open state without raising the ladle. It is an object to provide a forklift that can be used.

In order to solve the above problem, the forklift according to claim 1 is:
A forklift that conveys a ladle provided with a cylindrical fork insertion opening on the left and right sides of a refractory container for storing molten metal,
A pair of left and right forks configured to be rotatable about an axis extending in the front-rear direction, having a cylindrical shape extending in the front-rear direction and spaced apart in the left-right direction;
A lid configured to be switchable between a closed state in which the inside of the ladle is closed from above and an open state in which the inside of the ladle is opened;
A fork elevating actuator for elevating the fork;
A lid opening and closing actuator capable of opening and closing the lid independently of the lifting operation of the fork;
A mark sensor provided to face the traveling path ,
The lid opening / closing actuator operates on the basis that the mark sensor detects a predetermined mark provided on the travel path .

The forklift according to claim 2 is:
The lid is configured to be rotatable around an axis extending in the left-right direction,
The lid includes a base body extending vertically in the open state and horizontally extending in the closed state, and a lid body made of a castable refractory provided on the lower surface of the base body in the closed state.

The forklift according to claim 3 is:
The fork has a ladle support part that is a part that supports the ladle,
The lid is located behind the ladle support portion at a predetermined interval in the opened state.

The forklift according to claim 4 is:
The lid opening / closing actuator is configured by a hydraulic cylinder that operates by hydraulic pressure supplied from an electric oil pump, or an electric cylinder that operates by electric power supplied from a battery.

The forklift according to claim 5 is:
An elevating mechanism including a mast extending in the vertical direction and a carriage driven by the fork elevating actuator and elevating along the mast;
The fork and the lid are attached to the carriage.

The forklift according to claim 6 is:
A lid lifting / lowering actuator capable of raising / lowering the lid relative to the fork independently of the lifting / lowering operation of the fork is further provided.

  ADVANTAGE OF THE INVENTION According to this invention, the safe handling of a ladle can be enabled, and the forklift which can switch a closed cover to an open state, without raising a ladle can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is an external view of the forklift which concerns on one Embodiment of this invention, Comprising: (A) is a side view of a forklift, (B) is a top view of a forklift. It is a top view of the traveling body which comprises the forklift which concerns on the embodiment. (A) And (B) is sectional drawing which shows the attachment aspect of the guide sensor which concerns on the same embodiment. (A) And (B) is sectional drawing which shows the attachment aspect of the mark sensor which concerns on the same embodiment. It is a side view of the cargo handling apparatus which comprises the forklift which concerns on the embodiment. It is a front view of the cargo handling apparatus which comprises the forklift which concerns on the embodiment. It is a front view of the cargo handling apparatus which shows the arrangement | positioning aspect of the sensor for fork insertion and the stock sensor which concern on the embodiment. (A) is a top view of the fork which concerns on the embodiment, (B) is sectional drawing of SS part, (C) is sectional drawing of TT part. It is a functional block diagram which shows schematic structure of the forklift which concerns on the embodiment. It is an external view of the ladle handled with the forklift which concerns on the same embodiment, Comprising: (A) is a front view of a ladle, (B) is a side view of a ladle. It is a figure which shows the state which the forklift concerning the embodiment lifted the ladle, Comprising: (A) is a side view of a forklift, (B) is a schematic diagram when it sees from the front. (A)-(C) is a mimetic diagram showing an example of operation of a forklift concerning the embodiment. (A)-(D) are schematic diagrams which show a mode when the forklift which concerns on the embodiment inclines a ladle. It is a side view of the cargo handling apparatus which comprises the forklift which concerns on a modification. It is a functional block diagram which shows schematic structure of the forklift which concerns on the modification. (A) And (B) is a schematic diagram which shows a mode when the conventional forklift inclines a ladle.

  An embodiment of a forklift 1 according to the present invention will be described with reference to the drawings. In the drawings, a front-rear direction X indicated by an arrow X, a left-right direction Y indicated by an arrow Y, and a vertical direction Z indicated by an arrow Z are directions orthogonal to each other.

  As shown in FIGS. 1A and 1B, the forklift 1 includes a traveling body 1A that automatically travels along a guide line (not shown) provided on the traveling path, and a ladle 2 (see FIG. 10). ) Is an unmanned forklift provided with a cargo handling device 1B for lifting. The cargo handling apparatus 1B is configured to be movable in the front-rear direction X with respect to the traveling body 1A.

  The forklift 1 includes a vehicle main body 11 that houses a battery 81 (see FIG. 9) and the like as constituent members of the traveling body 1A, and a pair of left and right sides that extend forward from the vehicle main body 11 and that are spaced apart in the left-right direction Y. It includes straddle legs 12A, 12B, a rear wheel 13 that is a drive wheel provided on the vehicle body 11, and front wheels 14A, 14B that are driven wheels or drive wheels provided on the straddle legs 12A, 12B.

  The forklift 1 includes a lifting mechanism 20, a rotating mechanism 30 attached to the lifting mechanism 20, a pair of left and right forks 40A, 40B attached to the rotating mechanism 30, and a ladle as constituent members of the cargo handling device 1B. The lid 50 is provided. The elevating mechanism 20 raises and lowers the rotating mechanism 30, the forks 40 </ b> A and 40 </ b> B, and the lid 50.

  As shown in FIG. 2, the forklift 1 includes a guide sensor 61, 62 and mark sensors 63A, 63B, and a sensor cover 64, which covers the sensors 61, 62, 63A, 63B, as members provided on the traveling body 1A. 65, 66A, 66B.

  The guide sensors 61 and 62 and the mark sensors 63A and 63B are automatic traveling sensors provided to face the traveling path for automatic traveling, and are constituted by magnetic sensors. Guide sensors 61 and 62 provided at intervals in the front-rear direction X detect a guide line formed of a magnetic tape provided linearly on the travel path. The forklift 1 controls the posture of the traveling body 1A based on the detection result of the guide line by the guide sensors 61 and 62. In addition, the mark sensors 63A and 63B provided at intervals in the left-right direction Y detect marks (not shown) formed of magnet plates arranged at intervals from the guide line. The forklift 1 controls the traveling mode of the traveling body 1A and the operation of the cargo handling apparatus 1B based on the detection results of the marks by the mark sensors 63A and 63B.

  The sensor covers 64, 65, 66A, 66B cover at least the lower surfaces of the sensors 61, 62, 63A, 63B in order to protect the sensors 61, 62, 63A, 63B. The sensor covers 64, 65, 66A, 66B are made of a non-magnetic material that has excellent heat resistance and does not have magnetism.

FIG. 3 is a cross-sectional view showing an attachment mode of the guide sensors 61 and 62 and an arrangement mode of the sensor covers 64 and 65.
As shown in FIGS. 3A and 3B, the guide sensors 61 and 62 are attached to the sensor brackets 15 and 16 fixed to the vehicle body 11 using male screw members S1 and S2. The sensor cover 64 covers five surfaces (that is, the upper surface, the front surface, the right side surface, the left side surface, and the lower surface) except for the rear surface of the guide sensor 61, and the sensor cover 65 excludes the rear surface of the guide sensor 62. Covers 5 sides.

FIG. 4 is a cross-sectional view showing how the mark sensors 63A and 63B are attached and how the sensor covers 66A and 66B are arranged.
As shown in FIGS. 4A and 4B, the mark sensors 63A and 63B are attached to the reach rails 17A and 17B fixed to the straddle legs 12A and 12B using male screw members S3 and S4. Yes. The sensor cover 66A covers five surfaces (that is, the upper surface, the front surface, the left surface, the rear surface, and the lower surface) except the right surface of the mark sensor 63A, and the sensor cover 66B excludes the left surface of the mark sensor 63B. 5 surfaces (that is, an upper surface, a front surface, a right surface, a rear surface, and a lower surface).

  Next, with reference to FIG. 5 and FIG. 6, the structure which concerns on the cargo handling apparatus 1B is demonstrated. FIG. 5 is a side view of the cargo handling apparatus 1B, and FIG. 6 is a front view of the cargo handling apparatus 1B. 5 and 6, some members such as the mast 21 (see FIG. 1) among the constituent members of the lifting mechanism 20 are not shown.

  The lifting mechanism 20 includes a mast 21 extending in the vertical direction Z, a carriage 22 that moves up and down along the mast 21, lift rollers 23 and 24 provided on a side surface of the carriage 22, and a finger bar provided on the front surface of the carriage 22. 25 and 26, and a mast cover 27 that covers the front surface of the mast 21.

  Further, the forklift 1 is a fork insertion sensor 71 A, 71 B, 72 A, 72 B, a stock sensor 73, a rotation angle sensor 74, and a lid support body 75 that supports the lid 50 as members provided in the lifting mechanism 20. And a hydraulic cylinder A.

  Each of the sensors 71A, 71B, 72A, 72B, 73, 74 is configured by a laser sensor that is a reflective photoelectric sensor. Each sensor 71A, 71B, 72A, 72B, 73, 74 is fixed to the mast cover 27 via a sensor bracket (not shown), and is provided behind the forks 40A, 40B.

  The lid support body 75 rotatably supports the lid 50 and is disposed above the forks 40A and 40B. The lid support body 75 is fixed to the mast cover 27. Thus, the lid 50 is attached to the carriage 22 via the lid support 75 and the mast cover 27.

  The hydraulic cylinder A is a power cylinder that operates by hydraulic pressure, and is attached to the upper end portion of the mast cover 27 and connected to the lid 50. The hydraulic cylinder A expands and contracts to rotate the lid 50 around the axis R2 extending in the left-right direction Y.

FIG. 7 is a front view of the cargo handling apparatus 1B from which the rotation mechanism 30, the forks 40A and 40B, and the lid 50 are omitted from FIG.
As shown in FIG. 7, in the mast cover 27, each sensor 71A, 71B, 72A, 72B, 73 can detect a part of the ladle 2 (see FIG. 9) through the mast cover 27. Openings 27a to 27e are provided.

  The fork insertion sensors 71A, 71B, 72A, 72B emit laser light forward through the openings 27a to 27d, so that the fork insertion opening 2B of the ladle 2 when the forks 40A, 40B are raised and lowered (FIG. 9). ) Is detected. That is, the fork insertion sensors 71A, 71B, 72A, 72B detect the ladle 2 in a state where the forks 40A, 40B can be inserted into the fork insertion opening 2B without contact. The fork insertion sensors 71A and 71B are disposed above the forks 40A and 40B, and the fork insertion sensors 72A and 72B are disposed below the forks 40A and 40B.

  The in-stock sensor 73 detects the refractory container 2A (see FIG. 9) of the ladle 2 that is supported by the forks 40A and 40B by emitting laser light forward through the opening 27e. That is, the in-stock sensor 73 does not remove the ladle 2 in a state where the fork insertion opening 2B (see FIG. 9) of the ladle 2 covers the ladle support 42 (see FIG. 8) of the forks 40A and 40B. Detect by contact. The in-stock sensor 73 is disposed between the forks 40A and 40B in the left-right direction Y.

  The rotation angle sensor 74 is disposed below the mast cover 27 so that the front surface of the sensor 74 is not covered with the mast cover 27. The rotation angle sensor 74 detects the target portion 32a (see FIG. 5) of the rotation mechanism 30 by emitting laser light forward, and the rotation angle of the rotating body 32 is 0 ° (state shown in FIG. 6). Detect that.

  As shown in FIG. 5, the rotation mechanism 30 includes a rotation support 31 fixed to the finger bars 25 and 26, and a rotation body 32 that is rotatably supported by the rotation support 31. The rotating body 32 rotates around an axis R1 extending in the front-rear direction X when the molten metal is poured out from the ladle 2 supported by the forks 40A, 40B. The rotating body 32 is provided with a target portion 32a that faces the rotation angle sensor 74 when the rotation angle of the rotating body 32 is 0 °.

With reference to FIG. 6 and FIG. 8, the structure which concerns on the forks 40A and 40B is demonstrated.
The forks 40A and 40B are configured to be rotatable about the axis R1, have a cylindrical shape extending in the front-rear direction X, and are provided at intervals in the left-right direction Y. The forks 40A and 40B are connected to the rotating mechanism 30 and extend in the front-rear direction X, and a columnar extending portion 41 and a portion supporting the ladle 2 and a columnar ladle support extending forward from the extending portion 41 Part 42. The forks 40A and 40B include a base plate 43, reinforcing ribs 44 and 45, an oil-impregnated bearing 46, a rotating sleeve 47, and an end plate 48.

  A base plate 43 is integrated with the rear end of the extending portion 41, and the forks 40 </ b> A and 40 </ b> B are attached to the carriage 22 via the rotating mechanism 30 by bolting the base plate 43 to the rotating body 32. ing. The base plate 43 is provided with an opening 43a so that the fork insertion sensors 72A and 72B can detect the fork insertion opening 2B (see FIG. 9) of the ladle 2 through the base plate 43. . Reinforcing ribs 44 and 45 connected to the front surface of the base plate 43 are provided on the side surface of the extending portion 41. The reinforcing ribs 44 and 45 extend radially from the center of the forks 40A and 40B when viewed from the front, and receive the load acting on the forks 40A and 40B in a distributed manner.

  The ladle support portion 42 has an outer diameter smaller than that of the extending portion 41, and an oil-impregnated bearing 46 and a rotating sleeve 47 are fitted on the outer periphery of the ladle support portion 42. The oil-impregnated bearing 46 is a cylinder formed of a material excellent in wear resistance and load resistance, and the rotating sleeve 47 is a cylinder formed of a material excellent in fire resistance, wear resistance, and load resistance. Is the body. The oil-impregnated bearing 46 functions as a sliding bearing for the rotating sleeve 47, and the rotating sleeve 47 is provided to be rotatable with respect to the ladle support portion 42. The end plate 48 is bolted to the front end of the ladle support portion 42 to prevent the oil-impregnated bearing 46 and the rotating sleeve 47 from falling off the ladle support portion 42.

With reference to FIG. 5 and FIG. 6, the structure which concerns on the lid | cover 50 is demonstrated.
The lid 50 can be switched between a closed state (the state shown in FIG. 11) in which the inside of the ladle 2 (see FIG. 10) is closed from above and an open state (the state shown in FIG. 12) in which the inside of the ladle 2 is opened. It is configured. The lid 50 is configured to be rotatable about an axis R <b> 2, and includes a base body 51 that extends vertically in the open state and extends horizontally in the closed state, and a lid body 52 that is fixed to the base body 51. A lid support 75 and a hydraulic cylinder A are connected to the base 51.

  The lid body 52 is made of a castable refractory provided on the lower surface of the base body 51 when the lid 50 is closed. The lid body 52 is arranged above the ladle support portion 42 in the closed state of the lid 50, and is configured to cover the inside of the ladle 2 from above by contacting the upper end edge of the ladle 2. Further, the lid body 52 is configured to be positioned rearward of the ladle support portion 42 in the opened state of the lid 50. Thus, the lid 50 is positioned behind the ladle support portion 42 at a predetermined interval in the open state so as not to contact the ladle 2.

  As shown in FIG. 9, the forklift 1 includes a battery 81 that supplies electric power, a fork lifting / lowering actuator 82, a fork rotating actuator 83, a lid opening / closing actuator 84, and a control device 89. . Each actuator 82-84 is comprised so that operation | movement is mutually independent.

  The fork elevating actuator 82 is an actuator that elevates and lowers the forks 40A and 40B by driving the elevating mechanism 20. The fork elevating actuator 82 is an electric oil pump (not shown) that is operated by electric power supplied from the battery 81 and a hydraulic cylinder (not shown) that drives the carriage 22 of the elevating mechanism 20 by the hydraulic pressure supplied from the electric oil pump. ).

  The fork rotation actuator 83 is an actuator that rotates the forks 40 </ b> A and 40 </ b> B by driving the rotation mechanism 30. The fork rotation actuator 83 includes an electric oil pump (not shown) that operates by electric power supplied from the battery 81, and a hydraulic motor (not shown) that drives the rotating body 32 of the rotation mechanism 30 by hydraulic pressure supplied from the electric oil pump. Abbreviation).

  The lid opening / closing actuator 84 is an actuator that opens and closes the lid 50. The lid opening / closing actuator 84 is configured by an electric oil pump (not shown) that operates by electric power supplied from the battery 81 and a hydraulic cylinder A (see FIG. 1) that operates by hydraulic pressure supplied from the electric oil pump. ing.

  The control device 89 controls the actuators 82 to 84 based on the mark sensors 63A and 63B. Specifically, when the mark sensors 63A and 63B detect a predetermined mark, the control device 89 drives the lifting mechanism 20, drives the rotating mechanism 30, opens / closes the lid 50, or a combination thereof. In addition, the actuators 82 to 84 are controlled. Accordingly, each of the actuators 82 to 84 operates based on the fact that the mark sensors 63A and 63B have detected a predetermined mark provided on the travel path.

With reference to FIG. 10, the ladle 2 which the forklift 1 handles is demonstrated.
The ladle 2 includes a refractory container 2A for storing molten metal, an inner cylindrical fork insertion opening 2B provided on the left side and right side of the refractory container 2A, and a right upper end and a left upper end of the refractory container 2A. And a pouring part 2C provided.

  The refractory container 2A is a bottomed cylindrical body that opens upward. The pair of left and right fork insertion openings 2B is provided below the pouring part 2C and on the upper end side of the center of the refractory container 2A in the vertical direction Z. The pair of left and right pouring parts 2C is formed by expanding a part of the upper edge of the fireproof container 2A to the right and left.

Next, an example of operation | movement of the forklift 1 at the time of conveying the ladle 2 is demonstrated.
The forklift 1 travels along the guide line, stops the front of the ladle 2 with the lid 50 open. Next, the forklift 1 detects the ladle 2 with at least one of the fork insertion sensors 71A, 71B, 72A, 72B while raising or lowering the forks 40A, 40B. Specifically, when the forks 40A and 40B are raised, the fork insertion sensors 71A and 71B detect the upper ends of the fork insertion openings 2B, so that the forks 40A and 40B become the fork insertion openings 2B. The ladle 2 that can be inserted is detected. Further, when the forks 40A and 40B are lowered, the fork insertion sensors 72A and 72B detect the lower end of the fork insertion opening 2B so that the forks 40A and 40B can be inserted into the fork insertion opening 2B. The ladle 2 in the state is detected. Thus, the fork insertion sensors 71A, 71B, 72A, 72B detect the ladle 2 when the fork insertion opening 2B is positioned in front of the forks 40A, 40B when the forks 40A, 40B are raised or lowered. To do. When the forklift 1 detects the ladle 2 in a state where the forks 40A and 40B can be inserted into the fork insertion opening 2B, the forklift 1 stops the raising and lowering operations of the forks 40A and 40B.

  Next, the forklift 1 moves the forks 40A and 40B forward and inserts them into the fork insertion opening 2B. The forklift 1 detects the ladle 2 with the stock sensor 73 while inserting the forks 40A and 40B into the fork insertion opening 2B. Specifically, the stock sensor 73 detects the distance from the stock sensor 73 to the ladle 2, and when the distance is within a predetermined range, the outer circumference of the ladle support portion 42 is interposed via the rotating sleeve 47. The ladle 2 where the fork insertion opening 2B is located is detected. Thus, when the forklift 1 detects the ladle 2 with the fork insertion opening 2B positioned on the outer periphery of the ladle support 42, the fork lift 1 is inserted into the fork insertion opening 2B. To stop. And as shown to FIG. 11 (A) and (B), the forklift 1 drives the raising / lowering mechanism 20, raises the forks 40A and 40B, raises the ladle 2, and restarts a driving | running | working along a guide line. To do. At this time, the forklift 1 closes the lid 50 in order to suppress the temperature drop of the molten metal in the ladle 2.

  Next, with reference to FIG. 12, an example of operation | movement of the forklift 1 at the time of performing a molten metal process is demonstrated. The molten metal treatment is, for example, a graphite spheroidization treatment, in which the ladle 2 is covered with a cover C, and magnesium as a spheroidizing agent is added into the refractory container 2A.

  As shown in FIG. 12 (A), the forklift 1 stops in front of the cover C and opens the lid 50 independently of the raising and lowering operations of the forks 40A and 40B. Next, as shown in FIG. 12B, the forklift 1 moves forward and stops in a state where the ladle 2 is located immediately below the cover C. Then, as shown in FIG. 12C, the forklift 1 drives the elevating mechanism 20 to raise the ladle 2 together with the forks 40A and 40B, and covers the opening of the fireproof container 2A with the cover C. Thus, the forklift 1 does not interfere with the lid 50 and the cover C by changing the lid 50 from the closed state to the opened state before performing the operation of raising the ladle 2.

  Next, with reference to FIG. 13, a state when the forklift 1 tilts the ladle 2 will be described. 13A shows a state where the rotation angle of the rotating body 32 is 0 °, FIG. 13B shows a state where the rotation angle of the rotating body 32 is 30 °, and FIG. The rotation angle of the body 32 is 60 °, and FIG. 13D shows the rotation angle of the rotation body 32 is 110 °. Further, the positions of the cross sections of the forks 40A and 40B in FIG. 13 are the same as the positions of the cross sections in FIG.

  As shown in FIGS. 13A to 13D, the forklift 1 tilts the ladle 2 by rotating the forks 40 </ b> A and 40 </ b> B about the axis R <b> 1 when pouring the molten metal from the ladle 2. At this time, the contact points between the forks 40A, 40B and the ladle 2 gradually change so that the forks 40A, 40B support the upper surface of the inner peripheral surface of the fork insertion opening 2B. The ladle 2 does not slide out suddenly with respect to 40B, and the ladle 2 is gradually inclined.

According to the above embodiment, the following effects can be obtained.
(1) When the molten metal is poured out from the ladle 2, the contact point between the inner cylindrical fork insertion opening 2B and the forks 40A, 40B gradually changes, so that the molten metal is inserted into the fork insertion opening 2B. It is possible to prevent the ladle 2 from sliding out suddenly with respect to the forks 40A, 40B. Therefore, the safe handling of the ladle 2 can be made unattended. Further, by operating the lid opening / closing actuator 84 without operating the fork lifting / lowering actuator 82, the lid 50 can be opened / closed without raising / lowering the forks 40A, 40B, so that the ladle 2 is not raised. The lid 50 in the closed state can be switched to the open state.

  (2) The lid 50 includes a base 51 extending vertically in the open state and horizontally extending in the closed state, and a lid 52 made of a castable refractory provided on the lower surface of the base 51 in the closed state. According to this configuration, the heat resistance can be improved by the lid 52 while ensuring the mechanical strength by the base 51.

  (3) The lid 50 is located behind the ladle support portion 42 at a predetermined interval in the open state. According to this configuration, it is possible to prevent the lid 50 from coming into contact with the ladle 2 when the forks 40A, 40B rotate about the axis R1.

  (4) The lid opening / closing actuator 84 is constituted by a hydraulic cylinder A that is operated by hydraulic pressure supplied from an electric oil pump. According to this configuration, the lid 50 can be opened and closed by expansion and contraction of the hydraulic cylinder A.

  (5) The forks 40 </ b> A and 40 </ b> B and the lid 50 are attached to the carriage 22 of the elevating mechanism 20. According to this configuration, when the fork elevating actuator 82 drives the elevating mechanism 20, the lid 50 can be raised and lowered together with the forks 40A and 40B.

  (6) The lid opening / closing actuator 84 operates based on detection of a predetermined mark by the mark sensors 63A and 63B. According to this configuration, the forklift 1 can autonomously open and close the lid 50 without being operated by an operator.

  (7) The forks 40 </ b> A and 40 </ b> B are provided with a rotating sleeve 47 that is fitted on the outer periphery of the ladle support portion 42 and is rotatably provided to the ladle support portion 42. According to this configuration, it is possible to effectively prevent the ladle 2 from abruptly sliding against the forks 40A and 40B.

  (8) The forks 40 </ b> A and 40 </ b> B include an oil-impregnated bearing 46 provided between the ladle support 42 and the rotating sleeve 47. According to this configuration, the rotating sleeve 47 can be smoothly rotated with respect to the ladle support portion 42, and wear due to contact between the fork insertion opening 2B and the forks 40A, 40B can be reduced.

  (9) By detecting the ladle 2 with the fork insertion sensors 71A, 71B, 72A, 72B and the in-stock sensor 73, the fork 40A can be inserted into the fork insertion opening 2B without the operator operating the forklift 1. 40B is inserted, the ladle 2 can be lifted with the forks 40A and 40B, and the ladle 2 can be conveyed.

  (10) Since the in-stock sensor 73 is a laser sensor (photoelectric sensor), the ladle 2 supported by the forks 40A and 40B can be accurately detected at a position away from the refractory container 2A that becomes hot. . Moreover, since the stock sensor 73 can detect the distance to the ladle 2, the fork insertion opening is formed on the outer periphery of the ladle support portion 42 based on the detection result of the distance from the stock sensor 73 to the ladle 2. It can be determined whether the part 2B is located.

  (11) The fork insertion sensors 71A, 71B, 72A, 72B are photoelectric sensors. According to this configuration, the fork insertion opening 2B of the ladle 2 can be accurately detected at a position away from the refractory container 2A that becomes hot.

  (12) The forklift 1 includes sensors 61, 62, 63A, 63B provided to face the traveling path, and sensor covers 64, 65, 66A, 66B covering at least the lower surfaces of the sensors 61, 62, 63A, 63B. Is provided. According to this configuration, the sensors 61, 62, 63A, and 63B can be protected from the molten metal that is ejected by adding magnesium into the refractory container 2A.

  (13) The sensor covers 64, 65, 66A, 66B are made of a nonmagnetic material. According to this configuration, it is possible to accurately detect the magnetism of the guide line and the mark.

  The present invention is not limited to the above embodiment, and the present invention may be implemented by appropriately changing the configuration of the above embodiment as follows.

  -As shown in FIG. 14, you may employ | adopt the structure which the cover 50 can raise / lower with respect to fork 40A, 40B. FIG. 14 is a side view of the cargo handling apparatus 1B according to the modification, and a two-dot chain line in FIG. 14 indicates a state in which the lid 50 and the lid support body 75 indicated by the solid lines are raised. In this modification, the forklift 1 is attached to the upper end portion of the lid support body 75 and connected to the lid 50, and the hydraulic cylinder A is attached to the upper end portion of the mast cover 27 and connected to the lid support body 75. And a cylinder B. The hydraulic cylinder B is a power cylinder that elevates and lowers the lid 50 together with the lid support 75 with respect to the forks 40A and 40B by expanding and contracting. Further, as shown in FIG. 15, the forklift 1 of the present modification includes a lid lifting / lowering actuator 85 that lifts and lowers the lid 50 with respect to the forks 40A and 40B. The lid lifting / lowering actuator 85 includes an electric oil pump (not shown) that operates by electric power from the battery 81 and a hydraulic cylinder B that operates by hydraulic pressure supplied from the electric oil pump. According to such a structure, the space | interval of the forks 40A and 40B and the lid | cover 50 in the up-down direction Z can be adjusted, and the lid | cover 50 can be arrange | positioned in a suitable position according to the size of the ladle 2. FIG.

  -Each actuator 82-85 may not be an actuator which operate | moves with oil_pressure | hydraulic. For example, instead of the hydraulic cylinder A, the lid opening / closing actuator 84 may be constituted by an electric cylinder that operates with electric power supplied from the battery 81.

  The actuators 82 to 85 may not operate based on detection of predetermined marks by the mark sensors 63A and 63B. For example, the fork rotation actuator 83 may be configured to operate based on an instruction input to the forklift 1 from a remote operator.

  -You may apply this invention to a manned forklift or a manned unmanned combined forklift. In this case, the forklift includes a lid operating lever operated by an operator, and the lid opening / closing actuator 84 can be configured to operate based on the operation of the operating lever.

DESCRIPTION OF SYMBOLS 1 Forklift 2 Ladle 2A Fireproof container 2B Fork insertion opening 20 Lifting mechanism 21 Mast 22 Carriage 30 Rotating mechanism 40A, 40B Fork 41 Extension part 42 Ladle support part 43 Base plate 44, 45 Reinforcement rib 46 Oil-impregnated bearing 47 Rotating sleeve 48 End plate 50 Lid 51 Base 52 Lid 63A, 63B Mark sensor 82 Fork elevating actuator 83 Fork rotating actuator 84 Lid opening / closing actuator 85 Lid elevating actuator A, B Hydraulic cylinder R1, R2 Axis X Front-rear direction Y Left-right direction Z Vertical direction

Claims (6)

A forklift that conveys a ladle provided with a cylindrical fork insertion opening on the left and right sides of a refractory container for storing molten metal,
A pair of left and right forks configured to be rotatable about an axis extending in the front-rear direction, having a cylindrical shape extending in the front-rear direction and spaced apart in the left-right direction;
A lid configured to be switchable between a closed state in which the inside of the ladle is closed from above and an open state in which the inside of the ladle is opened;
A fork elevating actuator for elevating the fork;
A lid opening and closing actuator capable of opening and closing the lid independently of the lifting operation of the fork;
A mark sensor provided to face the traveling path ,
The lid opening / closing actuator operates based on the fact that the mark sensor detects a predetermined mark provided on the travel path . The lid is configured to be rotatable around an axis extending in the left-right direction,
The lid includes a base body that extends vertically in the open state and extends horizontally in the closed state, and a lid body that is formed of a castable refractory provided on a lower surface of the base body in the closed state. The forklift according to 1. The fork has a ladle support part that is a part that supports the ladle,
The forklift according to claim 1, wherein the lid is positioned rearward at a predetermined interval from the ladle support portion in the opened state. 4. The lid opening / closing actuator is configured by a hydraulic cylinder that operates by hydraulic pressure supplied from an electric oil pump, or an electric cylinder that operates by electric power supplied from a battery. A forklift according to claim 1. An elevating mechanism including a mast extending in the vertical direction and a carriage driven by the fork elevating actuator and elevating along the mast;
The forklift according to any one of claims 1 to 4, wherein the fork and the lid are attached to the carriage. The forklift according to any one of claims 1 to 5, further comprising a lid lifting / lowering actuator capable of lifting and lowering the lid with respect to the fork independently of the lifting / lowering operation of the fork.

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