JP6543089B2 - Cargo handling vehicle - Google Patents

Description

  The present invention relates to a cargo handling vehicle capable of loading and unloading containers between a chassis and the ground, and dumping (tiling) the containers on the chassis to unload cargo in the containers.

  2. Description of the Related Art Conventionally, there exist cargo handling vehicles capable of lowering a container from the top of the chassis to the ground and capable of dumping the container on the chassis. For this reason, the loading and unloading vehicle is provided with a dump arm, a lift arm, and a hook arm. Each arm can be operated separately.

  Some of these cargo handling vehicles are provided with a sensor capable of detecting an inclination angle. For example, it is a cargo handling vehicle shown in Patent Document 1. A sensor provided in the cargo handling vehicle can detect an inclination angle of the vehicle body. Here, although there is no description in patent document 1, in order to detect the inclination of each said arm, it is possible to provide an inclination sensor in each arm.

  However, when the inclination sensor is provided at each position where the inclination is detected, the number of sensors increases as the number of detection points increases, which increases the cost.

JP, 2008-213685, A

  Then, this invention makes it a subject to provide the cargo handling vehicle which can detect inclination in several places, suppressing cost.

The cargo handling vehicle according to the present invention comprises a cargo handling frame mounted on the rear of a chassis, a dump arm connected to the rear of the cargo handling frame so as to be able to swing up and down in the front and rear direction, and wind up and down on the front end of the dump arm. It has a lift arm which is rotatably connected and used to move the container between the chassis and the ground, and a hook which can be engaged with and detached from the container, and the hook rotates the lift arm from a traveling state. A load handling vehicle comprising a hook arm connected to a front end of the lift arm such that it can tilt or slide in a direction approaching the center so as to change its attitude, a lift arm sensor provided on the lift arm, an inclined sensing mechanism having a hook arm sensor provided on the hook arm, the dumping arm tilt sensor is not provided in the hook arm sensor before When the traveling posture of the hook arm is detected, the detection result of the lift arm sensor is a dump angle, and when the hook arm sensor detects a state where the posture of the hook arm is changed to the rear, the lift A detection result processing unit is provided which determines the detection result of the arm sensor as the elevation angle of the lift arm .

  According to the above configuration, when dumping the container, since the dump arm and the lift arm rotate together, the tilt of the dump arm can be detected by the lift arm sensor provided on the lift arm. For this reason, since the inclination sensor only for dumping arms becomes unnecessary, the number of installation of an inclination sensor can be reduced.

And according to the above-mentioned composition, even if it is the composition which reduced the number of installation of an inclination sensor, a dumping angle and elevation angle of a lift arm can be detected by a detection result treating part.

  Further, the hook arm is connected to the front end of the lift arm so as to be changeable by being tilted rearward from the traveling state, and the lift arm sensor is disposed in the vicinity of the rotation center of the lift arm. The hook arm sensor may be configured to be disposed in the vicinity of the rotation center of the hook arm.

  According to the above configuration, the influence of the centrifugal force can be reduced by providing the lift arm sensor and the hook arm sensor in the vicinity of the center of rotation, and therefore occurrence of false detection can be suppressed, and accurate inclination detection is possible. .

  The present invention eliminates the need for a tilt sensor dedicated to the dump arm, and can reduce the number of tilt sensors installed. Therefore, it is possible to provide a cargo handling vehicle capable of detecting the tilt at a plurality of locations while suppressing the cost.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole side view of the cargo handling vehicle of this invention which mounts a container. It is a whole side view of the material handling vehicle which inclined the hook arm back and moved the container back. It is an entire side view of the material handling vehicle which shows the state just before rotating a lift arm and lowering a container on the ground. It is a whole side view of the material handling vehicle which shows the state which rotated the lift arm and lowered the container on the ground. It is the top view which looked at the lift arm and the dump arm from the top. FIG. 6 is a side view of the hook arm and the lift arm in which the lock device is in a locked state, viewed from the side. FIG. 7 is a side view showing a state in which the lock device is unlocked by tilting the hook arm of FIG. 6 rearward by a predetermined angle. It is a whole side view of the material handling vehicle which shows the state which dumped the container.

  Hereinafter, a cargo handling vehicle according to an embodiment of the present invention will be described. As shown in FIG. 1, the cargo handling vehicle V mounts a cab Ca in front of a chassis F, and mounts a cargo handling frame 1 behind the chassis F. As shown in FIG. 5, the cargo handling frame 1 includes a pair of left and right vertical frames 1A, 1A long in the front-rear direction, and a horizontal frame 1B connecting intermediate portions of the vertical frames 1A, 1A in the left-right direction. . A container Ct is mounted on the cargo handling frame 1. At the rear of the chassis F, an outrigger D is provided. The outrigger D is operated to stabilize the cargo handling vehicle V on the ground GR when the container Ct is dumped, in addition to loading and unloading.

  As shown in FIGS. 1 to 5, a pair of left and right guide rollers 2 and 2 protruding outward in the left-right direction is rotatably attached to the rear end portion of the cargo handling frame 1. The guide rollers 2 and 2 rotate and guide the container Ct while rotating the container Ct when unloading the container Ct on the cargo handling frame 1 onto the ground or when loading the container Ct from the ground onto the cargo handling frame 1.

  Further, as shown in FIG. 5, the rear end of the dump arm 3 is pivotally supported at the rear end of the cargo handling frame 1 so that the dump arm 3 can tilt around the horizontal axis 3T. ing. The dump arm 3 has a pair of left and right vertical frames 3A, 3A long in the front and rear direction, an intermediate horizontal frame 3B connecting the middle parts of the vertical frames 3A, 3A in the left and right direction, and a front end of the vertical frames 3A, 3A. And a front end lateral frame 3C to be connected. A pivot shaft 3D is penetrated near the front side of an intermediate portion of the vertical frames 3A, 3A, and the rear end portion of the lift arm 4 is integrally rotatably mounted on the pivot shaft 3D. The lift arm 4 is located between the vertical frames 3A, 3A of the dump arm 3, and its rear end overlaps the front ends of the vertical frames 3A, 3A of the dump arm 3 in the front-rear direction. Further, an intermediate portion of the lift arm 4 and a front end portion of the cargo handling frame 1 are connected by a pair of hydraulic lift cylinders 5 and 5. The lift arms 4 can be pivoted about the pivot shaft 3D by operating the lift cylinders 5 and 5 in an extendable manner.

  As shown in FIGS. 6 and 7, the proximal end of the substantially L-shaped hook arm 6 is rotatably attached to the front end of the lift arm 4 about the horizontal axis 7 in the left-right direction. A hook 8 (to be described later) 6 is configured to be tiltable in a direction (rear side) in which a hook 8 approaches a pivot shaft 3D which is a pivot center of the lift arm 4. The upper end of the hook arm 6 is provided with a substantially C-shaped hook 8 engaged with the engaging portion 12 of the container Ct. A hydraulic hook cylinder 9 is connected between an intermediate portion of the hook arm 6 and a front end portion of the lift arm 4, and the hook arm 6 is moved from the traveling posture shown in FIG. A tilt posture (a posture in which the hook 8 is at a position retracted a predetermined distance H from the traveling posture in FIG. 7 (hook described later), ie, a tilt posture in which the hook 8 is tilted by a predetermined angle in a direction approaching the pivot shaft 3D of the lift arm 4 It is possible to change the posture 8) from the traveling posture to the posture closer to the rotation shaft 3D).

  The container Ct is formed in a box shape having a plurality of traveling wheels 11 on the lower surface, and on the front side of the container Ct is provided with an engaging portion 12 engageable with the hook 8 of the hook arm 6 described later. On the rear side of the vehicle, an openable rear gate 13 is provided.

  As shown in FIGS. 6 and 7, the lower surface of the lift arm 4 is in a locked state for locking the swinging rotation of the lift arm 4 with respect to the dump arm 3 to dump the container Ct with the dump arm 3 and the lift arm 4 The lock device 10 is switchable to an unlocking state in which the hook arm 6 and the lift arm 4 unload the container Ct or unload the container Ct so as to unlock the lift pivot 4 relative to the dump arm 3. There is.

  The hook arm 6 and the lock device 10 interlock with each other, and the lock device 10 is configured to be switched from the lock state to the lock release state by tilting (attitude change) of the hook arm 6 to the rear side.

  Although the lock device 10 is unlocked and the lift arm 4 is rotated to lower the container Ct on the ground GR or load the container Ct on the ground GR in FIGS. 1 to 4, the lock portion of the lock device 10 is described. The container Ct can be dumped by rotating the dump arm 3 and the lift arm 4 together by extending the lift cylinder 5 in a state where the lock 15 is locked to the locked portion 14 (FIG. 8). In FIG. 8, by opening the rear gate 13 and then dumping the container Ct, the contents in the container Ct can be dropped and discharged downward.

  The present embodiment comprises a tilt detection mechanism. The tilt detection mechanism includes three tilt sensors (first tilt sensor Ce1 to third tilt sensor Ce3) and a detection result processing unit (not shown). In the present embodiment, as shown in FIG. 3, the first inclination sensor Ce <b> 1 is fixed to the frame member 1 </ b> C extending upward at the front portion of the cargo handling frame 1. Further, a second inclination sensor Ce2 as a lift arm sensor is fixed to the side surface of the lift arm 4 in the vehicle width (left and right) direction. A third tilt sensor Ce3 as a hook arm sensor is fixed to the side surface of the hook arm 6 in the vehicle width (left and right) direction. The dump arm 3 is not provided with a tilt sensor.

  An acceleration sensor is used as the first inclination sensor Ce1 to the third inclination sensor Ce3 of the present embodiment, and an inclination angle with respect to horizontal or vertical can be detected from the detected gravitational acceleration.

  The second inclination sensor Ce2 is disposed in the vicinity of the rotation axis 3D which is the rotation center of the lift arm 4, and the third inclination sensor Ce3 is disposed in the vicinity of the horizontal axis 7 which is the rotation center of the hook arm 6. ing. When the lift arm 4 or the hook arm 6 moves away from the rotational center, the influence of the centrifugal force generated when the arms 4 and 6 rotate on the inclination sensors Ce2 and Ce3 increases. On the other hand, since the influence of the centrifugal force can be reduced by providing the inclination sensors Ce2 and Ce3 in the vicinity of the rotation center as in the present embodiment, it is possible to suppress erroneous detection, and accurate inclination detection is possible. .

  The first inclination sensor Ce1 can detect an inclination of the chassis F, that is, the cargo handling vehicle V itself in the front-rear direction. The second tilt sensor Ce2 can detect the tilt of the lift arm 4, and the third tilt sensor Ce3 can detect the tilt of the hook arm 6. On the other hand, as shown in FIG. 8, by rotating the dump arm 3 and the lift arm 4 together, the container Ct can be dumped. When dumping the container Ct, the locking device 10 locks the lift and pivot of the lift arm 4 with respect to the dump arm 3. Therefore, the inclination of the dump arm 3 corresponds to the inclination of the lift arm 4. Therefore, by detecting that the lock device 10 is in the locked state, the inclination detected by the second inclination sensor Ce2 can be treated as the inclination of the dump arm 3.

  The detection results of the first inclination sensor Ce1 to the third inclination sensor Ce3 are processed in a detection result processing unit. In the detection result processing unit, the third inclination sensor Ce3 detects the relative angle of the lift arm 4 with respect to the chassis F by correcting the inclination detected by the second inclination sensor Ce2 using the inclination detected by the first inclination sensor Ce1. The relative angle of the hook arm 6 with respect to the chassis F can be grasped by correcting the inclination by the inclination detected by the first inclination sensor Ce1.

  Next, the unloading operation of unloading the container Ct on the cargo handling frame 1 of the cargo handling vehicle V onto the ground will be described.

  When the lowering switch (not shown) is operated from the drivable state where the container Ct is mounted on the cargo handling frame 1 of the cargo handling vehicle V shown in FIG. 1, the hook cylinder 9 operates to extend. As a result, the hook arm 6 is tilted to the rear side (the direction in which the hook 8 approaches the pivot shaft 3D which is the pivot center of the lift arm 4) to change its posture (see FIG. 2). By this posture change, the lock device 10 is unlocked (see FIG. 7). At this time, the container Ct moves backward relative to the loading and unloading vehicle V, and when the hook arm 6 changes its posture, the container Ct is disengaged from the container Ct (shown in FIG. ) Is also released. When the third tilt sensor Ce3 detects the tilt at the time of the tilt, the hook cylinder 9 is stopped. When the lock device 10 is unlocked, while the extension operation of the hook cylinder 9 is stopped, the extension operation of the lift cylinder 5 is started to rotate the lift arm 4 and move the container Ct backward while lifting the container Ct. At this time, the third inclination sensor Ce3 detects the inclination with respect to the chassis F to detect that the hook arm 6 has changed its posture from the posture in the traveling state (traveling posture) to the rear. Based on this detection, the detection result processing unit determines that the detection result of the second inclination sensor Ce2 is the elevation angle of the lift arm 4 (the inclination angle with respect to the horizontal when looking up). When the extension operation of the lift cylinder 5 is started and the elevation angle becomes 15 ° to 20 °, the hook cylinder 9 is extended again to be tilted to the maximum angle (the hook arm 6 is shown in FIG. 8A) The attitude of the hook 8 is changed in the direction approaching the pivot shaft 3D of the lift arm 4 by changing the attitude to a further inclined attitude than the state.

  When the elevation angle of the lift arm 4 becomes 80 ° to 90 ° (when the inclination angle becomes larger than that in FIG. 3), the hook cylinder 9 is shortened and the posture is approached to the traveling posture side by a predetermined distance return. At this time, the attitude of the hook 8 is changed in the direction away from the pivot 3D of the lift arm 4.

  When the shortening operation of the hook cylinder 9 is completed, the container Ct is lowered to the ground while only the lift cylinder 5 is extended and contracted, and the lowering operation of the container Ct is completed (see FIG. 4).

  The loading operation of the container is performed in the reverse procedure to the above. In addition, immediately before the grounding of the container Ct in the unloading operation (for example, when the elevation angle of the lift arm exceeds 100 °), and immediately before the landing of the container Ct in the loading operation (for example, when the elevation angle of the lift arm is less than 10 °) By reducing the expansion and contraction speed of the lift cylinder 9, the container Ct can be gently grounded.

  Next, a dumping operation for dropping and discharging the content in the container Ct will be described.

  From the drivable state where the container Ct is mounted on the cargo handling frame 1 of the cargo handling vehicle V shown in FIG. 1, the rear gate 13 is opened and the dump lift switch (not shown) is operated. Then, the extension operation of the hook cylinder 9 is stopped and the extension operation of the lift cylinder 5 is started, and the lock portion 15 of the lock device 10 is locked to the locked portion 14, so the dump arm 3 and the lift arm 4 can be rotated together to bring the container Ct into a dumped state (see FIG. 8).

  At the start of dumping, the third inclination sensor Ce3 does not detect the inclination of the hook arm, and detects the traveling state. Then, since the dump arm 3 and the lift arm 4 rotate together with the extension operation of the lift cylinder 5, the second tilt sensor Ce2 also tilts. Therefore, the detection result processing unit determines that the detection result of the second inclination sensor Ce2 is a dump angle (inclination angle of the dump arm 3).

  In addition, start the extension operation of the lift cylinder 5 and immediately stop the dumping operation by reducing the extension speed of the lift cylinder just before the dump maximum angle (for example, when the dump angle becomes 40 °). Shaking or overturning of the cargo handling vehicle V due to

  When the inclination detected by each inclination sensor exceeds a predetermined value, the detection result processing unit is configured to output an abnormal signal. The detection result processing unit can be provided in a control unit that controls the entire cargo handling vehicle, or can be provided independently of the control unit.

  Thus, the inclination of the dump arm 3 can be detected by the second inclination sensor Ce2 fixed to the lift arm 4. In the present embodiment, since the second inclination sensor Ce2 can also be used to detect the inclination of the dump arm 3, there is no need for an inclination sensor dedicated to the dump arm 3, so that the number of inclination sensors can be reduced.

  As mentioned above, although one Embodiment of this invention was described, this invention can be variously deformed in the range which does not deviate from the meaning. In addition, the specific configuration of each part is not limited to the above embodiment.

  For example, in the above embodiment, the first tilt sensor Ce1 is fixed to the frame member 1C extending upward at the front portion of the cargo handling frame 1. However, the present invention is not limited to this, and may be fixed to each part of the chassis F such as the vertical frame 1A of the cargo handling frame 1.

  In the above embodiment, as the hook arm sensor, the traveling posture of the hook arm 6 and the posture after releasing the lock device 10 are detected by the third inclination sensor Ce3, but may be detected by a proximity sensor or a stroke sensor provided on the hook cylinder. .

  In the above embodiment, the posture change of the hook arm 6 to the rear side is performed by tilting the hook arm 6 in the direction in which the hook 8 approaches the pivot shaft 3D of the lift arm 4 from the traveling posture. Although shown, it may be performed by sliding the hook arm 6 in the direction in which the hook 8 approaches the pivot shaft 3D of the lift arm 4 from the traveling posture. At this time, the hook arm sensor may be a stroke sensor provided in a proximity sensor or a slide drive cylinder.

DESCRIPTION OF SYMBOLS 1 ... cargo handling frame, 1A ... vertical frame, 1B ... horizontal frame, 1C ... frame member, 2 ... guide roller, 3 ... dump arm, 3A ... vertical frame, 3B ... middle part horizontal frame, 3C ... front end horizontal frame, 3D ... rotation center, rotation axis, 3T ... horizontal axis, 4 ... lift arm, 5 ... lift cylinder (first drive means), 6 ... hook arm, 7 ... horizontal axis, 8 ... hook, 9 ... hook cylinder (first 2 Drive means), 10: Lock device, 11: Traveling wheel, 12: Engagement portion, 13: Rear gate, D: Outrigger, F: Chassis, GR: Ground, H: Prescribed distance, V: Load handling vehicle, Ce1: Ce1 1 Tilt sensor, Ce2 ... lift arm sensor, second tilt sensor, Ce3 ... hook arm sensor, third tilt sensor

Claims (2)

A cargo handling frame mounted on the rear of the chassis, a dump arm connected to the rear of the cargo handling frame so as to be able to swing up and down in the front-rear direction, and connected to the front end of the dump arm so as to swing up and down in the front-rear direction; It has a lift arm used when moving the container between the chassis and the ground, and a hook that can be engaged with and detached from the container, and is tilted in the direction in which the hook approaches the pivot center of the lift arm from the traveling state And a hook arm connected to the front end of the lift arm so as to be changeable in position by sliding.
It has an inclination detection mechanism having a lift arm sensor provided on the lift arm and a hook arm sensor provided on the hook arm,
The dump arm is not provided with a tilt sensor .
When the hook arm sensor detects the traveling posture of the hook arm, the detection result of the lift arm sensor is detected as a dump angle, and the hook arm sensor detects a state where the posture changed from the traveling posture of the hook arm to the rear. A cargo handling vehicle comprising: a detection result processing unit that determines that the detection result of the lift arm sensor is the elevation angle of the lift arm when the vehicle is moving. The hook arm is connected to the front end of the lift arm so as to be able to change its posture by tilting rearward from the traveling state.
The lift arm sensor is disposed near the rotation center of the lift arm,
The cargo handling vehicle according to claim 1, wherein the hook arm sensor is disposed in the vicinity of a pivot center of the hook arm.