JPH059976Y2 - - Google Patents

Description

[Detailed description of the invention] "Industrial application field" The present invention is equipped with a fork-shaped cargo platform on which a pallet loaded with cargo is mounted, and is equipped with front and rear wheels that support the cargo platform, and the rear wheels are electrically operated. This invention relates to a self-propelled lift truck driven by a motor.

``Prior Art'' Conventionally, a steering handle for changing the direction of the rear wheels was installed on the top of the aircraft so that it could be folded down, and an operator operated a forward/backward switch on the handle to drive the rear wheels and change the direction. A technology has been developed to allow workers to move the machine while moving it.

"Problems to be Solved by the Invention" The above-mentioned conventional technology automatically controls the steering member using a steering sensor that detects the track line, and when equipped with an unmanned driving function that automatically changes direction of the rear wheels, The automatic steering control causes the steering handle to rotate around the vertical axis, and during this rotation, the steering handle moves up and down due to the action of centrifugal force, so the upper end of the steering handle protrudes outside the aircraft, causing damage to the surrounding area. There were safety and handling problems such as the possibility of collision with other workers or non-transferred objects.

"Means for Solving the Problem" However, the present invention provides a front wheel at the front end of the luggage platform, a rear wheel at the rear end of the platform via an elevating cylinder, and a running system in which the rear wheel rotates. In a self-propelled lift truck that is equipped with a motor and has a steering handle erected on the upper surface of the vehicle so that it can be folded down, a steering member that changes the direction of the rear wheels is provided, and a steering sensor that detects the trajectory line and controls the steering member. and the steering handle and the rear wheels are connected by a linking member so that the rear wheels can be manually steered by the steering handle in conjunction with the lowering operation of the steering handle. be.

``Operation'' Therefore, the steering handle and the rear wheels are connected only when the operator performs manual operation, and when the rear wheels are automatically steered, the steering handle is maintained upright in a substantially constant posture. In addition to preventing the steering wheel from colliding with nearby workers while driving, it can be handled safely, and it can also be used for unmanned driving for a certain distance to the destination, and for manual operation such as loading and unloading cargo and changing direction at the destination. The control structure can be configured more simply and manufacturing costs can be easily reduced compared to automating all the work, while the transport work can be performed in combination with This makes it easy to save labor.

"Embodiments" Examples of the present invention will be described below in detail based on the drawings. Fig. 1 is an explanatory view of the main parts, Fig. 2 is a side view of the whole, and Fig. 3 is a rear view of the same. A front running wheel 4 is provided so as to be able to protrude downward via an arm 3, and a jack stand 4 supports the base end of the luggage platform 1. Then, an elevating cylinder 6 with a piston rod 5 in contact with the lower surface of the base end support portion 1a of the cargo platform 1, and an oil tank 7 provided on the outer periphery of the cylinder 6 are vertically and rotatably mounted on the jack platform 4. It is integrally connected to the upper end side of the shaft 8, and
A rear wheel 10 is provided on the lower end side of the steering shaft 8 via an axle frame 9, and a travel motor 11 is installed at the center position of the rear wheel 10.
It is configured to rotate and move.

Further, a steering gear 12, which is a large-diameter spur gear, is fixed to the steering shaft 8 on the lower end side of the oil tank 7, and a steering motor 14, which is a steering member, is provided on the upper surface of the jack table 4 via a support stand 13. Steering gear 1 via spur gears 15, 16, 17 for deceleration
A steering motor 14 is interlocked with the steering wheel 2, and the rear wheels 10 are steered by controlling the motor 14 in forward and reverse directions.

Further, the base 19 is fixed to the upper surface of the steering gear 12 via the struts 18, 18, and the fulcrum shaft 21 at the center of the lower surface of the handle base 20 is loosely inserted into the opening 22 of the base 19. The handle base 20 is rotatably supported, and the support shaft 23 and the upright spring 24
The steering handle 25 is erected on the upper surface of the handle base 20 via.

Furthermore, the unmanned transport interlock switch 26
the switching rod 27 that operates the steering wheel 2;
5 allows the rear wheel 10 to be manually steered by the handle 2
5 and a steering rod 28 which is a linking member that connects the rear wheel 10, each of the rods 27 and 28 can be raised and lowered via holders 29 and 30 on a handlebar 20 that is positioned opposite to each other in the front and back direction with a support shaft 23 in between. A spring 3 is attached to the spring 3 and supports each rod 27, 28 upward
1 and 32 are provided respectively. In addition, the handle 25
The front operating section 33 of the handle 25 is switched to the steering rod 27, and the rear operating section 34 of the handle 25 is switched to the steering rod 27.
The switching rods 27 are provided opposite to each other.
An interlock switch 26 is provided below, and an engagement hole 35 is provided in the base 19 below the steering rod 28.

Then, by raising the steering handle 25 by the spring 24, the switching rod 27 is lowered via the front operation part 33, and the interlock switch 26 is turned on by the rod 27, thereby enabling automatic control of the steering motor 14. At the same time, by lowering the handle 25 backward, the steering rod 28 is lowered via the rear operation section 34, the lower end of the rod 28 is engaged and inserted into the engagement hole 35, and the base 19 is moved to the handle base. 20 so that manual steering can be performed using a handle 25.

Further, as shown in FIG. 2, a lift arm 3 is connected to the pivot arm 3 via a lift rod 36.
7, an elevator hydraulic unit 38 that operates the elevator cylinder 6, a battery 39 that is a power source, a travel wheel 40, an abnormality buzzer 41, and a rotating light 42 that are activated when performing unmanned transportation under automatic control, and both sides of the rear wheels 10. Anti-falling caster 43 arranged in
43, a rear bumper 45 provided at the lower rear surface of the drive unit case 44 above the rear wheel 10, an automatic operation section 46 provided at the upper rear surface of the case 44, and a steering handle 2.
5 includes a manual operation section 47 provided at the upper end, a brake lever 48, and a platform lowering lever 49.

Furthermore, as shown in FIGS. 2, 4, and 5, a collision sensor 50 is provided to detect and stop an obstacle when it comes into contact with the rear bumper 45, and a collision sensor 50 is provided on the rear surface of the drive unit case 44 to prevent an obstacle from coming into contact with the rear bumper 45. An ultrasonic sensor 51 detects an object to temporarily stop the steering motor 1, and a guiding track line 52, which is a conductive wire, detects the steering motor 1.
4, and a station sensor 56 that detects a stop line 55 forming a station and performs stop control.

Then, the trajectory line 52 is connected to the left and right steering sensors 53 and 5.
Steering motor 1 so that it is located between
4 in forward and reverse directions, steering control of the rear wheels 10 is performed, and unmanned transportation is performed in which the rear wheels 10 are automatically run and moved.

This embodiment is constructed as described above, and in a factory or warehouse, the track line 52 with an end is extended on the floor between the conveyor or elevator and the load/unload position, and the track line 52 is Stop lines 55 are provided at both end positions so that the operator can
5 is laid down and the manual operation unit 47 is operated to move the rear wheel 10 forward and backward by controlling the travel motor 11, and by turning the handle 25 left and right, the direction of the rear wheel 10 is changed left and right. Further, the lifting cylinder 6 is operated to rise under the control of the lifting hydraulic unit 38, and the load is placed on the upper surface of the load platform 1.

Then, the handle 25 is moved manually onto the track line 52 in a state where it is laid down, and the track line 52 is positioned between the left and right steering sensors 53 and 54, and the handle 25 is erected approximately vertically. Each sensor 50, 5 is activated by operating a switch on the operation unit 46.
Based on the detection results of 1, 53, 54, and 56, the motors 11 and 14 are automatically controlled to move from one end of the track line 52 to the other end, thereby performing unmanned transportation reciprocating work.

Furthermore, when the operator reaches the destination, the operator lowers the handle 25 to load and unload the cargo, change direction, and return the unmanned transport to the original location. By combining unmanned driving to the destination in a certain section where a road has been laid, and manual operation such as loading and unloading cargo and changing direction at the end of the track line 52 or stop line 55, the cargo can be moved back and forth in a certain section. It performs transportation work.

"Effects of the Invention" As is clear from the above embodiments, the present invention provides a front wheel 2 on the front end side of a luggage platform 1, a rear wheel 10 on the rear end side of the platform 1 via an elevating cylinder 6, and A self-propelled lift truck is provided with a travel motor 11 that rotates the rear wheels 10 and has a steering handle 25 erected on the upper surface of the vehicle so that it can be folded down. Steering sensors 53 and 54 are provided to detect and control the steering member 14, and a steering handle 25 is provided so that the rear wheels 10 can be manually steered by the steering handle 25 in conjunction with the lowering operation of the steering handle 25. and the rear wheel 10 with the linking member 28
The steering handle 25 and the rear wheel 10 are connected only when the operator performs manual operation, and when the rear wheel 10 is automatically steered, the steering handle 25 remains in a substantially constant posture. Since it is maintained upright, the steering handle 25 can be handled safely by preventing it from colliding with surrounding workers during unmanned driving, and can also be used for unmanned driving in a certain section to the destination and It is possible to carry out conveyance work in combination with manual operation, such as loading and unloading cargo and changing directions, and the control structure can be configured more simply than if all the work were automated, and manufacturing costs can be easily reduced. This has practical effects such as the ability to easily save labor in transport work compared to conventional work that requires an operator to follow.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of the main parts showing one embodiment of the present invention,
FIG. 2 is a side view of the whole, FIG. 3 is a rear view, and FIGS. 4 and 5 are explanatory views of trajectory line detection. 1... Luggage platform, 2... Front wheel, 6... Elevating cylinder, 10... Rear wheel, 11... Traveling motor, 1
4... Steering motor (steering member),
25... Steering handle, 28... Steering rod (coupling member), 52... Trajectory line, 53, 54... Steering sensor.

Claims (1)

[Scope of utility model registration request] A front wheel is provided on the front end side of the cargo platform, and a rear wheel is provided on the rear end side of the platform via an elevating cylinder,
In a self-propelled lift truck that is equipped with a travel motor that rotates the rear wheels and a steering handle that is installed vertically on the top of the aircraft so that it can be folded down, a steering member that changes the direction of the rear wheels is provided, and a steering member that detects the trajectory line is installed. A steering sensor is provided for controlling the steering wheel, and the steering wheel and the rear wheel are connected by a linking member so that the rear wheel can be manually steered by the steering wheel in conjunction with the lowering operation of the steering wheel. A self-propelled lift truck featuring