JPS6019120Y2 - Control device for cargo handling vehicles - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a control device for a cargo handling vehicle that sequentially automatically controls the lateral movement of the cargo lifting carriage 2 and the rotational movement of the turret head 3.

Conventionally, a mast structure 1 is provided with a load lifting carriage 2 that can move up and down, a turret head 3 mounted on the load lifting carriage 2 so as to be able to move laterally relative to the load lifting carriage 2, and the turret head. 3 and a load support structure 4 rotatably mounted relative thereto about a vertical axis, the industrial lift truck includes a load lifting carriage 2.
Since no control device was installed to sequentially automatically control the lateral movement of the turret head 3 and the rotational movement of the turret head 3, manual operation was required when mutually moving the turret head 3 and the load support structure 4 during cargo handling work in narrow passageways. In order to avoid the troublesome manual operation, it is necessary to go outside the aisle, rotate the load support structure 4, and then re-enter between the racks to perform cargo handling work.

Therefore, there was a drawback that the above-mentioned operation was accompanied by danger and the efficiency of cargo handling work was reduced.

The control device for a cargo handling vehicle of the present invention (hereinafter referred to as the device of the present invention).

) includes a load lifting carriage 2 that can move the mast structure 1 up and down, a turret head 3 mounted on the load lifting carriage 2 so as to be able to move laterally relative to the load lifting carriage 2, and the turret head. 3 and a load support structure 4 rotatably mounted around a vertical axis with respect to the load support structure 4, the load lifting carriage 2 is provided with a lateral support structure 4 for detecting lateral movement of the turret head 3. A position detector 5, a load support structure 4 on the turret head 3
The above-mentioned drawbacks can be solved by a control device 8 which is provided with a rotational position detector 6 and which sequentially automatically controls the drive source 7 based on the detection signals of the lateral position detector 5 and the rotational position detector 6. It has been removed.

An embodiment of the device according to the present invention will be described based on the drawings. In FIG. An industrial lift truck is shown comprising a movably mounted turret head 3 and a load support structure 4 rotatably mounted to the turret head 3 about a vertical axis relative thereto.

In FIGS. 2 and 3, a lateral position detector 5 for detecting lateral movement of the turret head 3 is mounted on the carriage 2 for lifting and lowering the load.
, a state in which a rotational position detector 6 of a load supporting structure 4 is disposed on the turret head 3 is shown.

The lateral position detector 5 includes seven limit switches LS1 to LS1, as shown in FIGS. 2, 4, and 6.
LS7 are installed in parallel at regular intervals on the load lifting carriage 2,
The position of the turret head 3 is detected by sequentially operating the limit switches 61 to LS7 as the turret head 3 moves laterally.

The rotational position detector 6 is connected to the turret head 3 as shown in FIGS. 2, 3, 4, and 6.
Three limit switches I, s8 to LS10
, LS11 to LS13 are arranged symmetrically, and the limit switches LS8 to I, s10, and LS11 to LS13 are actuated by the cam 9 attached to the rotating shaft 4' of the load supporting structure 4, and the load supporting structure 4 It is configured to detect the rotational position of.

As shown in FIGS. 4, 7, and 9, the drive source 7 is a lateral drive that is controlled by detection signals from the lateral position detector 5 and rotational position detector 6, respectively. As shown in FIGS. 6, 7, and 9, the control device 8 includes a power source 72 and a rotating part drive source 71, an interlocking operation instruction section 81, a rotational movement control circuit 8,
2 and a lateral movement control circuit 83, the interlocking operation instructing section 81 operates a pushbutton switch PSB and excitation that switches the contacts 20X-1 and 20X-2 to cancel the interlocking operation. It consists of a coil 20X.

The rotational movement control circuit 82 and the lateral movement control circuit 83 are
As shown in FIGS. 7 and 9, relay contacts 52-1 to 56-ISH are activated by the operation of seven limit switches LSI to LS7 of the lateral position detector 5.
A rotational movement control circuit 82 and a lateral movement control circuit formed by connecting relay contacts R1 activated by operation of six limit switches LS8 to I, s13 of the rotational position detector 6 and 1-2 to H7-4. It consists of 83,
Limit switches LS1 to LS of the above lateral position detector 5
7, the excitation coils X1 to x6. y1~Y6
A self-holding circuit is formed in the lateral movement control circuit 83 for energizing the turret head 3 and being released by the lateral movement of the turret head 3 to prevent the turret head 3 from stopping lateral movement.

An output signal is added from the rotational movement control circuit 82 to the rotational part drive source 71 and from the lateral movement control circuit 83 to the lateral movement part drive source 72. The turret head 3 is driven alternately.
while moving laterally to the left, the fork 4 rotates clockwise,
Alternatively, the fork 4 rotates to the left while the turret head 3 moves laterally to the right.

R-PSBΔ is the a contact of the pushbutton switch for clockwise rotation,
R-PsB* is the b contact of the counterclockwise rotation pushbutton switch, and is arranged in the interlocking operation instruction section 81.

In the device of the present invention, by repeating the above-described operations, the load supporting structure 4 moves as shown in FIG. 5, and various operations of cargo handling work in a narrow passage are fully automated.

Therefore, the practical effects of reducing driver fatigue, increasing safety, and increasing the efficiency of cargo handling operations are extremely large.

[Brief explanation of the drawing]

Figure 1 is an overall side view of the device of the present invention, and Figure 2 is A of Figure 1.
Figure 3 is a detailed view of the rotational position detector, Figure 4 is a block diagram of the control device, and Figure 5 is the rotational position detector and lateral position detector during interlocking operation between the turret head and fork. Figure 6 is a sequence diagram of the rotational position detector, lateral position detector, and interlocking operation instruction section; Figure 7 is a sequence diagram of left lateral movement control and right rotation control; Figure 8 is a diagram showing the time chart of Figure 7, and Figure 9 shows the time chart of Figure 7.
The figure is a sequence diagram of right lateral movement control and left rotation control, Figure 10 is a diagram showing the time chart of Figure 9, Figure 11 is a detailed diagram of the lateral position detector, and Figure 12 is rotational position detection. FIG. 3 is a detailed side view of the vessel. 1: Mast structure, 2: Load lifting carriage, 3: Turret head, 4: Load support structure, 5: Lateral position detector, 6
: rotational position detector, 7: drive source, 71: rotating part drive source,
72: Lateral movement unit drive source, 8: Control device, 81: Interlocking operation instruction unit, 82: Rotational movement control circuit 83: Lateral movement control circuit, 9: Cam.

Claims (1)

[Scope of utility model registration request] an oil lifting carriage 2 that can move the mast structure 1 up and down; a turret head 3 mounted on the load lifting carriage 2 so as to be able to move laterally with respect to the carriage 2;
In an industrial lift truck comprising a load support structure 4 mounted on the turret head 3 so as to be rotatable relative to the turret head 3 around a non-linear axis, the turret head 3 is moved laterally by the load lifting carriage 2. A side position detector 5 for detection and a rotational position detector 6 of the load supporting structure 4 are disposed on the turret head 3, and the detection signals of the lateral position detector 5 and the rotational position detector 6 are used to detect A control device for a cargo handling vehicle comprising a control device 8 that sequentially automatically controls a drive source 7.