JPS61238526A - Inching controller - Google Patents

Abstract

PURPOSE:To make inching operation performable with a constant feeling all the time, by making the extent of clutch transmission torque variable with the operating value of an inching pedal for a fork-lift truck as corresponding to a difference in the state of load to be imposed on a driving system of the fork-lift truck. CONSTITUTION:A dry type single plate clutch 2, making the output of an engine 2 on or off, controls its clutch transmission torque to a stroke value of a rod 6a to expand or contract on the basis of the drive of a clutch controlling actuator 6. A central processing unit 21 judges a connection state of the clutch 2 on the basis of a detection signal out of a stroke detecting sensor 14, while it calculates an operating value of an inching pedal 17 on the basis of a detection signal out of an inching sensor 16. The stroke value of the rod 6a to the operating value of the pedal 17is calculated in conformity with a function S1, while the CPU 21 drives the actuator 6 in order to make the rod 6a into the calculated stroke value.

Description

[Detailed Description of the Invention] Purpose of the Invention (Field of Industrial Application) The present invention relates to an industrial vehicle such as a forklift equipped with an automatic transmission with a clutch, and more specifically, to a method for controlling the connection of a clamp that is lowered during an inching operation. It relates to an inching control device.

(Prior Art) Conventionally, for example, in a forklift truck equipped with an automatic speed reducer equipped with a dry single-plate clutch, the clutch transmission 1~luke and braking force with respect to the depression amount of the engine pedal are shown in Fig. 5. 1-Torque function and brake It was uniquely determined by function B. That is, when the inching pedal is depressed, the clutch driving means is actuated to control the connection state of the clutch so that the clutch transmission torque is uniquely determined by the amount of depression.

(Problem to be Solved by the Invention) However, as mentioned above, since the clutch transmission torque is uniquely determined by the amount of depression of the inching pedal,
For example, if the amount of depression of the inching pedal when starting on a flat road is reversed when starting on a slope, the clutch transmission will be different depending on the depression of the pedal. At 1-luke, the force is too small to start and the vehicle sags, and the start time lag becomes large [111 problems were found].

In addition, when A-Clutch 71 ~ is unladen and the vehicle is started in 11 cases, the amount of inching pedal depression is used to perform a loaded start, etc. Similarly, the clutch transmission torque is too small to start and the vehicle cannot be started. There is a problem that the time lag becomes large,
:.

Therefore, when operating the inching pedal, you can start on a flat road, start on a slope, or start with an empty load or a loaded load, etc. It is necessary to operate by adjusting the depression fjl of the inching pedal in response to the difference in the i state (), and regardless of the zero load state applied to the drive system, the inching with a constant operating feeling. One operation was not possible.

The object of the present invention is to solve the above-mentioned problems by controlling the clutch transmission torque according to the load applied to the drive system of the vehicle so as to determine the relationship between the load condition applied to the drive system <K < 7:
To provide an inching control device which can provide a constant inching operation feeling (inching operation).

4^1 of invention (Problem +:, (1st step to solve)) This invention is
-Achieve your record goals! At this time, the engine output is turned on and off (and the clutch that transmits the output to the automatic transmission is activated!): A clutch drive lower stage is installed that controls the 18 engagement state of the li'il clutch (-J Rudo 91). - In addition, a load detection means 1'1 for detecting the load condition of the cargo handling vehicle and an inching operation amount detection means for detecting the operation amount of the inching pedal are installed (furthermore, a Clutch engagement cIll'l is divided according to the load condition of the cargo handling vehicle to determine the output stage and its index to 1,000-
(Start the determined connection value - (Explanation 1 - Control means for operating the clutch drive means at 2Nμ and controlling the latch to a predetermined connection state) - (lI-B) Inching control device There are some relatives of I (there is a pa).

(Function) Based on the operating amount of the inching pedal detected by the inching pedal operation early detection means and the load state detected by the load detecting means, the indexing means determines the clutch engagement (0°1 Determined according to the load condition of the cargo handling vehicle.

Based on the connection value determined by the determining means, the control means operates the clutch driving means to control the IC clutch to a predetermined connected state.

(Embodiment) Hereinafter, a preferred embodiment in which the present invention is embodied in a forklift will be described with reference to the drawings.

Figure 1 shows the drive system mechanism and electric block circuit of a forklift.
is transmitted to the automatic transmission 113 via the automatic transmission 3.
The drive wheels 5 are driven forward and backward at a predetermined gear ratio via the differential gear mechanism 4. The dry single plate clutch 2, which turns on and off the output of the engine 1, maintains the connected state of the rod 2 relative to the stroke amount of the rod 6a, which expands and contracts based on the drive of the clutch control actuator 6, which is a clutch drive means. is adjusted, i.e. clutch transmission 1-
control.

Also, Corn Gin 1 is Furi! iX? It is also used to move the lift cylinder and mast (oil F1, which supplies hydraulic oil to the cylinder to move the chill 1, and the drive source for the pump).

Next, we will explain the electric circuit for driving and controlling the Akubuco 6 (n6).

A slope detection sensor 11 serving as a load detection means is a sensor that detects the inclination of the forklift truck 1-, and detects whether the forklift is traveling on a flat road or on a slope. Similarly, the loading oil pressure switch 12, which serves as the load detection means, is a switch for detecting the oil pressure of the cargo handling hydraulic circuit, and is designed to detect the presence or absence of a cargo.

Detection signals from the sensor 11 and switch 12 are outputted to a central processing device, which will be described later, via an input/output interface 13.

The stroke detection sensor 14 consists of a body meter and is connected to the rod 6a of the clutch control actuator 6.
Detects the stroke of , and its detection signal is A,/l)
The signal is converted into a digital signal by the converter 15 and output to the interface 13.

Inching sensor 1 as inching operation amount detection means
A potentiometer 6 is installed in the driver's seat and detects the amount of depression of the TJ engine pedal 17, and the detection signal is converted into a digital signal by a Δ/D converter 18 and output to the interface 13. Ru.

A central processing unit (hereinafter referred to as CPU) 21 as an indexing means and a control means is connected to the input/output interface 1.
3, one detection signal from each range is inputted, and the operation is performed according to the control program stored in the storage device 22.

The CPU 21 controls one of the clutch control actuators 6 based on the detection signal from the stroke detection sensor 14.
] The stroke amount of the piston 6a, that is, 1, 01. Calculate the amount of depression J: Turns out. These two indexes are pre-stored in the commemorative equipment 22, and the index is calculated based on the detection signal of the sensor 14.
2. is determined based on the date of the stepping prize that weighs against the detection signal of ``).

Also, CI') LJ 21 detects a slope, and based on the detection signal from the sensor 11, determines whether the C-F A-crit is currently on a flat road.
In addition to determining whether the slope is 0 slope or the steep slope QJ return, it is determined whether the forklift i~ is in an empty state or a loaded state based on the detected number from the loading oil pressure switch 12. Judgment dimension 61°
When lli is judged to be in the load ze1 state), the gangway transmission torque for the amount of inching pedal depression is shifted to the J function T1 shown in FIG.
] The stroke amount of the lever 6a is controlled by the function S1 shown in FIG. 2 to drive the clutch control actuator 3-I. Either 3-pronged, sloped plywood or loaded (
CI]
U21 drives and controls the clutch control acticoator 6 so that the stroke amount of the rod 6a with respect to the inching pedal depression becomes a function 82 so that the clutch transmission torque with respect to the inching pedal depression becomes the function T2.

In addition, when it is determined that the climbing is on a steep slope (hereinafter referred to as medium load state), the CPU 21 calculates the stroke of [] Tsurad a for inching pedal depression in order to transfer the torque to KanviT3. clutch control actuator 6 so that the amount becomes a function 83.
to drive and control.

Furthermore, when it is determined that the vehicle is climbing a steep slope and is in a loaded state (hereinafter referred to as a heavy load state), the CPU 21 sets the clutch transmission torque to the function T71 with respect to the amount of pedal depression.
The ratio of the rod 6a to the amount of inching pedal depression
J: Drive control of the actuator 6 for controlling sea urchins is performed so that the amount of leakage becomes the function S4.

As is clear from Fig. 3, C1 functions 1-1 to T4 indicate that when the inching pedal depression is the same, the f1 load in the forklift drive system becomes heavier, the more the clamp transmission 1 to torque increases. Myself 1, Each function 81-$ with one core η for each of these functions T1 to T-/I
4 is stored in the storage device 22 in advance, and a predetermined function 81=S/I is read out in accordance with the load condition of the forklift, and the function 81=S/I is read out according to the loaded function of the forklift. The stroke amount of the corresponding 1'' Rad 6a is determined.

CPtJ 21 is a clutch control actuator T1. 'I-
A drive control signal ") is output to the actuator drive circuit 23 via the interface 13 in order to make the stroke amount of the actuator 6a equal to the determined stroke amount, and the actuator I-ri 6 is driven. This drive At the time of control, the CPU 21 detects the stroke amount of the old n-rad 6a based on the detection signal from the s1-[1-ri detection lens 14, While determining whether or not the actuator (3) has been controlled,
1, then the above j;
Explain the purpose.

Now, when the inching pedal 17 is depressed to start the forklift, the inching sensor 16 detects the depression and outputs the detection signal to the CPU 21 via the A/D converter 18 and the interface 13. CPU
21 responds to this detection signal by depressing the inching pedal 17.

Further, the slope detection sensor 11 and the load detection switch 12 detect the condition of the traveling road and the presence or absence of a load on the forklift at this time, that is, detect the load condition of the forklift, and send the detection signal to the CP via the interface 13.
Output 4 to U21.

Based on the detection signals from the slope detection sensor 11 and the load detection switch 12, the CPU 21 determines what load state the forklift is currently in, that is, whether it is a zero load state, a small load state, a medium load state, or a large load state. Determine if it is. Then, the CPU 21 selects from the storage device 22 the function 81 when the load is zero, the function 82 when the load is small, the function 83 when the load is medium, and the function S/4 when the load is heavy.

Then, the CPU 21 uses the calculated amount of depression of the inch lag pedal and the selected function to determine the stroke Cl-1 of the rod 6a that is in the load state corresponding to the depression star of the inching pedal 17 shown in FIG. Calculate the amount.

Now, when the load is in a zero load state, the CPU 21 reads the number S1 minus 1 from the storage device 22, and calculates the value of the number S1 of the rod 6a with respect to the amount of depression of the inching pedal 17 using the function $1 shown in FIG. Then, the CPU 21 calculates the determined stroke 1 for the actuator 1-6 of 1'' rad 6a according to the C index J0.
]-The drive control signal g is output to the actuator drive circuit 233 to drive the actuator 6.

Therefore, the clutch transmission torque with respect to the amount of depression of the inching pedal 17 at this time is controlled according to the function T1 shown in FIG. 3.

Further, when the load state is a small load state, the CP LJ 21 reads the function 82 from the storage device 22, and calculates the stroke amount of the 1st door 6a with respect to the depression amount of the inching pedal 17 according to the 1 equation 82 shown in FIG. Wariyama number.And C
The P IJ 21 outputs a drive control signal to the actuator drive circuit 23 to drive the actuator 6 in the same manner as 'lI'J ii+3 to move the rod 6a to the determined stroke amount.

Therefore, at this time, the clutch transmission I to η with respect to the depression of the inching pedal 17 is shown in FIG. 3 as J-1I! The clutch transmission torque relative to the amount of depression of the inching pedal 17 becomes larger than that in the load condition. As a result, when starting on a slope, the inch lag pedal 1 is the same as when the load is zero.
7, the transmission] Hertz becomes larger than when the load is zero, so it may not be possible to start and the vehicle will slide down, or there will be a start time lag, and the operation feeling will be the same as when the load is zero. Similarly, when the load is medium, the clutch transmission torque relative to the amount of depression of the inching pedal 17 is larger than when the load is small, and when the load is large, the torque transmitted by the clutch is greater than when the load is medium. The clutch transmission 1~rook with respect to the amount of depression of the inch lag pedal 17 becomes even larger. As a result, even if the load becomes even larger, the vehicle will not be able to start and will sag, nor will there be a start time lag and the IC will slip, and the vehicle will be able to start with the same operating feeling as when the load is zero.

In this way, in this embodiment, when starting by operating the inch lag pedal, the clutch transmission torque is varied according to the amount of depression of the inch lag pedal in response to the difference in the load condition applied to the drive system of the forklift. Inch lag operation can always be performed with a constant operating feeling regardless of the load condition applied to the wheel.

Note that the present invention is not limited to the above embodiments,
For example, the weight of the cargo can be added to the load line 4, or the angle of inclination of the slope can be made finer and added to the load condition to further increase the load condition and perform even more fine-grained control, or vice versa. The test may be carried out using only the i11 slope angle of the slope as the load condition.

Further, in the embodiment described above, the spn-hang of the rod 6a with respect to the depression bias of the index lug pedal 17 was calculated based on the functions 81 to 84 stored in the storage device 22, but this is calculated based on the functions 81 to 84 stored in the storage device 22. Against stepping on the lag pedal 17! It is also possible to store the data of the speed of the rad 6a in advance in the storage device 22, and reduce the drive control of the crud control actuator based on this data.

Generally speaking, in the above embodiment, a dry type single plate clutch was explained, but the present invention may be applied to other clutches such as a wet type clutch or a multi-plate clutch.

Effects of the Invention As described above, according to the present invention, when operating the injilag,
Since the clutch transmission torque is controlled according to the load on the drive system, the inch lag operation can always be performed with a constant operating feeling regardless of the load condition on the drive system. .

[Brief explanation of the drawing]

Fig. 1 is a circuit diagram of the mechanism and electric block of No. [Fig. 3 shows the relationship between the amount of displacement of the forklift 1 and Fig. 3 shows the relationship between the clutch transmission torque λIJ and the depression of the inch lag pedal. Figure 5 is a flowchart v-1 diagram to explain the action of ~, and Fig. 5 shows the relationship between the clutch gear 111j official actuator 1] and the 1~[1-ta product], which corresponds to the conventional in-brag pedal depression. There is a diagram '(・There is. Engine 1, dry type 111 provisional clutch 2, automatic transmission (3)
, clutch 1laj till acticoator 6, rod 6a1 slope detection Zen (t 11' loaded (1-detection t! Nri 12, S1 to "coke detection 14, indigo lag sensor 1G, indigo lag pedal 17, Cl) U
21, storage device 22, actuator f7 actuator drive rotation i1'
823.

Claims (1)

[Scope of Claims] A clutch that turns on and off the output of an engine and transmits the output to an automatic transmission, a clutch drive means that operates the clutch and controls the connection state of the clutch, and a load condition of the cargo handling vehicle. an inching operation amount detection means for detecting an operation amount of the inching pedal; an indexing means for determining a clutch engagement value with respect to an operation amount of the inching pedal according to a load state of the cargo handling vehicle; An inching control device comprising: control means for controlling the clutch to a predetermined connected state by operating the clutch drive means based on the determined connection value.