JPS63222926A - Drive control device for travel carriage for loading and unloading - Google Patents

Abstract

PURPOSE:To improve a loading and unloading efficiency by flexibly changing a carriage speed with a fast switching valve controlled by a detection signal of a front and rear distance confirming detection means provided on a travel carriage. CONSTITUTION:A high pressure pipe 103 extending from the first high pressure pump 101 reaches to a 4 ports 3 positions selector valve 106 for a forward- backward switching via an ever-open valve 104, thence connects with a variable displacement type hydraulic motor 18 reversely rotative and driving a drive wheel 19. The first branch pipe 110 connected with the pipe 103 via a nonreturn valve 107 connects with a life cylinder 23 via a 4 ports 3 positions selector valve 111 for casing up and down, and the second branch pipe 112 connects with a change-direction cylinder 63. A low pressure pipe 114 extended from the second low pressure pump 102 connects with the pipe 103 reached to the motor 18 at the upstream side of the valve 106 via an ever-closed valve 115 for fast switching and a nonreturn valve 116.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a drive control device for a traveling truck that loads and unloads cargo into containers and the like.

(Prior technology) A self-propelled pallet truck is loaded onto a forklift truck, and the cargo is lifted up to the floor of a container or trailer along with the pallet truck, and then transported to the required location within the container, or transported to the desired location within the container. A loading/unloading device that pulls out the loaded cargo and unloads it along with pallet trucks has already been published in Japanese Patent Application Laid-Open No. 5
This method is disclosed in JP-A No. 1-85153, Japanese Patent Laid-Open No. 52-41365, and the like.

This type of device is advantageous when loading or unloading cargo into long containers or trailers that have a loading port at the rear. Because we operate pallet trucks, we cannot accurately check the contents of the container, especially when loading cargo. It is difficult to operate, as it is easy to cause accidents such as damage to the loaded cargo due to contact with cargo that has been brought in previously, and even if the efficiency of loading and unloading is taken second place, it is difficult to ensure the reliability of loading and unloading trucks. The problem is that it is necessary to pursue accurate operation.

(Purpose) The present invention was made in view of the above-mentioned problems, and its purpose is to automatically control the running of a traveling cart for loading and unloading to greatly improve the efficiency of loading and unloading. The purpose of the present invention is to provide a new drive control table W1 with the following functions.

(Means for Achieving the Object) That is, the present invention provides a drive control device for a cargo loading/unloading trolley equipped with a hydraulic motor to achieve the above object. An external drive control means for driving and controlling the traveling bogie is provided, and the external drive control means includes a first fluid supply means connected to the hydraulic motor via a forward/reverse switching valve, and a high speed switching valve. A second liquid supply means is provided which is connected to the upstream side of the forward/reverse switching valve of the liquid supply flow path of the first liquid supply means, and the high-speed It is designed to control a switching valve.

(Example) The details of the present invention will be described below based on illustrated examples.

First, referring to FIG. 4, a fork-equipped truck to which the present invention is applied and its opening device will be explained. In other words, a truck 10 with a fork, a conveyor 50, and a container 90.
a turntable 60 that changes the direction of the fork-equipped truck 10 for loading and unloading, and an external power unit 100 that runs and steers the fork-equipped truck 10 and rotates the turntable 60;
It is comprised of a control unit 120 (not shown) that receives output signals from sensors placed at various locations and controls the power unit 100.

As shown in FIG. 5, the above-mentioned fork-equipped truck] 0 has a frame 12 having a box-shaped cross section long in its width direction, and a steering shaft 13 rotatably installed vertically, and a steering wheel fixed to the upper end of the frame 12. The tip of the lever 14 is connected to a rod of a steering cylinder 16 supported by a cylinder bracket 15, and a drive wheel 19 is rotatably supported at the lower end of the steering shaft 13 via a motor bracket 17 and driven by a hydraulic motor]8. The vehicle is configured to be able to turn left and right at a slight angle with respect to the direction of travel, preferably within a range of 1.5° to 2.0°.

Further, a pair of auxiliary wheels 21 for preventing falling are pivotally supported on both sides of the front part of the frame 12 via support brackets 20, and a pair of lift cylinders 23 are roughly arranged on the upper surface of the frame 12. A casing 30 is attached to the tips of these rods 24.

The casing 30 is formed of a strong box-shaped structure that covers the drive wheel 19 and the auxiliary wheel 21, and below the outer surface of the front plate 31 are provided with forks 32 for supporting the packing case 1.
are fixed in parallel with each other with a space between them that is sufficient to allow the legs of the pallet to pass through, and a lifting lever 34 that swings about the bin 33 is pivotally supported at the front end of these forks 32. At the tip, there are two rollers 35.
．． The bogie frame 36, which is pivoted so that the roller 35 is slightly deflected (preferably 1.5° to 2.0°) with respect to the traveling direction, can be retracted and retracted from the lower surface of the fork 32, and the direction of the pivoted roller 35 is adjusted. Bin 37 so that you can change the
It is rotatably mounted using the fulcrum as a fulcrum.

On the other hand, below the inner surface of the front plate 31, two bars 39.40 forming a parallelogram link together with the above-mentioned auxiliary wheel support bracket 20 are pivotally supported about a shaft 41.41 as a fulcrum. By connecting the other end of the bell crank lever 40 located below and the upper base end of the above-mentioned hoisting lever 34 with a connecting rod 42, the hoisting lever 34 can be moved when the casing 30 is raised. The fork 32 is configured to be rotated counterclockwise in the drawing to cause the bogie frame 36 pivoted at the tip thereof to protrude below the fork 32.

In FIG. 4, reference numeral 44 indicates a guide bar attached to one side of the casing 30, and 48 indicates a fork-equipped track 1.
The backrest 49 installed on the top of the backrest 48 indicates a guide for the hydraulic hose attached to the backrest 48, and S1 and S2 in FIG. Detection sensors S3 and S4 are disposed at the tip of the fork 32 and the rear end of the casing 3o, and are, for example, ultrasonic distance confirmation sensors for confirming distances to objects in front and behind, respectively.

By the way, FIG. 1 shows the fork-equipped truck 1o mentioned above.
and an external power unit 1 that drives the turntable 60
00 is shown.

In this figure, numerals 101 and 102 indicate motor M, M2
A high-pressure pipe 103 extending from the first high-pressure pump 101 is connected via a normally open valve 104 to a four-bore valve for switching forward and backward movement. 3 position switching well 106, and from here the drive wheel 1
For example, a vane-type variable displacement hydraulic motor 18 that can rotate forward and reverse is connected to drive the drive wheel 9, and the other pipe branched downstream of the forward/reverse switching valve 106 is connected to the steering cylinder 16 to drive the driving wheels. It is configured so that its direction can be switched to the left or right according to the normal rotation or reverse rotation of the rotor 19. Further, the first branch pipe 110, which is connected to the high pressure pipe 103 via the check valve 107, is connected to the lift cylinder 23, 23 via the 4-point, 3-position switching valve 111 for lifting and lowering the casing. The second branch pipe 112 is connected to a direction change cylinder 63 via a four-bottom, three-position switching valve 113 for direction change. On the other hand,
The low pressure pipe 114 extending from the second low pressure pump 102 is
It is connected to the high pressure pipe 103 leading to the hydraulic motor 18 on the upstream side of the forward/reverse switching valve 106 via a normally closed high speed switching valve 115 and a check valve 116 . In addition, the reference numeral 117 in the figure indicates a relief valve, and the reference numeral S5 indicates a pressure capacitor provided in the conduit of the hydraulic motor 18.

On the other hand, the control unit 120 includes a microprocessor (CPU) 121 as shown in FIG. 2, and the CPU 121 is connected to a 170 interface 123 along with a memory 122. This 170 interface (this is a fork-sized track 10) includes the upper and lower limit detection sensors S1 and S2 of the installed casing 30, the front and rear distance confirmation sensors S3 and S4, the pressure sensor S5 of the hydraulic motor, and the conveyor. In addition to various sensors for unmanned operation of the fork-equipped truck 10, such as a packaging case detection sensor S6 provided on the turntable 60 and a limit switch S7. Emergency stop switch S8 (Fig. 4) is closed.

The 110 interface 123 also includes a traveling control circuit 1.
24, the cargo handling control circuit 126 and the U-turn table control circuit 12 are connected, and the forward/reverse travel switching valve solenoid 5OLI and the high speed travel switching valve solenoid SOL'2 are connected to the rough travel control circuit 124, The control circuit 126 includes a casing lift switching valve solenoid 5OL5, and the turntable control circuit 127 includes a direction change switching valve solenoid 5O.
L6 are connected to each other.

Roughly speaking, the CPU 121 processes the output signals from the respective sensors according to a program (FIG. 3) stored in the memory 122 in advance to control the fork-equipped truck 10.
In addition to controlling the running and cargo handling operations of the truck, it also automatically controls the direction change operation of the fork-equipped truck 0 on the turntable 60.

Next, the operation of loading by the above-mentioned apparatus will be explained with reference to FIGS. 3 and 6.

First, a fork-equipped truck] O is on the turntable 60 and has stopped with the lowered fork 32 facing the conveyor 50, and the packaging case 1 that has been carried out from the packaging work department (not shown) is at the end of the conveyor 50. (Figure 6(a)).

When the start key on the operation panel 130 is operated in this state to start loading work, the motor M in the power unit 100 is activated by driving the first high-pressure small quantity pump and the second low-pressure large quantity pump 101 and 102. state and CPU12
1 is an inletoid 5OLI for operating the forward/backward switching valve via the travel control circuit 124! The forward/reverse switching valve 106 is energized and switched to the forward side, and the hydraulic motor 18 is rotated at low speed using a small amount of high-pressure oil supplied from the first high-pressure pump 101 to make the grooved truck 10 loose. The packing case 1 is advanced at a high speed (FIG. 6(a)).

10 trucks with forks that started running like this
However, when the flap 32 hits a stopper (not shown) and stops, the pressure sensor S5 detects the increase in the oil pressure in the hydraulic motor 18 and transmits the detection signal to the CPU 12.
1 and receives this signal, the CPU 121
The forward/reverse switching valve solenoid S is connected via the travel control circuit 124.
At the same time, the casing lift switching valve solenoid 5OL5 is controlled via the cargo handling control circuit 126 to supply high pressure oil to the lifting side of the lift cylinder 23. Then, the casing 30 is raised, and the hinge 32 is fixed to the lower part of the outer surface of the front plate.
・At the same time, the lever 34 at the tip of the fork 32 is rotated counterclockwise in the figure using the connecting rod 42 pivoted to the end of the bell crank lever 40, and the bogie frame 36 pivoted to the tip is moved to the fork. The rollers 15 . . . , which are protruded downward and supported by the shaft, are grounded, and the packaging case 1 is lifted horizontally and supported.

Then, the casing 3 is lifted up by the lift cylinder 23.
o reaches the upper limit and the upper limit detection sensor S1 detects this state, the forward/reverse switching valve solenoid 5OL1 energized via the travel control circuit 124 switches the switching valve 106 to the reverse side and reverses the hydraulic motor 18. to move the fork-equipped truck 10 backwards at a slow speed and return it to the turntable (6th
Figure (b)).

When the fork-equipped truck 10 rides on the turntable 60 again and its driving wheels 9 come into contact with the stopper and stop, the hydraulic sensor S5 detects the increase in the hydraulic pressure of the hydraulic motor 18 and changes the direction via the CPU 121. Conversion valve solenoid 5QL6! A truck with a single shaft that is energized and receives pressure oil that flows into the cylinder 63 through the switching valve 113]
turntable 60 in order to direct o toward the container 90 side.
(Fig. 6(C)).

When the turntable 6o rotates 180° and the limit switch S7 detects this, next CP Ll 121
The switching valve 106 is switched to the forward side by the forward/reverse switching valve solenoid SQL 1 energized via the travel control circuit 124, and the hydraulic motor 18 is rotated in the normal direction. Pressure oil flowing into one of the steering cylinders 6 through the road causes the drive wheel 19 to turn in the same direction as the roller 35 at the tip of the steering wheel 32, causing the fork-equipped truck 10 to move along the guide plate 81 at a slow speed. advance.

Then, after some time T has passed, track 1 with a single fuse is displayed.
0 passes the seam between the gangplank 8o and the container 90, the high-speed travel switching valve solenoid 5QL2 is energized, and the normally closed high-speed switching valve 15 connected to the second low-pressure pump 102 is opened. A large amount of low-pressure oil is supplied from the lever to the hydraulic motor 18, and the fork-equipped truck 10 is driven deep into the container 90 at a high speed (FIG. 6(d)).
.

In this embodiment, as described above, a program is set up to run the fork-equipped truck 10 at a low speed at the beginning of the run, but the hydraulic motor 18 (
It is also possible to supply a large amount of pressure oil at low pressure to make the vehicle run at high speed.

As this high-speed traveling continues, for example, when the ultrasonic forward confirmation sensor S3 installed at the tip of the fork 32 detects the end wall of the container 90 or the packing case 1 loaded earlier, this detection signal is sent. The received CPU 121 first deenergizes the high-speed travel switching valve solenoid 5QL2 via the travel control circuit 124, closes the normally closed valve 115 provided in the low-pressure pipe 114, and reduces the amount of oil flowing into the hydraulic motor]8. When the fork-equipped truck 10 rapidly decelerates by decreasing the pressure, and then the fork-equipped truck 10 comes into contact with the end wall of the container 90 or the packing case 1 carried in earlier and stops, the detected pressure fluctuation of the hydraulic motor] 8. sensor S5
outputs this detection signal to the CPU 121 to deenergize the forward/reverse switching valve solenoid SQL 1 and cut off the supply of hydraulic pressure to the hydraulic motor 18 .

At the same time, the casing lift switching valve solenoid 5QL5, which is energized via the cargo handling control circuit 126, switches the switching valve 111 to lower the casing 30, lowers the fork 32 that is integrated with the casing 30, and lowers the tip of the fork 32. The bogie frame 36 is stored in the fork 32 and the packaging case 1 is lowered onto the floor surface 91 of the container 90.

Then, when the casing 20 reaches the lower limit, the lower limit detection sensor S
2 detects this, the CPU 121 again energizes the forward/reverse switching valve solenoid S1 through the travel control circuit 124 to switch the switching valve 106 to the reverse side, and also activates the high speed travel switching valve solenoid SQL. 2, the low pressure pipe 114
The normally closed valve 115 is opened to supply a large amount of pressure oil to the hydraulic motor 18, and the drive wheel 19 is turned in the opposite direction using the pressure oil that has flowed into the other end of the steering cylinder 16 from the branch pipe. and move the truck 10 with a fork into the container 90.
is brought into pressure contact with the left inner wall surface of the guide plate 8, that is, the inner wall surface of the guide plate 8], and is moved backward toward the turntable 60 at high speed (FIG. 6(e)).

And the truck with fork 10 is the turntable 60
(rearward confirmation sensor S4 installed at the rear end)
When the reflected light or ultrasonic waves from the reflector plate etc. provided on the turntable 60 are captured, the CPU 12
1 controls the high-speed travel switching valve solenoid 5QL2, closes the normally closed valve 115 of the low-pressure pipe 114, and reduces the amount of oil supplied to the hydraulic motor 8 while decelerating the fork-equipped truck 10 to roughly the size of a fork-sized truck. 0 rides on the turntable 60 and the drive wheel 19 comes into contact with the stopper 14, the forward/reverse switching valve 106 is switched to the neutral position by the output signal of the detection sensor S5 which detects the pressure increase of the hydraulic motor 18, and the hydraulic motor 18 is switched to the neutral position. and also
When this operation is completed, the turntable 60 is reversed by high-pressure oil supplied to the direction change cylinder 63, and the fork-equipped truck 10 thereon is directed toward the conveyor 50, thereby completing a series of loading work cycles ( Figure 6 (
f)).

Although the above is an explanation of the loading operation into the container 9o, the unloading operation from the container 90 is performed according to the program shown in FIG. 3(b).

(Effect) As described above, according to the present invention, the external control means has the first
, a second liquid supply means is provided, the first liquid supply means is connected to the hydraulic motor of the truck via a forward/reverse switching valve, and the second liquid supply means is connected to the first fluid supply means via a high speed switching valve. This high-speed switching valve is connected to the upstream side of the forward/reverse switching valve in the liquid supply flow path of the liquid supply means, and is controlled by the detection signal of the front/rear distance confirmation detection means provided on the traveling truck. Automatically controls the amount of liquid supplied to the hydraulic motor depending on the position at the time,
This allows the speed of the trolley to be freely changed, greatly improving the efficiency of loading and unloading, and at the same time making automation possible.
Moreover, it is possible to eliminate deformation and damage to the packaging case and the packaged items, thereby significantly reducing the labor involved in loading and unloading operations.

[Brief explanation of the drawing]

Fig. 1 is a hydraulic system diagram of a power unit showing an embodiment of the present invention, Fig. 2 is a diagram showing a control circuit for a truck with a single-loading unit and a turntable, and Fig. 3 (aXb) is a diagram showing each loading/unloading system. Flowchart showing the program, FIG. 4 is a perspective view showing an example of loading and unloading equipment to which the present invention is applied, FIG. 5 is a side view of a truck with forks, and FIGS. 6(a) to (f) is an explanatory diagram showing each operation of loading and unloading. 1... Packing case 10... Truck with fork 18... Hydraulic motor] 9... Drive wheel 32... Fork 50... Conveyor 60... Turntable 90 ... Container 100 ... Power unit 101 ... First refueling pump 102 ... Second refueling pump 106 ... Forward/forward switching valve

Claims (1)

[Claims] A traveling truck for loading and unloading cargo equipped with a hydraulic motor is provided with an external drive control means for driving and controlling the traveling truck, and the liquid is supplied to the external drive control means via a forward/reverse switching valve. a first liquid supply means connected to the pressure motor; and a second liquid supply means connected to the upstream side of the forward/reverse switching valve of the liquid supply flow path of the first liquid supply means via a high-speed switching valve;
A drive control device for a loading/unloading truck, characterized in that the high-speed switching valve is controlled in response to a detection signal from a longitudinal distance confirmation means provided on the traveling truck.