WO2008149877A1

WO2008149877A1 - Forklift

Info

Publication number: WO2008149877A1
Application number: PCT/JP2008/060252
Authority: WO
Inventors: Shuichi Sasaki; Yoshikazu Kobayashi; Mitsuo Tsuborai
Original assignee: Honda Motor Co., Ltd.
Priority date: 2007-06-01
Filing date: 2008-05-28
Publication date: 2008-12-11

Abstract

A forklift functioning as both an unmanned forklift and a manned forklift. A body (11) of the forklift has an up-down lever (23) for up-down movement of a fork (14), a forward-backward lever (21) for forward-backward movement of the fork, a tilt lever (22) for tilt of the fork, and a vehicle speed lever (28). An up-down operation mechanism (54), a forward-backward operation mechanism (44), a tilt operation mechanism (48), and a vehicle speed control mechanism (58) for moving the levers are connected to the levers in automatic operation and are disconnected from the levers in manual operation.

Description

Description Forklift Technical Field

The present invention relates to a fork riff that can be used both as a manned fork riff and an unmanned forklift. Background art

In factories and other places where it is necessary to carry large luggage, luggage is carried by forklifts equipped with a fork for cargo handling on the body. There are two types of fork riffs: a manned fork riff that is operated by the driver and an unmanned forklift that is operated automatically without the driver getting on.

Figure 13 shows a factory where both manned forklifts and unmanned forklifts are used. Inside the factory 2000, manned rack 2 0 2 that carries baggage 2 0 1 from the outside, and the 2 0 1 that has been loaded on this rack 2 0 2 by manual operation to the designated place Forklift 2 0 3 and unmanned forklift 2 0 5 that receives cargo 2 0 1 that has been lowered to a specified location by manned forklift 2 0 3 and moves it to the specified location while moving on magnetic tape 2 0 4 2 0 5 And are arranged.

Unmanned fork riffs that can operate automatically are more expensive than manned fork riffs, but they are used to save labor.

Among unmanned forklifts and manned forklifts, an improved technique related to manned forklifts is known, for example, as disclosed in Japanese Patent Application Laid-Open No. 2 06 4 4 8 6 4. FIG. 14 shows a forklift with a sensor 2 10 disclosed in Japanese Patent Laid-Open No. 20-4 4 8 6 4.

According to FIG. 14, the forklift with sensor 2 1 0 is composed of the vehicle body 2 1 1, the wheels 2 1 2 and 2 1 2 provided on the lower surface of the vehicle body 2 1 1, and the rotation of this wheel 2 1 2. Sensor 2 1 3 to detect the quantity and to receive this sensor 2 1 3 and external signals It consists of a receiver 2 1 4 capable of

The forklift with sensor 2 1 0 receives the package, carries it to the specified location, and then returns to the location where the package is received. A sensor 2 1 3 detects how many times the wheel 2 1 2 has rotated before carrying the load to a predetermined place. When the forklift with sensor 2 1 0 returns to the baggage claim, the sensor 2 1 3 detects how many wheels 2 1 2 have rotated before returning. As a result, the moving distance of the sensor-equipped forklift 2 10 can be obtained from the rotational speed of the wheel 2 12.

When transporting the load again, the forklift with sensor 2 1 0 is braked at a lower rotational speed than the previous time. The forklift with sensor 2 10 stops before the load placed in the previous transport. It is possible to place a load that has been transported without colliding with the load placed in the previous transport.

According to this forklift with sensor 210, it is possible to avoid a collision with the load by forcing the brake before the load is pulled. Difficult to work in the vicinity of the loaded baggage, improving work efficiency.

Even if such a forklift with sensor 2 "I 0 is applied to FIG. 13, both a forklift with sensor 2 1 0 and an unmanned forklift 2 0 5 are necessary. That is, a manned forklift and an unmanned forklift As these two types of forklifts must be installed, the cost of the price increases.

The unmanned forklift 20 5 cannot be operated by a person when traveling on a place other than the place where the magnetic tape 20 4 is affixed or when the battery runs out. In this case, it is necessary to operate the unmanned forklift 205 by remote control with a remote controller. However, remote control using a remote control takes more time than manned driving.

As shown in Fig. 13, when many unmanned forklifts 2 0 5 circulate along the magnetic tape 2 0 4, empty automatic forklifts 2 0 5 are waiting at the standby position of multiple units. There are many things. As a result, the operating rate of unmanned forklifts is reduced. It is necessary to improve the operation rate of forklifts. Disclosure of the invention An object of the present invention is to improve the operation rate of fork riff and reduce the types of fork riff.

According to one aspect of the present invention, there is provided a forklift, which is a steering mechanism that changes the traveling direction of the vehicle body manually or automatically, a lifting operation lever that moves the fork up and down, and a front and rear operation lever that moves the fork back and forth. A tilt operation lever that tilts the fork, a vehicle speed control lever that controls the speed of the vehicle body, a vertical operation mechanism that is connected to the lift operation lever during automatic operation and is disconnected from the lift operation lever during manual operation. It is connected to the front / rear operation lever during automatic operation, is connected to the front / rear operation mechanism that is disconnected from the front / rear operation lever during manual operation, is connected to the tilt operation lever during automatic operation, and the tilt operation lever is used during manual operation. The tilt control mechanism to be disconnected is connected to the vehicle speed control lever during automatic operation, and the vehicle speed control lever during manual operation. A vehicle speed control mechanism that is separated from the bar; a pedal operating mechanism that depresses the pedal during automatic operation; and a pedal operation mechanism that is disengaged from the pedal during manual operation; and a detection sensor that is provided on the vehicle body and detects a derivative disposed on the travel path of the vehicle body And a forklift equipped with.

Thus, according to the present invention, a single forklift can serve both as an unmanned forklift and a manned forklift. As a result, the number of forklifts can be reduced, and the operating rate can be improved by performing automatic operation and manual operation with one forklift.

Preferably, the fork riff kite is a switching means for switching to automatic operation or manual operation, and at the time of automatic operation, the up / down operation mechanism, the front / rear operation mechanism, the tilt operation mechanism, and the A control unit that controls a vehicle speed control mechanism; and during automatic driving, the control unit controls the steering mechanism based on information of the detection sensor so that the vehicle body travels along the derivative. Control. Therefore, automatic operation and manual operation of the forklift can be easily switched. In addition, various operations can be performed by rewriting the information stored in the control unit.

The up / down operation mechanism, preferably the front / rear operation mechanism, the tilt operation mechanism, and the vehicle speed control mechanism are cylinder-type actuators. This cylinder type actuator is It is easy to obtain and inexpensive.

The steering mechanism preferably includes a steering actuator that is connected to a steering shaft that controls the direction of the vehicle body via a clutch. If the steering actuator is always connected to the steering shaft, this steering actuator becomes a load, and it becomes difficult for the operator to perform steering during manual operation. In this regard, an operator can easily steer by providing a clutch and disengaging the clutch during manual operation to disengage the steering shaft and the steering actuator.

The pedal operation mechanism is preferably operated by a pedal actuator. In this way, the pedal operating mechanism is actuated by the actuator, so that the pedal can be easily depressed.

According to another aspect of the present invention, the forklift includes a steering mechanism that changes a traveling direction of a vehicle manually or automatically, an elevating operation lever that moves the fork up and down, and before and after the fork moves forward and backward. The control lever, the tilt control lever for tilting the fork, the vehicle speed control lever for controlling the speed of the vehicle body, and the lift control lever for automatic operation are disconnected from the lift control lever for manual operation. The vertical operation mechanism is connected to the front / rear operation lever during automatic operation, the front / rear operation mechanism is disconnected from the front / rear operation lever during manual operation, and the tilt operation lever is connected during automatic operation, and the tilt is operated during manual operation. Tilt operation mechanism separated from the operation lever, and the vehicle speed control lever in automatic operation, and the vehicle speed control in manual operation A vehicle speed control mechanism that is separated from the lever; a pedal operating mechanism that depresses the pedal during automatic operation; and a pedal operation mechanism that is disengaged from the pedal during manual operation; A feed mechanism that collectively moves the up / down operation mechanism, the front / rear operation mechanism, the tilt operation mechanism, and the vehicle speed control mechanism; and the up / down operation mechanism, the front / rear operation mechanism, the tilt operation mechanism, and the vehicle speed control mechanism are connected to the levers. A sensor for detecting the position, switching means for switching to automatic operation or manual operation, and at the time of automatic operation, the vertical operation mechanism, the front / rear operation mechanism, tilting based on the information stored in advance A control unit that controls the operation mechanism and the vehicle speed control mechanism, and during automatic driving, the control unit includes information on the detection sensor. To travel the vehicle body along said derivative by controlling the steering mechanism on the basis of A forklift is provided for controlling the operation.

Thus, according to the present invention, the manual operation mode can be easily switched to the automatic operation mode, and the work efficiency can be easily improved. Brief Description of Drawings

Figure 1 shows a typical manned forklift.

Fig. 2 is a view taken along arrow 2 in Fig. 1.

FIG. 3 is a diagram showing the operating system of the manned forklift shown in FIG. 1, FIG. 4 is a plan view of the forklift according to the first embodiment of the present invention,

Figure 5 is a cross-sectional view along line 5-5 in Figure 4.

Fig. 6 is a cross-sectional view along line 6-6 in Fig. 4,

7A to 7C are diagrams showing the operating state of the pedal operation mechanism,

Figure 8 is a cross-sectional view along line 8-8 in Figure 4.

9A to 9C are diagrams showing the detection state of the detection sensor for the derivative, and FIG. 10 is a flow chart showing the procedure when the manned forklift is switched to the unmanned forklift.

Figure 11 shows a flow chart showing the procedure for switching an unmanned forklift to a manned forklift.

Fig. 12 is a plan view of the forklift according to the second embodiment.

Figure 13 is a schematic diagram showing a factory where both conventional automatic and manual operation forklifts are used.

Figure 14 shows a conventional forklift. BEST MODE FOR CARRYING OUT THE INVENTION

Referring to FIG. 1, a manned forklift 10 includes a vehicle body 1 1, a vehicle body 1 1, a fall prevention member 1 2 provided at a front portion for preventing the cargo from falling to the vehicle body 1 1 side, and this fall prevention member 1 2 Support shaft 1 3 provided under 2; Fork 1 4 whose base is swingably provided on support shaft 1 3; and Fork 1 4 Tilt operation member 15 for tilting and fork 14 Consists of 1 and 6 chains to do.

On the upper surface of the cover 1 7 of the vehicle body 1 1, an operation unit 18 for operating the vehicle body 1 1 is arranged. The operating section 1 8 includes a front / rear operation lever 2 1 for operating the fork 1 4 back and forth, a tilting operation lever 2 2 for tilting the fork 1 4, and a lifting operation lever 2 for operating the fork 1 4 up and down 2 3 and a steering wheel 2 4 for changing the direction of the vehicle body 1 1 are provided.

As shown in FIG. 2, the forklift 10 includes a step 2 6 in which an operator stands in the lower right corner of the body cover 17 in FIG. 2 and a pedal 2 installed in the step 26. 7 and.

Step 2 An operator standing in 6 operates steering 2 4 with his left hand. At the position to be operated with the right hand, a front / rear operation lever 21, a tilt operation lever 2 2, a lift operation lever 2 3 and a vehicle speed operation lever 28 for operating the vehicle speed are provided.

A rear bumper 29 for protecting the vehicle body 1 1 is provided at the rear of the vehicle body 1 1.

The structure of the manned forklift 10, especially the installation location of the operation levers 2 to 2 3 and 2 8 and the steering 2 4 may be changed as appropriate.

Figure 3 shows the operating system of a normal manned forklift. The operator operates the front / rear control lever 21 to move the fork 14 forward or backward. Fork 1 4 moves forward / backward by operating forward / backward movement motor 3 1 by operating front / rear operation lever 2 1 α

When adjusting the inclination of the fork 1 4, the operator operates the tilt operation lever 2 2. By operating the tilt control lever 2 2, the tilt motor 3 2 is activated to adjust the tilt of the fork 1 4.

When raising or lowering the fork 14, the operator operates the lifting operation lever 2 3. By operating the elevating lever 2 3, the elevating motor 3 3 operates to raise or lower the fork 14.

That is, the movement of the longitudinal motor 31, the tilting motor 3 2, and the lifting motor 3 3 is controlled by the longitudinal operating lever 21 1, the tilting operating lever 2 2 and the lifting operating lever 23. To operate. To drive the vehicle body 1 1, the operator steps on the pedal 2 7. The pedal sensor 3 4 that has determined that the pedal 2 7 has been depressed releases the brake 3 6 applied to the motor 3 5 so that it can run. When the foot is released from the pedal 27, the brake 36 is actuated via the pedal sensor 34, the motor 35 cannot be actuated, and the vehicle body 11 becomes unable to run.

The speed of the vehicle body 1 1 is controlled by operating the vehicle speed control lever 2 8. By operating the vehicle speed operation lever 28, the rotation speed of the motor 35 is controlled, and the vehicle speed of the vehicle body 11 is controlled.

The direction of the vehicle body 1 1 is adjusted by operating the steering wheel 2 4. When the steering 2 4 is operated, the direction of the rear wheel 39 can be changed via the scanning shaft 38.

Based on the manned forklift described above, the manned forklift is modified to provide the forklift of the present invention. The preferred first embodiment will be described below.

FIG. 4 shows the forklift according to the first embodiment. The forklift 40 is a manned forklift (manned forklift 10 in FIG. 1) provided with members necessary for automatic operation. The same elements as those of manned forklifts are diverted and detailed explanations are omitted.

The forklift 40 includes a connecting member 4 1 provided on the front / rear operation lever 21 and a front / rear operating mechanism 4 4 having a fitting hole 4 3 into which a pin 4 2 protruding from the connecting member 41 is fitted. The tilting operation lever 4 2, the tilting operation mechanism 4 8 provided with the fitting hole 4 7 into which the pin 4 6 protruding from the coupling material 45 is fitted, and the lifting operation lever 2 3 Connecting member 5 1, Pin 5 protruding from this connecting member 5 1 5 2 Up / down operation mechanism 5 4 with fitting hole 5 3 and Connection provided on vehicle speed control lever 2 8 5 5 and a vehicle speed control mechanism 5 8 provided with a fitting hole 5 7 into which the pin 5 6 protruding from the connection material 5 5 is fitted, and these operation mechanisms 4 4, 4 8, 5 4 and the vehicle speed. The control mechanism 5 8 is connected to the operation mechanism 4 4, 4 8, 5 4 and the vehicle speed control mechanism 5 8.

Further, the forklift 40 includes a mounting table on which the operation mechanisms 4 4, 4 8 and 5 4 are mounted. 6 2 and a mounting table 6 3 on which the vehicle speed control mechanism 5 8 is mounted, a rail 6 4 on which these mounting tables 6 2 and 6 3 are movably mounted to the left and right, and a rail 6 4 And stand-by positions 6 6 and 6 7 for the mounting tables 6 2 and 6 3 indicated by imaginary lines.

The forklift 40 further includes a pedal operating mechanism 6 8 (details will be described later) disposed on the pedal 27, and an impact that is provided on the rear bumper 29 and detects an impact when an obstacle comes into contact with the rear bumper 29. Detection sensor 6 9, derivative detection sensor mechanism 7 1 (details will be described later) installed in the rear lower part of the vehicle body 1 1, steering 2 4, steering actuator mechanism 7 2 (details will be described later) indicated by a broken line on the left side, steering 2 4, a steering shaft 3 8 and a steering mechanism 7 3 including a steering actuator mechanism 7 2 are provided.

Further, the forklift 40 includes a switching means 7 4 disposed in front of the steering 24 and switching between automatic operation and manual operation, and an emergency stop button 75 disposed in front of the switching means 7 4. ing. For example, the switching means 7 4 includes an automatic button 7 6 for setting automatic operation and a manual button 7 7 for setting manual operation.

The operation mechanism 4 4, 4 8, 5 4 and the vehicle speed control mechanism 5 8 are operated by moving the mounting base 6 2, 6 3 to the left and right as shown by the arrows, so that the levers 2 1, 2 2, 2 3, 2 8 It can be connected or separated.

The mounting tables 6 2 and 6 3 can be moved to the standby positions 6 6 and 6 7, respectively. During manual operation, the mounting tables 6 2 and 6 3 are put on standby at the standby positions 6 6 and 6 7.

During automatic operation, the operation mechanism 4 4, 4 8, 5 4 and the vehicle speed control mechanism 5 8 have pins 4 2, 4 6, 5 2, 5 6 in the fitting holes 4 3, 4 7, 5 3, 5 7 Mate and connect to each operation lever 2 1, 2 2, 2 3, 2 8. The operation mechanisms 4 4, 4 8, 5 4 and the vehicle speed control mechanism 5 8 are controlled based on information stored in advance in the control unit 61. As a result, the levers 2 1, 2 2, 2 3 and 2 8 are operated and work is performed.

Various tasks can be performed by rewriting the information stored in the controller. It is useful that various operations can be performed by a simple operation.

An actuator is suitable for the front / rear operation mechanism 44, the tilt operation mechanism 48, the vertical operation mechanism 54, and the vehicle speed control mechanism 58. Specifically, a stepping motor is desired However, a servo motor can be used as long as the position accuracy is good. Cylinder type actuators are versatile, easy to obtain and inexpensive.

As shown in FIG. 5, the steering actuator mechanism 7 2 includes a steering actuator 8 1 provided through a flange 7 9 on a wall 7 8 provided at the lower portion of the operation unit 1 8, and a steering actuator. A clutch 8 3 provided on the top of the cylinder 8 1 and also attached to the wall 7 8 via the flange 8 2, and a steering actuator 8 1 disposed on the top of the clutch 8 3 to rotate the steering shaft 3 1 to the steering shaft 3 8 A transmission pulley 8 4 for transmission and a driven pulley 8 6 provided on the steering shaft 3 8 and rotated by the transmission pulley 8 4 via a belt 85.

The clutch 8 3 is located inside the clutch cover 8 8, and is disposed on the upper surface of the shaft 8 9 of the steering actuator 8 1 and is rotated together with the shaft 8 9. A compression spring 9 2 disposed between the lower surface of the rotating plate 9 1 and the clutch cover 8 8; and a clutch plate 9 positioned above the rotating plate 9 1 and rotated by being connected to the rotating plate 9 1. 3 and a shaft 9 4 for transmitting the rotation of the clutch plate 9 3 to the transmission pulley 8 4, and a bearing 9 5 is provided between the shaft 8 9, 9 4 and the clutch cover 8 8. .

During automatic operation, the rotating plate 9 1 and the clutch plate 9 3 are connected. When the rotating plate 9 1 and the clutch plate 9 3 are connected, the rotation of the steering actuator 8 1 is transmitted to the transmission pulley 8 4. When the transmission pulley 84 is rotated, the driven pulley 86 and the steering shaft 38 are rotated via the belt 85. That is, the direction of the vehicle body 11 is controlled by the steering actuator 8 1.

During manual operation, steering 2 4 is operated directly. It is not necessary to transmit the rotation of the steering actuator 8 1 to the steering shaft 3 8. When the rotating plate 9 1 and the clutch plate 9 3 are separated, the rotation of the steering actuator 8 1 is not transmitted to the steering ring shaft 3 8.

If the steering actuator is always connected to the steering shaft, this steering actuator becomes a load, and it becomes difficult for the operator to perform steering during manual operation. In this regard, an operator can easily steer by providing a clutch and disengaging the clutch during manual operation to separate the steering shaft and the steering actuator. As the steering actuator 81, a stepping motor is desirable, but a servo motor can be used as long as the position accuracy is good.

As shown in FIG. 6, the pedal operating mechanism 6 8 includes a pedal actuator 9 8 provided on the flange 9 7 and an upper flange portion 9 9 disposed on the lower surface of the flange 9 7 with the flange 9 7 The cylinder 1 0 2 connected to the pin 1 0 1, the push-down rod 1 0 3 disposed inside this cylinder 1 0 2 to push down the pedal 2 7, and the lower end of the push-down rod 1 0 3 Bracket 10 4 mounted on the axle, axle 1 0 5 attached to the bracket 1 0 4, foot wheel 1 0 6 supported by this wheel shaft 1 0 5 and pushing down the pedal 2 7, and the cylinder 1 0 2 Stopper 1 0 7 provided at the top to limit the rise of the push-down rod 1 0 7, flange 1 0 9 located on the side of the cylinder 1 0 2, this flange 1 0 9 and the cylinder 1 0 2 connecting pins 1 1 1 and flange 1 0 9 It consists of Chiyueta 1 1 2.

The inside of the push-down rod 1 0 3 is pushed down by engaging with the shaft 1 1 3 and the hole “I 1 4” formed on the shaft 1 1 3 so as to be swingable and formed in the cylindrical body 1 0 2 Claw member 1 1 6 to prevent the rod 1 0 3 from rising, compression spring ¹ 1 7 to push this claw member 1 1 6 to the hole 1 1 4 side, and compression spring 1 1 7 And a confinement port 1 1 9 for closing the compression spring 1 1 7 inserted from the coffin inlet 1 1 8 into the push-down rod 1 0 3.

The pedal operating mechanism 6 8 is attached to the vehicle body 11 by a flange 1 2 1 provided on the outer surface of the cylinder 10 2.

In a predetermined case, the solenoid type actuator 1 1 2 instantaneously pushes the claw member 1 1 6 into the cylinder 1 0 2 by electromagnetic action. The predetermined case means a case where the emergency stop button 75 is pressed, a case where the shock detection sensor 69 detects a shock, or a case where the manual button 7 7 is pressed.

When the claw member 1 1 6 is pushed into the cylinder body 10 2, the pedal 2 7 is rotated clockwise by the upward force of the spring 1 2 2 disposed on the lower surface of the pedal 2 7. When the pedal 2 7 rotates, the push-down rod 1 0 3 rises inside the cylinder 1 0 2 until the upper surface contacts the stopper 1 0 7. That is, when the solenoid type actuator 1 1 2 is operated, the pedal 2 7 is not depressed. When the pedal 2 7 is not depressed, the vehicle body 1 1 cannot run.

Since the pedal operating mechanism 6 8 is operated by the pedal actuator 9 8, the pedal 2 7 can be easily depressed. Automatic operation and manual operation can be switched with a simple operation.

A stepping motor is suitable as the pedal actuator 98, but in addition to electric motors, air motors and hydraulic motor motors, if the push rod 10 3 can be pushed down, the air cylinder is hydraulic. Cylinders can also be applied.

In the first embodiment, an example is described in which the push-down rod 1 0 3 is pushed down by the actuator 9 8. However, the pedal operating mechanism 6 8 is directly pushed down by the manual push-down rod 1 0 3. Even if it is a thing of a simple mechanism, it is employable.

7A to 7C show the operating state of the pedal operation mechanism 68. FIG.

As shown in Fig. 7A, in the anti-lock state where the claw member 1 1 6 before automatic operation setting is not locked in the hole Ί 1 4, the push-down rod 1 0 3 must be driven by the force to move down. 1 2 2 is stronger than the pedal 2 7 The upper surface of the push-down rod 1 0 3 is stopped by a stud 1 0 7. Since pedal 2 7 is not depressed, vehicle 1 1 cannot travel.

Next, as shown in FIG. 7B, when the automatic button 76 (FIG. 4) is pressed, the pedal operation mechanism 68 starts to prepare for automatic operation. Pedal actuator 9 8 is activated and piles on the spring force of spring 1 2 2 to push down pedal 2 7 together with push-down rod 1 0 3. When the claw member 1 1 6 is pushed down to the position of the hole 1 1 4, the claw member 1 1 6 is locked in the hole 1 1 4 by the elastic force of the compression spring 1 1 7.

As shown in FIG. 7C, when the pawl member 1 1 6 is locked in the hole 1 1 4, the pedal actuator 9 8 raises the shaft. Even if the shuffle 9 of the pedal actuator 9 8 rises, the claw member 1 1 6 is locked in the hole 1 1 4 so the push-down rod 1 0 3 rises due to the spring force of the spring 1 2 2 I can't let you. Therefore, pedal 2 7 is. The pedal can be kept in a depressed state, and the vehicle body 1 1 can be kept in a traveling state. When the shuffle の of the pedal actuator 9 8 is raised, there is nothing between the upper surface of the push-down rod 1 0 3 and the stopper 10 7. When the push-down rod 10 0 3 is lifted to release the depressed state in a given case, there is no obstacle preventing the push-down rod 1 0 3 from rising.

In a predetermined case, the solenoid type actuator 1 1 2 is actuated and the claw member 1 1 6 is pushed into the cylindrical body 1 0 2. When the claw member 1 1 6 is pushed in, the upper surface of the push-down rod 1 0 3 is raised to a position where it comes into contact with the stopper 1 0 7 by the force of the spring 1 2 2. That is, the state returns to the state of FIG.

FIG. 8 shows the derivative detection sensor mechanism 71.

The derivative detection sensor mechanism 7 1 detects the derivative 1 2 6 provided on the floor 1 2 5 to guide the vehicle body 1 1, and the detection sensor 1 2 7 provided at the lower part of the vehicle body 1 1, Detection sensor 1 2 7 is connected to shaft 1 2 8 and is arranged on the upper surface of sensor rotation actuator 1 2 9 for adjusting the direction of detection sensor 1 2 7 and sensor rotation actuator 1 2 9 Rotation sensor 1 3 1 that detects the amount of rotation of detection sensor 1 2 7 via shaft 1 2 8, and receives signals from this rotation sensor 1 3 1 and detection sensor 1 2 7, It consists of a control box 1 3 2 for controlling the rotary actuator 1 2 9 and the steering actuator 8 1.

As the derivative 1 2 6 and the detection sensor 1 2 7, a magnetic tape and a magnetic sensor are suitable. However, the derivative provided on the floor for guiding the vehicle body and the one that can detect this are used. It is not limited.

FIGS. 9A to 9C show detection states of the detection sensor 1 2 7 that detects the derivative 1 2 6.

As shown in FIG. 9A, the detection sensor 1 2 7 is provided with, for example, 14 chips 1 3 3. Under normal vehicle conditions, the left three tips 1 3 3 and the right three tips 1 3 3 are disengaged from the derivative 1 2 6.

As shown in Fig. 9B, if the detector 1 2 6 approaches the curve of the derivative 1 2 6 and the sensor 1 2 7 continues to run straight without rotating, the tip 1 3 3 that is detached from the derivative 1 2 6 4 on the right and 2 on the right. By this change in number, it is known whether the detection sensor 1 2 7 has started to come off from the derivative 1 2 6 and whether it has started to come off from the left or right be able to. The detection sensor 1 27 informs the control box (control box 1 32 in FIG. 8) that it is about to come off the derivative 1 26.

Next, as shown in Fig. 9C, the control box 1 32 (Fig. 8) receives the detection sensor 1 27 coming off from the derivative 1 26. Rotate shaft 1 28 until it is disengaged from derivative 1 26.

Returning to FIG. 8, when the shaft portion 1 28 is rotated, the rotation amount sensor 1 31 detects the amount of rotation when the shaft portion 1 2 8 is rotated, and outputs the detection signal to the control box 1 32. To do. Based on the rotation amount at this time, the control box 1 32 instructs the rotation amount of the steering actuator 81. As the steering actuator 81 rotates, the direction of the vehicle body 11 is controlled.

The operation of the fork riff having the above configuration will be described below.

FIG. 10 shows a flowchart explaining the procedure for switching a manned forklift to an unmanned forklift.

Step (hereinafter abbreviated as ST) In 01, set the front / rear operation mechanism 44, the tilt operation mechanism 48, the vertical operation mechanism 54, and the vehicle speed control mechanism 58 shown in FIG. 4 to the operation lever 2 "I, 22, 23, 28. Specifically, the mounting tables 62 and 63 shown in Fig. 4 are slid from the standby positions 66 and 67 and connected to the front and rear operation lever 21, the tilt operation lever 22, the lifting operation lever 23 and the vehicle speed operation lever 28. .

In ST 02, center the vehicle on derivative 1 26 (Fig. 9A).

In ST 03, turn the steering wheel 24 (Fig. 4) to set the steering angle to 0 °.

In ST04, press automatic button 76 (Fig. 4). Then, the rotary plate 9 1 (Fig. 5) and the clutch plate 93 are connected, the pedal operation mechanism 68 (Fig. 6) is operated, the pedal 27 is depressed, and automatic operation is started (ST05).

Specifically, the vehicle body 11 shown in FIG. 4 travels on the derivative 126 shown in FIG. While the vehicle body 11 is traveling, the fork riff 40 performs work based on information stored in the control unit 61 in advance.

Fig. 11 shows a flowchart showing the procedure for switching an unmanned forklift to a manned forklift.

In ST 1 1, press manual button 77 (Fig. 4). Then the times shown in Figure 5 The rotating plate 9 1 and the clutch plate 93 are separated, and the solenoid type actuator 1 1 2 (Fig. 6) is activated to release the pedal 2 7 from being depressed.

In ST 12, the front / rear operation mechanism 44, the tilt operation mechanism 48, the vertical operation mechanism 54, and the vehicle speed control mechanism 58 shown in FIG. 4 are removed from the operation levers 2 1, 2 2, 2 3, 2 8. And move to the standby position 6 6, 6 7.

Specifically, slide the mounting tables 6 2 and 6 3 shown in FIG. 4 to the standby positions 6 6 and 6 7. Then, manual operation becomes possible (ST 13).

Next, the forklift 4 O A of the second embodiment will be described with reference to FIG. The forklift 40 and the common members of the first embodiment shown in FIG. 4 are denoted by the same reference numerals and will not be described in detail.

Compared to the first embodiment shown in FIG. 4, the following elements are added to the forklift 4 O A of the second embodiment shown in FIG.

In the direction orthogonal to the rail 64, a protruding portion 1 3 5 extends from the larger first mounting table 62, and a nut 1 3 6 is provided on the protruding portion 1 3 5. Further, a feed screw 1 3 7 extends parallel to the rail 6 4, and a motor 1 3 8 for rotating the feed screw 1 3 7 is attached to the vehicle body 1 1 via a bracket 1 3 9.

That is, the nut 1 3 6, the feed screw 1 3 7, and the motor 1 3 8 constitute a first feed mechanism 1 40.

The feed screw 1 3 7 is preferably a ball screw. Further, a sensor 1 4 1 for detecting the presence of the first mounting table 6 2 at the standby position 6 6 indicated by the imaginary line is provided on the vehicle body 1 1, and the pin 5 2 is fitted into the fitting hole 5 3. The vehicle body 11 is provided with a sensor 14 2 for detecting that the first mounting table 62 2 has moved until this time.

Similarly, in the direction orthogonal to the rail 6 4, a protruding portion 1 4 5 extends from the smaller second mounting table 6 3, and a nut 1 4 6 is provided on the protruding portion 1 4 5. Yes. Further, a feed screw 1 4 7 extends in parallel with the rail 6 4, and a motor 1 4 8 for rotating the feed screw 1 4 7 is attached to the vehicle body 1 1 via a bracket 1 4 9.

That is, the nut 14 6, the feed screw 1 4 7, and the motor 1 4 8 constitute a second feed mechanism 1 5 0. The feed screw 1 4 7 is preferably a pole screw. Further, a sensor 1 5 1 for detecting the presence of the second mounting table 6 3 at the standby position 6 7 indicated by the imaginary line is provided on the vehicle body 1 1, and the pin 5 6 is fitted into the fitting hole 5 7. The vehicle body 11 is provided with a sensor 15 2 that detects that the second mounting table 63 has moved until this time.

When the manual button 7 7 is operated, the motor 1 3 8 enters the operating state, and the feed screw 1 3 7 is turned to move the first mounting table 6 2 to the standby position 66 shown by the imaginary line. When the sensor 1 4 1 detects the first mounting table 6 2, the motor 1 3 8 is automatically stopped by the controller 6 1.

At the same time, the motor 1 4 8 is in operation, and the feed screw 1 4 7 is turned to move the second mounting table 63 to the standby position 6 7 indicated by the imaginary line. When the sensor Ί 5 1 detects the second mounting table 6 3, the control unit 61 automatically stops the motor 1 4 8.

This allows manual operation.

When the automatic button 7 6 is operated, the motor 1 3 8 enters the operating state, and the feed screw 1 3 7 is turned to move the first mounting table 6 2 to the right in FIG. 12 indicated by an imaginary line. When the sensor 1 4 2 detects the first mounting table 6 2, the motor 1 3 8 is automatically stopped by the controller 6 1.

At the same time, the motor 1 4 8 is in an operating state, and the feed screw 1 4 7 is turned to move the second mounting table 63 to the left in FIG. When the sensor 15 2 detects the second mounting table 6 3, the control unit 61 automatically stops the motor 1 4 8.

This enables automatic operation.

As is clear from the above explanation, a single forklift can be used as both an unmanned forklift and a manned forklift. As a result, it is possible to reduce the types of fork refractories and to improve the operating rate by performing automatic and manual operation with one forklift.

In the present invention, a forklift traveling by a motor has been described as an example. However, the motor includes a power generator such as an internal combustion engine, and is not limited to an electric motor. Industrial applicability

The forklift of the present invention is suitable for carrying goods by automatic operation and manual operation. It is.

Claims

The scope of the claims

1-fork riff

A steering mechanism that changes the traveling direction of the vehicle body manually or automatically;

An elevating lever for moving the fork up and down;

A front / rear operation lever for moving the fork back and forth;

A tilt operation lever for tilting the fork;

A vehicle speed control lever for controlling the speed of the vehicle body;

An up / down operation mechanism that is connected to the lifting / lowering operation lever during automatic operation and separated from the lifting operation lever during manual operation,

The front / rear operation mechanism is connected to the front / rear operation lever during automatic operation, and the front / rear operation mechanism is disconnected from the front / rear operation lever during manual operation.

A tilting operation mechanism that is connected to the tilting operation lever during automatic operation and is separated from the tilting operation lever during manual operation;

A vehicle speed control mechanism that is connected to the vehicle speed control lever during automatic operation, and is disconnected from the vehicle speed control lever during manual operation;

A pedal operation mechanism that depresses the pedal during automatic operation and leaves the pedal during manual operation;

A detection sensor provided on the vehicle body for detecting a derivative disposed on a travel path of the vehicle body;

Forklift equipped with.

2. The forklift is

Switching means for switching to automatic operation or manual operation;

At the time of automatic driving, based on information stored in advance, a control unit that controls the vertical operation mechanism, the front / rear operation mechanism, the tilt operation mechanism and the vehicle speed control mechanism

Further comprising

At the time of automatic driving, the control unit controls the steering mechanism based on information of the detection sensor to control the vehicle body to travel along the derivative. Forklift according to item 1

3. The forklift according to claim 1, wherein the up / down operation mechanism, the front / rear operation mechanism, the tilt operation mechanism, and the vehicle speed control mechanism are cylinder type actuators.

4. The forklift according to claim 1, wherein the steering mechanism includes a steering actuator connected via a clutch to a steering shaft for controlling a direction of a vehicle body.

5. The forklift according to claim 1, wherein the pedal operation mechanism is operated by a pedal actuator.

6. Forklift

An elevating lever for moving the fork up and down;

A front / rear operation lever for moving the fork back and forth;

A tilting lever for tilting the fork;

A vehicle speed control lever for controlling the speed of the vehicle body;

A vertical operation mechanism that is connected to the lifting operation lever during automatic operation and separated from the lifting operation lever during manual operation,

The front / rear operation lever connected to the front / rear operation lever << during automatic operation, and the front / rear operation mechanism separated from the front / rear operation lever during manual operation,

A tilting operation mechanism that is connected to the tilting operation lever during automatic operation, and is separated from the tilting operation lever during manual operation;

A detection sensor provided on the vehicle body for detecting a derivative disposed on a travel path of the vehicle body. And

A feed mechanism that moves the up-and-down operation mechanism, the front-rear operation mechanism, the tilting operation mechanism, and the vehicle speed control mechanism together;

A sensor for detecting that the up / down operation mechanism, the front / rear operation mechanism, the tilt operation mechanism, and the vehicle speed control mechanism are connected to the levers;

Switching means for switching to automatic operation or manual operation;

With

During automatic driving, the control unit controls the steering mechanism based on information from the detection sensor to control the vehicle body to travel along the derivative.