JPH0662280B2 - Vehicle movement detection device for cargo handling vehicles with push-pull - Google Patents
Vehicle movement detection device for cargo handling vehicles with push-pullInfo
- Publication number
- JPH0662280B2 JPH0662280B2 JP13582789A JP13582789A JPH0662280B2 JP H0662280 B2 JPH0662280 B2 JP H0662280B2 JP 13582789 A JP13582789 A JP 13582789A JP 13582789 A JP13582789 A JP 13582789A JP H0662280 B2 JPH0662280 B2 JP H0662280B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- movement amount
- sensor
- lift
- movement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Forklifts And Lifting Vehicles (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、昇降するフォーク爪に沿ってシートグリッパ
を備えたフェイスを前後方向に移動可能に設けたプッシ
ュプル付き荷役車両の車体移動量検出装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention detects the amount of movement of a vehicle body of a cargo handling vehicle with a push-pull in which a face provided with a seat gripper is provided so as to be movable in the front-rear direction along a fork claw that moves up and down. Regarding the device.
プッシュプル付き荷役車両としては次のようななものが
知られている。The following are known as cargo handling vehicles with push-pull.
すなわち、車体の前部に設けたマストに沿ってフォーク
爪を昇降可能に設け、このフォーク爪に沿ってシートグ
リッパを備えたフェイスを前後方向に移動自在に設け、
フェイスを車体と離れた前方位置に前進移動して荷の下
に敷いたシートパレットをシートグリッパで把握し、フ
ェイスを車体寄りの手前位置に後進移動させながら車体
を前進走行してシートパレットとともに荷をフォーク爪
上に引き込んで荷取り作業し、シートグリッパによるシ
ートパレットの把握を解放して状態でフェイスを前方位
置に前進移動させながら車体を後進走行させてフォーク
爪に沿ってシートパレットとともに荷を前方に押し出し
て荷置き作業するプッシュプル付き荷役車両。That is, a fork claw is provided so as to be able to move up and down along a mast provided in the front part of the vehicle body, and a face provided with a seat gripper is provided along the fork claw so as to be movable in the front-rear direction.
The seat gripper grasps the seat pallet laid under the load by moving the face forward to the front position away from the car body, and while moving the face backward to the front position near the car body, the car body travels forward and loads with the seat pallet. Pulling the fork onto the fork claw to carry out the load work, and while the grip of the sheet pallet is released by the sheet gripper, while moving the face forward to the forward position, the car body travels backward and loads the load along with the sheet pallet along the fork claw. A cargo-handling vehicle with push-pull that pushes forward and loads.
かかる荷役車両においては、荷取り作業時には車体を前
進走行させながらフェイスを後進移動させ、荷置き作業
時には車体を後進走行させながらフェイスを前進移動さ
せて荷役作業時するが、フェイスの後進移動量と車体の
前進移動量及び、フェイスの前進移動量と車体の後進移
動量を同一とすることが荷役作業効率、操作容易化の面
から好ましい。In such a cargo-handling vehicle, the face is moved backward while the vehicle body is traveling forward during the unloading work, and the face is moved forward while the vehicle body is traveling backward during the laying-up work. It is preferable that the forward movement amount of the vehicle body, the forward movement amount of the face, and the backward movement amount of the vehicle body are the same in terms of cargo handling work efficiency and easy operation.
このために、車体の移動量とフェイスの移動量を検出し
て同一となるようにコントロールすることが考えられる
が、車体の移動量を検出できる装置が必要となる。For this reason, it is conceivable to detect the movement amount of the vehicle body and the movement amount of the face and control them so that they are the same, but a device capable of detecting the movement amount of the vehicle body is required.
そこで、本発明は車体の移動量を正確に検出できるよう
にしたプッシュプル付き荷役車両の車体移動量検出装置
を提供することを目的とする。Therefore, an object of the present invention is to provide a vehicle body movement amount detection device for a cargo handling vehicle with a push-pull capable of accurately detecting the movement amount of the vehicle body.
車体前方の固定物と車体との間の距離により車体移動量
を検出する第１のセンサと、車輪の回転により車体移動
量を検出する第２のセンサと、フォーク爪の揚高検出セ
ンサと、高揚高時には第１のセンサの車体移動量を出力
し、低揚高時には第２のセンサの車体移動量を出力する
切換手段とより成り、フォーク爪の低揚高時には車体移
動量を正確に検出でき、フォーク爪が低揚高時にも車体
移動量を検出できるようにした車体移動量検出装置であ
る。A first sensor that detects the amount of movement of the vehicle body by the distance between a fixed object in front of the vehicle body and the vehicle body; a second sensor that detects the amount of movement of the vehicle body by rotation of the wheels; The switching means outputs the vehicle movement amount of the first sensor at the time of high lift and outputs the vehicle movement amount of the second sensor at the time of low lift, and accurately detects the vehicle movement amount at the time of low lift of the fork pawl. The vehicle body movement amount detecting device is capable of detecting the vehicle body movement amount even when the fork claw is at a low elevation.
第１図に示すように、車体１には駆動輪２と操向輪３及
び運転席４と操従部材５が設けてあると共に、車体１の
前部にはマスト６がチルトシリンダ７で前後傾動自在に
設けられ、そのマスト６に沿ってフィンガーボード８が
昇降可能に設けてあると共に、そのフィンガーボード８
にフォーク爪９が取付けられ、さらにフェイス１０が移
動機構１１によって前後方向に移動自在に設けてあり、
そのフェイス１０の下部にはシート受け片１２と押え片
１３とより成るシートグリッパ１４が設けられ、シート
受け片１２と押え片１３との間に荷Ａの下に敷かれたシ
ートパレットＢを臨ませ、押え片１３を移動してシート
パレットＢをシート受け片１２と押え片１３とで把握す
るようにしてプッシユプル付き荷役車両を構成してい
る。As shown in FIG. 1, a vehicle body 1 is provided with drive wheels 2, steered wheels 3, a driver's seat 4, and a follower member 5, and a mast 6 is mounted on a front portion of the vehicle body 1 by a tilt cylinder 7 in the front and rear direction. The fingerboard 8 is provided so as to be tiltable, and the fingerboard 8 can be moved up and down along the mast 6.
A fork claw 9 is attached to the fork, and a face 10 is movably provided in the front-rear direction by a moving mechanism 11.
A sheet gripper 14 including a sheet receiving piece 12 and a pressing piece 13 is provided below the face 10, and a sheet pallet B laid under the load A is placed between the sheet receiving piece 12 and the pressing piece 13. No, the load handling vehicle with push-pull is configured such that the pressing piece 13 is moved so that the sheet pallet B is grasped by the sheet receiving piece 12 and the pressing piece 13.
前記移動機構１１はフレーム１５と伸縮リンク１６と電
動モータ１７を備え、電動モータ１７により伸縮リンク
１６を伸縮するようにしてあるが、シリンダで伸縮リン
ク１６を伸縮しても良く、そのフレーム１５がフィンガ
ーボード８に取付けてあり、伸縮リンク１６の先端にフ
ェイス１０が連結してある。The moving mechanism 11 includes a frame 15, a telescopic link 16 and an electric motor 17, and the electric motor 17 is used to extend and retract the telescopic link 16. However, the telescopic link 16 may be telescopically extended by a cylinder. It is attached to the finger board 8, and the face 10 is connected to the tip of the telescopic link 16.
前記車体１側、例えばマスト６には、車体１と車体前方
の荷Ａ等の固定物との間の距離を検出する距離センサ２
０が設けてあり、その距離センサ２０は例えば、荷Ａに
向けて放射部より超音波を発振し、その放射超音波と荷
Ａで反射して受波部で検出した反射超音波との位相のず
れによってマスト６と荷Ａとの距離を測定する超音波セ
ンサとなっている。On the vehicle body 1 side, for example, the mast 6, a distance sensor 2 for detecting a distance between the vehicle body 1 and a fixed object such as a load A in front of the vehicle body.
0 is provided, and the distance sensor 20 oscillates ultrasonic waves from the radiating section toward the load A, and the phase of the radiated ultrasonic wave and the reflected ultrasonic wave reflected by the load A and detected by the receiving section It is an ultrasonic sensor that measures the distance between the mast 6 and the load A due to the deviation of.
前記車体１には車輪の回転から車体の移動量を検出する
移動量センサ２１が設けられ、該移動量センサ２１は例
えば、駆動輪２の回転部にスリット付き円盤を設け、固
定側に光センサ２１ｂを設けて駆動輪２の回転数を検出
し、その回転数によって車体１の移動量を検出するセン
サとなっている。The vehicle body 1 is provided with a movement amount sensor 21 that detects the amount of movement of the vehicle body based on the rotation of the wheels. For example, the movement amount sensor 21 is provided with a disc with a slit in the rotating portion of the drive wheel 2 and an optical sensor on the fixed side. The sensor 21b is provided to detect the number of rotations of the drive wheel 2 and detect the amount of movement of the vehicle body 1 based on the number of rotations.
前記距離センサ２０の検出信号は第３図のように演算回
路２２を入力させてマスト６と荷Ａとの距離変化によっ
て車体移動量に換算されて切換回路２３に入力され、前
記移動量センサ２１の検出した車体移動量は前記切換回
路２３に入力される。As shown in FIG. 3, the detection signal of the distance sensor 20 is input to the arithmetic circuit 22 and converted into the vehicle body movement amount by the distance change between the mast 6 and the load A, and then input to the switching circuit 23. The vehicle body movement amount detected by is input to the switching circuit 23.
前記切換回路２３はフォーク爪９の揚高を検出する揚高
検出センサ２４より高揚高信号が入力された時、例えば
第１図のようにフォーク爪９が距離センサ２０より上方
位置となった時に演算回路２２よりの車体移動量をコン
トローラ２５に出力し、揚高検出センサ２４より低揚高
信号が入力された時、例えば第２図のようにフォーク爪
９が距離センサ２０より下方位置となって超音波が荷Ａ
に照射できない時に走行距離センサ２１よりの車体移動
量をコントローラ２５に出力するように切換え作動す
る。The switching circuit 23 receives a high lift signal from a lift detection sensor 24 for detecting the lift of the fork pawl 9, for example, when the fork pawl 9 is located above the distance sensor 20 as shown in FIG. When the vehicle movement amount from the arithmetic circuit 22 is output to the controller 25 and a low lift signal is input from the lift detection sensor 24, the fork pawl 9 is located below the distance sensor 20 as shown in FIG. 2, for example. And the ultrasonic wave is the load A
When it is not possible to irradiate the vehicle, the switching operation is performed so that the vehicle movement amount from the traveling distance sensor 21 is output to the controller 25.
前記揚高検出センサ２４は第１図のようにマスト６に設
けられて、図示しないリフトシリンダで内マストととも
にフィンガーボード８が昇降した時に、その昇降ストロ
ークを検出してフォーク爪９の揚高を検出するセンサ、
例えばフィンガーボード８の昇降によりエンコーダを回
転したり、リフトシリンダの伸縮ストロークを検出した
りするようにしてある。The lift detection sensor 24 is provided on the mast 6 as shown in FIG. 1, and when the fingerboard 8 moves up and down together with the inner mast by a lift cylinder (not shown), the lift stroke is detected to lift the fork claw 9. Sensor to detect,
For example, the encoder is rotated by raising and lowering the fingerboard 8 and the expansion and contraction stroke of the lift cylinder is detected.
前記コントローラ２５にはフェイス移動量検出センサ２
６よりフェイス１０の移動量が入力され、そのフェイス
移動量と車体走行距離との偏差に基づいて電動モータ１
７への電流を制御してフェイス移動量を車体移動量と同
一となるようにコントロールするようにしてある。The controller 25 includes a face movement amount detection sensor 2
6, the movement amount of the face 10 is input, and based on the deviation between the face movement amount and the vehicle travel distance, the electric motor 1
The amount of face movement is controlled so as to be the same as the amount of movement of the vehicle body by controlling the electric current to 7.
前記フェイス移動量センサ２６は第１図に示すように、
フレーム１５に設けた超音波センサ２７とフェイス１０
に設けた反射板２８より成り、放射超音波と反射超音波
との位相ずれによってフレーム１５とフェイス１０との
距離を検出し、その距離の変化によってフェイス移動量
を検出するようにしてある。The face movement amount sensor 26, as shown in FIG.
The ultrasonic sensor 27 and the face 10 provided on the frame 15
The distance between the frame 15 and the face 10 is detected by the phase shift between the emitted ultrasonic wave and the reflected ultrasonic wave, and the amount of face movement is detected by the change in the distance.
フォーク爪９が高揚高の時には距離センサ２０によって
車体移動量が正確に検出でき、フォーク爪９が低揚高で
距離センサ２０によって車体移動量が検出できない時に
は移動量センサ２１によって車体移動量が検出できるの
で、常に車体移動量を検出できる。When the fork claw 9 is at a high lift, the distance sensor 20 can accurately detect the vehicle body movement amount. When the fork claw 9 is at a low lift and the distance sensor 20 cannot detect the vehicle body movement amount, the movement amount sensor 21 detects the vehicle body movement amount. Therefore, the amount of movement of the vehicle body can always be detected.
つまり、距離センサ２０のみであればフォーク爪９が低
揚高の時にフォーク爪、フェイス等によって車体の移動
量が検出できず、移動量センサ２１は車輪径が変化する
ことで車体移動量が異なって精度が悪く、移動量センサ
２１のみでは精度が悪くなってしまうが、距離センサ２
０と移動量センサ２１を設けてフォーク爪９の揚高によ
って切換えれば、高揚高時には車体移動量を正確に検出
できるし、低揚高時には精度がある程度悪くなるが車体
移動量を検出できる。That is, if only the distance sensor 20 is used, the amount of movement of the vehicle body cannot be detected by the fork pawl, face, etc. when the fork pawl 9 is at a low elevation, and the movement amount sensor 21 changes the vehicle body movement amount due to the change in the wheel diameter. Accuracy is poor, and the accuracy is poor only with the movement amount sensor 21, but the distance sensor 2
If 0 and the movement amount sensor 21 are provided and switched according to the lift of the fork claw 9, the amount of movement of the vehicle body can be accurately detected at the time of high elevation, and the amount of movement of the vehicle body can be detected at low elevation, although the accuracy deteriorates to some extent.
図面は本発明の実施例を示し、第１図は高揚高状態の正
面図、第２図は低揚高状態の正面図、第３図は回路図で
ある。 １は車体、９はフォーク爪、１０はフェイス、１４はシ
ートグリッパ、２０は距離センサ、２１は移動量セン
サ、２４は揚高検出センサ。The drawings show an embodiment of the present invention. FIG. 1 is a front view in a high lift state, FIG. 2 is a front view in a low lift state, and FIG. 3 is a circuit diagram. 1 is a vehicle body, 9 is a fork claw, 10 is a face, 14 is a sheet gripper, 20 is a distance sensor, 21 is a movement amount sensor, and 24 is a lift detection sensor.
Claims (1)
沿ってフェイス１０を手前位置と前方位置とに亘って前
後移動自在に設け、そのフェイス１０に荷Ａの下に敷か
れたシートパレットＢを把握・解放するシートグリッパ
１４を設けたプッシュプル付き荷役車両において、 車体前方の固定物と車体との間の距離を検出する距離セ
ンサ２０と、その距離センサ２０による検出距離の変化
により車体移動量を出力する手段と、車輪の回転から車
体の移動量を検出する移動量センサ２１と、フォーク爪
９の揚高を検出する揚高検出センサ２４と、その揚高検
出センサ２４より高揚信号が入力された時に前記手段か
らの車体移動量を出力し、低揚高信号が入力された時に
は前記移動量センサ２１からの車体移動量を出力する切
換手段を設けて成るプッシュプル付き荷役車両の車体移
動量検出装置。1. A seat laid under a load A on a face 10 provided with a face 10 movably back and forth along a fork claw 9 which can be raised and lowered with respect to a vehicle body 1 between a front position and a front position. In a push-pull cargo-handling vehicle provided with a sheet gripper 14 for grasping and releasing the pallet B, a distance sensor 20 for detecting a distance between a fixed object in front of the vehicle body and the vehicle body, and a change in the detection distance by the distance sensor 20. A means for outputting the amount of movement of the vehicle body, a movement amount sensor 21 for detecting the amount of movement of the vehicle body based on the rotation of the wheels, a lift detection sensor 24 for detecting the lift of the fork claw 9, and a lift higher than the lift detection sensor 24. A switching means is provided which outputs the vehicle body movement amount from the means when a signal is input and outputs the vehicle body movement amount from the movement amount sensor 21 when a low lift signal is input. Vehicle movement amount detection device for cargo handling vehicles with shuffle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13582789A JPH0662280B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle movement detection device for cargo handling vehicles with push-pull |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13582789A JPH0662280B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle movement detection device for cargo handling vehicles with push-pull |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH033899A JPH033899A (en) | 1991-01-09 |
| JPH0662280B2 true JPH0662280B2 (en) | 1994-08-17 |
Family
ID=15160716
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13582789A Expired - Lifetime JPH0662280B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle movement detection device for cargo handling vehicles with push-pull |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0662280B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2791049B1 (en) | 1999-03-19 | 2001-06-01 | Sambron | EQUIPMENT CARRIER FOR A LIFTING MACHINE, A MAT OF A LIFTING MACHINE COMPRISING SUCH AN EQUIPMENT CARRIER AND LIFTING MACHINE SUCH AS A FORK TROLLEY PROVIDED WITH SAID MAT |
| US7699141B2 (en) * | 2006-03-20 | 2010-04-20 | Fossier David A | Pallet distance ranging device for forklift |
-
1989
- 1989-05-31 JP JP13582789A patent/JPH0662280B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH033899A (en) | 1991-01-09 |
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