【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（＝Ｉき荷役車両の車体移動量検出装置に関する
。[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a push-pull (=I) vehicle body in which a face equipped with a seat gripper is movable in the longitudinal direction along a fork pawl that moves up and down. The present invention relates to a movement amount detection 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 types of push-pull cargo handling vehicles are known.
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Ｉ・をシーｉ・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ぜながら
車体を前進走行してシートパレッ１〜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ブッンユプルイ・ｊき荷役車両
。That is, a fork pawl is provided along a mast provided at the front of the vehicle body so that it can be raised and lowered, and a face equipped with a seat gripper is provided along the fork pawl so as to be movable in the front-rear direction.
Move the face forward to a forward position away from the vehicle body, use the Sea I gripper to grasp the sheet pallet I placed under the load, move the face backwards to a position near the vehicle body, and drive forward on the vehicle body. Pull the load along with the sheet pallets 1~ onto the fork claws to pick up the load, release the grip of the sheet pallet by the sheet gripper, move the face forward to the forward position, and drive the vehicle backwards along the fork claws. A cargo-handling vehicle that pushes cargo forward with a sheet pallet for loading.
かかる荷役車両においては、荷取り作業１１４ｊ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からフェイスを前進
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か荷役作業効率、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 cargo unloading operation 114j, and the face is moved forward during the cargo loading operation without causing the vehicle body to travel backwards during the cargo handling operation. It is preferable to make the amount of movement and the amount of forward movement of the car body the same, and the amount of forward movement of the face and the amount of backward movement of the car body to be the same from the viewpoint of cargo handling efficiency and ease of 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！・ロールすることか考えられ
るが、車体の移動量を検出てきる装置が必要となる。For this purpose, the amount of movement of the car body and the amount of movement of the face are detected and adjusted so that they are the same!・It is possible that the vehicle rolls, but a device that can detect the amount of movement 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てきるよう
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。SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a vehicle body movement amount detection device for a push-pull cargo handling vehicle that can accurately detect the amount of movement of the vehicle body.
〔課題を解決するだめの手段及び作用〕車体前方の固定
物と車体との間の距離によりＩＬ体体動動量検出する第
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。[Means and operations for solving the problem] A first sensor detects the amount of IL body movement based on the distance between the fixed object in front of the vehicle body and the vehicle body, and a second sensor detects the amount of vehicle body movement based on the rotation of the wheels. It consists of a sensor, a sensor for detecting the lift height of the fork pawl, and a switching means that outputs the vehicle body movement amount of the first sensor when the lift is high, and outputs the car body movement amount of the second sensor when the fork pawl is low. This is a vehicle body movement amount detecting device that can accurately detect the amount of vehicle body movement when the fork pawl is at a low elevation.
第１図に示すように、車体］には駆動輪２と操向輪３及
び運転席４と操縦部材５が設けであると共に、車体１の
前部にはマスト６がチルトシリンダ７て前後傾動自在に
設けられ、そのマストロに設けであると共に、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１
１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は片１２と押え片１３とよ
り成るシトグリッパ１４か設けられ、シート受は片］２
と押え片１３との間に荷Ａの下に敷かれたシトパレット
Ｂを臨ませ、押え片１Ｂを移動してシートパレットＢを
シート受は片１２と押え片１３とで把握するようにして
プッシュプル（１き荷役車両を構成している。As shown in FIG. 1, the vehicle body is provided with drive wheels 2, steering wheels 3, a driver's seat 4, and a control member 5. At the front of the vehicle body 1, a mast 6 is provided with a tilt cylinder 7 that tilts back and forth. The fork pawl 9 is attached to the fingerboard 8, and the face 10 is attached to the moving mechanism 1.
1, the seat gripper 14 is provided at the bottom of the face 10, and the seat gripper 14 consists of a sheet holder piece 12 and a holding piece 13.
Place the sheet pallet B placed under the load A between the holding piece 13 and the holding piece 13, and move the holding piece 1B to push the sheet pallet B so that it is gripped by the sheet support piece 12 and the holding piece 13. Pull (consists of 1 cargo handling vehicle).
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］７により伸縮リンク
１６を伸縮するようにしであるが、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］６の先端にフ
ェイス１０か連結しである。The moving mechanism 11 includes a frame 15, a telescoping link 16, and an electric motor 17. Although the telescoping link 16 is extended and contracted by the electric motor 7, the telescoping link 16 may be extended and contracted by a cylinder, and the frame 15 is attached to the fingerboard 8, and a face 10 is connected to the tip of the telescopic link 6.
前記車体］側、例えばマスト６には、車体］と車体前方
の荷置等の固定物との間の距離を検出する距離センサ２
０か設けてあり、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Δ１り定する超音
波センサとなっている。On the vehicle body side, for example, the mast 6, there is a distance sensor 2 for detecting the distance between the vehicle body and a fixed object such as a cargo storage in front of the vehicle body.
For example, the distance sensor 20 oscillates an ultrasonic wave from the emitting part toward the load A, and detects the phase of the emitted ultrasonic wave and the reflected ultrasonic wave reflected by the load A and detected by the receiver. This is an ultrasonic sensor that determines the distance between the mast 6 and the load A by Δ1 based on the deviation.
前記車体］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の回転部にスリブｌ− （＝Ｊ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] is provided with a displacement sensor 21 that detects the displacement of the vehicle body from the rotation of the wheels. An optical sensor 21b is provided on the fixed side to detect the number of rotations of the drive wheels 2, and serves as a sensor for detecting 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に入力されてマスト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。The detection signal of the distance sensor 20 is input to the arithmetic circuit 22 as shown in FIG. The detected amount of vehicle body movement 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（Ｗ号か入力された時、例え
ば第１図のようにフォーク爪９か距離センサ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Ｈ１センサ２４より低
Ｗ ｊ：’ｊｌ信号か入力された時、例えば第２図のよ
うにフォーク爪９か距離センサ２０より下方位置となっ
て超音波か荷Ａに照射できない時に走行圧端センザ２１
よりの！１１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。When the lift height detection sensor 24 detects the lift height of the fork claw 9, the switching circuit 23 detects the lift height (W) when the fork claw 9 is at a position above the distance sensor 20 as shown in FIG. When the vehicle body movement amount is output from the arithmetic circuit 22 to the controller 25, and a low Wj:'jl signal is input from the lift height detection H1 sensor 24, for example, as shown in FIG. When the ultrasonic wave cannot be irradiated to the load A due to the lower position, the traveling pressure end sensor 21
More! The switching operation is performed so that the amount of movement of the 11 bodies 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、図示しないリフトンリンダで内マストととも
にフィンガーボート−８か昇降した時に、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
たりするようにしである。The lifting height detection sensor 24 is provided on the mast 6 as shown in FIG. For example, the encoder is rotated by the rise and fall of the finger board 8, and the sensor detects the expansion and contraction stroke of the lift cylinder.
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の移動量か入力され、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ｊ７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である。The controller 25 includes a face movement amount detection sensor 2.
The amount of movement of the face 10 is input from 6, and the electric motor 1 is controlled based on the deviation between the amount of face movement and the vehicle body travel distance.
By controlling the current to j7, the amount of face movement is controlled to be the same as the amount of vehicle body movement.
前記フェイス移動爪センサ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である。The face moving claw sensor 26, as shown in FIG.
Ultrasonic sensor 27 and face 10 provided on frame 15
The distance between the frame 15 and the face 10 is detected based on the phase shift between the emitted ultrasonic wave and the reflected ultrasonic wave, and the amount of face movement is detected based on the change in the distance.
フォーク爪９か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か低揚高で
距離センサ２０によって車体移動量か検出できない時に
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 elevation, the distance sensor 20 can accurately detect the amount of vehicle body movement, and when the fork claw 9 is at a low elevation and the distance sensor 20 cannot detect the amount of vehicle body movement, the movement amount sensor 21 detects the amount of vehicle body movement. Therefore, the amount of vehicle movement can be detected at all times.
つまり、Ｗ巨離センザ２０のみであればフォーり爪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は車輪径か変化す
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２］ののでは精度か悪くなってしまうが、距離センサ
２０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、低揚高時には精度かある程度悪くなるが車
体移動量を検出てきる。In other words, if only the W distance sensor 20 is used, the amount of movement of the vehicle body cannot be detected by the fork pawls, face, etc. when the fork pawl 9 is at a low lift height, and the amount of movement sensor 21 detects the amount of movement of the vehicle body due to changes in the wheel diameter. However, if the distance sensor 20 and the movement sensor 21 are provided and switched depending on the height of the fork pawl 9, the vehicle body will be The amount of movement can be detected accurately, and the amount of movement of the vehicle body can be detected, although the accuracy may be degraded to some extent when the vehicle is at low elevation.
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ＩＪ−面図、第３図は回路
図である。］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, and FIG. 1 is a front view in a raised state, FIG. 2 is an IJ-plane view in a low raised state, and FIG. 3 is a circuit diagram. ] is a vehicle body, 9 is a fork pawl, 10 is a face, 14 is a seat gripper, 20 is a distance sensor, 21- is a movement amount sensor, and 24 is a height detection sensor.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13582789AJPH0662280B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle movement detection device for cargo handling vehicles with push-pull |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13582789AJPH0662280B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle movement detection device for cargo handling vehicles with push-pull |
| Publication Number | Publication Date |
|---|---|
| JPH033899Atrue JPH033899A (en) | 1991-01-09 |
| JPH0662280B2 JPH0662280B2 (en) | 1994-08-17 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13582789AExpired - LifetimeJPH0662280B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle movement detection device for cargo handling vehicles with push-pull |
| Country | Link |
|---|---|
| JP (1) | JPH0662280B2 (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1038826A1 (en) | 1999-03-19 | 2000-09-27 | Sambron | Hoisting device with a mast having a carrying equipment |
| US7699141B2 (en)* | 2006-03-20 | 2010-04-20 | Fossier David A | Pallet distance ranging device for forklift |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1038826A1 (en) | 1999-03-19 | 2000-09-27 | Sambron | Hoisting device with a mast having a carrying equipment |
| US7699141B2 (en)* | 2006-03-20 | 2010-04-20 | Fossier David A | Pallet distance ranging device for forklift |
| Publication number | Publication date |
|---|---|
| JPH0662280B2 (en) | 1994-08-17 |
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