Cargo handling vehicles and loading equipment

Abstract

The objective is to provide a cargo handling vehicle and loading device that can shorten the total time required until the loading operation is completed. [Solution] A cargo handling vehicle having a vehicle section and a loading device, wherein the loading device is mounted on the vehicle section, the loading device having a loading / unloading device and a control device, and the loading / unloading device performs an unloading operation, the cargo handling vehicle having a bumper device, the bumper device having a bumper body, the bumper body being able to change position by power to a driving position suitable for driving and a retracted storage position, the ability to detect when the bumper body is not in the driving position, and a storage operation and an unloading operation are performed by a predetermined unloading operation to move the bumper body to the storage position, and when it is detected that the bumper body is not in the driving position, the unloading operation is started.

Description

[[Technical Field]]

[0001] The present invention relates to a cargo handling vehicle having a function of moving a part of a cargo bed or lowering a part of the cargo bed to the ground, such as a vehicle carrier or a container carrier. [[Background Art]]

[0002] Patent Document 1 discloses a body loading / unloading vehicle. The body loading / unloading vehicle disclosed in Patent Document 1 is a vehicle carrier, which is used when transporting vehicles such as passenger cars and civil engineering machinery. The vehicle carrier described in Patent Document 1 is equipped with a lift frame and a slidable slide body. In the vehicle disclosed in Patent Document 1, the lift frame can be tilted, and the slide body (cargo bed) can be slid downward to lower the body to the ground.

[0003] Cargo handling vehicles are required by law to be equipped with a rear bumper. To ensure safety when a pedestrian or another vehicle collides with the cargo handling vehicle, the rear bumper must protrude rearward from the vehicle body to a certain extent. By the way, due to their functional requirements, the above-described vehicle carriers and the like tilt the posture of the cargo bed rearward or lower the cargo bed from the rear to the ground, and the rear bumper is attached in a state protruding rearward of the vehicle. Therefore, the rear bumper becomes an obstacle when the cargo bed is tilted or the like is performed. Therefore, a structure for retracting the rear bumper when performing work such as loading and unloading has been proposed (Patent Document 2).

[0004] Patent Document 2 discloses a freight vehicle having a jack that prevents the vehicle from tilting, and having a structure in which the posture of the bumper changes in conjunction with the jack. In the freight vehicle disclosed in Patent Document 2, when the jack is extended, the posture of the bumper changes, preventing interference between the lift frame and the bumper during loading and unloading.

[0005] In the cargo vehicle described in Patent Document 2, when the lowering switch is operated, a series of lowering operations are performed according to a predetermined sequence control. In the cargo vehicle described in Patent Document 2, when the lowering switch is turned ON, the jack is extended, and in conjunction with this, the bumper changes from the extended state to the retracted state. Then, the lowering operation begins. In other words, in the cargo vehicle disclosed in Patent Document 2, when the unloading switch is turned ON, the bumper automatically moves from the extended state to the retracted state, and then the lift frame retracts to start a series of unloading operations. According to the control system adopted in Patent Document 2, subsequent processes can be executed only after a sensor detects that the lift frame has retracted. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2000-108768 [Patent Document 2] Patent No. 3871845 [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] In the cargo handling vehicle disclosed in Patent Document 2, the bumper, which was in an extended state, is retracted, and then the actual unloading work begins. Therefore, according to the cargo handling vehicle of Patent Document 2, unloading work cannot be performed in practice until the bumper is retracted. Consequently, according to the cargo handling vehicle of Patent Document 2, the total time required from the arrival of the cargo handling vehicle at the site until the unloading work is completed is long.

[0008] The present invention focuses on the aforementioned points of the prior art and aims to provide a cargo handling vehicle and loading device that can shorten the total time required until the unloading operation is completed. Furthermore, the present invention aims to provide a cargo handling vehicle and loading device that can shorten the total time required until the loading operation is completed. [Means for solving the problem]

[0009] A manifestation for solving the above-mentioned problems is a cargo handling vehicle having a vehicle section and a loading device, wherein the loading device is mounted on the vehicle section, the loading device having a loading / unloading device and a control device, and the loading / unloading device performs an unloading operation, the cargo handling vehicle having a bumper device, the bumper device having a bumper body, the bumper body being able to change position by power to a driving position suitable for driving and a retracted storage position, the ability to detect when the bumper body is not in the driving position, and a storage operation and an unloading operation are performed by a predetermined unloading operation to move the bumper body to the storage position, and the unloading operation is started when it is detected that the bumper body is not in the driving position.

[0010] In this embodiment, the cargo handling vehicle performs both a storage operation and a lowering operation, which move the bumper body to the storage position by performing a predetermined lowering operation. When it is detected that the bumper body is not in the driving position, the lowering operation is started. Therefore, the total time required for the lowering operation by the cargo handling vehicle can be shortened compared to starting the lowering operation after the bumper body has completed moving to the storage position. Detection of whether the bumper is not in the driving position can be direct or indirect. An example of direct detection is the use of an overhang detection means that indicates whether or not the bumper is in a position away from the driving position. Specifically, this overhang detection means can be configured by placing a photoelectric sensor at a position corresponding to the driving position. That is, the overhang detection means is realized by configuring the photoelectric sensor to be in an off state when the bumper is in the driving position and in an on state when it is not in the driving position. This makes it possible to directly detect when the bumper is not in the driving position. On the other hand, as an example of indirect detection, one could consider installing a means for detecting the vehicle's position while driving. That is, the photoelectric sensor would be turned on when the vehicle is in a driving position and turned off when it is not, thereby indirectly detecting when the vehicle is not in a driving position.

[0011] Another embodiment for solving the above-mentioned problems is a cargo handling vehicle having a vehicle section and a loading device, wherein the loading device is mounted on the vehicle section, the loading device having a loading / unloading device and a control device, and the loading operation is performed by the loading / unloading device, the cargo handling vehicle having a bumper device, the bumper device having a bumper body, the bumper body being able to be moved by power to a driving position suitable for driving and a retracted storage position, the loading operation including a landing step of pulling the transported material into the cargo handling vehicle and returning the transported material to a horizontal position, and a horizontal movement step of moving the transported material to the front of the cargo handling vehicle while maintaining a horizontal position, the loading device being able to detect that the loading operation is not a landing step, and when it is detected that the loading operation is not a landing step, the bumper body starts moving to the driving position.

[0012] The loading operation of the cargo handling vehicle in this embodiment includes a landing step in which the transported material is pulled into the cargo handling vehicle and returned to a horizontal position, and a horizontal movement step in which the transported material is moved to the front of the cargo handling vehicle while maintaining the horizontal position. When it is detected that the loading operation is not the landing step, it means that the operation has already moved to the horizontal movement step, and the bumper body begins to move to the driving position. Therefore, compared to a method in which the bumper body is moved to the driving position when the loading operation is completed, the total time required until the loading operation is completed can be shortened. Detection that the loading process is not the landing process can be done directly or indirectly. That is, the landing state can be detected by whether or not the landing detection means is turned on. Alternatively, it can be detected indirectly by confirming that the reversal continuation detection means, which detects that the horizontal movement process continues after the completion of the landing process, is turned on.

[0013] In the above-described aspect, the cargo handling vehicle is equipped with a transport vehicle, The aforementioned loading and unloading device has a sliding body that moves the transported object in the front-to-back direction and changes its orientation to an inclined position. The aforementioned loading operation comprises a landing step of returning the slide body to a horizontal position and a horizontal movement step of moving the slide body forward. It is desirable to start moving the bumper body to its driving position, provided that a transition from the landing process to the horizontal movement process is detected.

[0014] The loading operation of the cargo handling vehicle in this embodiment comprises a landing step in which the slide body is returned to a horizontal position and a horizontal movement step in which the slide body is moved forward. When the transition from the landing step to the horizontal movement step is detected, the movement of the bumper body to the driving position is initiated. Therefore, compared to a method in which the bumper body is moved to the driving position when the loading operation is completed, the total time required until the loading operation is completed can be shortened. This embodiment applies to cargo handling vehicles, such as vehicle carriers, that have a function to lower a portion of their cargo bed to the ground. In this embodiment, detection that the loading operation is not a landing process is performed more reliably by confirming two conditions: that it is not a landing process and that it has transitioned to a horizontal movement process.

[0015] In the above-described embodiment, the loading and unloading device includes a lift frame that moves the transported object in the front-rear direction and changes its orientation to an inclined position, and a slide body that moves linearly along the lift frame, and it is possible to incline the lift frame and move the slide body linearly to bring at least a part of the slide body to the ground. It is possible to perform an unloading operation of lowering the slide body to the ground and a loading operation of pulling the slide body onto the vehicle portion. The loading operation includes a landing step of returning the slide body to a horizontal posture and a horizontal movement step of moving the slide body forward, and it is desirable to start moving the bumper body to the traveling position on condition that the transition from the landing step to the horizontal movement step is detected.

[0016] The "horizontal movement step of moving the slide body to the rear side of the vehicle portion" includes an operation of moving the slide body on the lift frame to the rear side of the vehicle portion by moving the lift frame to the rear side. There are also cases where the slide body is moved to the rear side of the vehicle portion independently. Also in this aspect, the movement of the bumper body to the traveling position is started on condition that the transition from the landing step to the horizontal movement step is detected. Therefore, compared with a method of moving the bumper body to the traveling position when the loading operation is completed, the total required time until the loading operation is completed can be shortened. This aspect is intended for a cargo handling vehicle having a function of lowering a part of a cargo bed portion to the ground, such as a vehicle carrier.

[0017] In the above aspect, the cargo handling vehicle carries a container, the loading / unloading device has a cargo handling arm, and the cargo handling arm includes an engaging portion that engages with the container, It is possible to perform a loading operation in which the engaging portion is engaged with the container placed on the ground, the cargo handling arm is driven to pull the container onto the vehicle portion. The loading operation includes a landing step of driving the cargo handling arm to pull the container into the cargo handling vehicle and return it to a horizontal posture, and a horizontal operation of driving the cargo handling arm to move the container to the front side of the cargo handling vehicle while maintaining the horizontal posture of the container, and it is desirable to start moving the bumper body to the traveling position on condition that the transition from the landing step to the horizontal movement step is detected.

[0018] This aspect is intended for a container carrier. Also in the present embodiment, movement of the bumper body to the traveling position is started on condition that the transition from the landing step to the horizontal movement step is detected. Therefore, compared to a method of moving the bumper body to the traveling position when the loading operation is completed, the total time required until the loading operation is completed can be shortened.

[0019] An aspect relating to a loading device is a loading device mounted on a cargo handling vehicle, the loading device comprising a loading / unloading device, wherein an unloading operation is performed by the loading / unloading device, the loading device comprises a bumper device, the bumper device has a bumper body, and the position of the bumper body can be changed by power between a traveling position suitable for traveling and a retracted storage position, the loading device can detect that the bumper body is not at least in the traveling position, a storing operation of moving the bumper body to the storage position and an unloading operation are performed by performing a predetermined unloading operation, and the unloading operation is started when it is detected that the bumper body is not at least in the traveling position.

[0020] Another aspect relating to a loading device is a loading device mounted on a cargo handling vehicle, the loading device comprising a loading / unloading device, wherein a loading operation is performed by the loading / unloading device, the loading device comprises a bumper device, the bumper device has a bumper body, and the position of the bumper body can be changed by power between a traveling position suitable for traveling and a retracted storage position, the loading operation includes a landing step of drawing a conveyed article to be conveyed into the cargo handling vehicle and returning the conveyed article to a horizontal posture, and a horizontal movement step of moving the conveyed article to a front side of the cargo handling vehicle while maintaining the horizontal posture, the loading device can detect that the loading operation is not in the landing step, and when it is detected that the loading operation is not in the landing step, the bumper body starts moving to the traveling position. Effects of the Invention

[0021] The cargo handling vehicle and loading device of the present invention have a shorter total time required to complete unloading operations compared to conventional systems. Furthermore, the cargo handling vehicle and loading device of the present invention have a shorter total time required to complete the loading operation compared to conventional methods. [Brief explanation of the drawing]

[0022] [Figure 1] This is a side view of a cargo handling vehicle (vehicle transporter) according to an embodiment of the present invention. [Figure 2] Figure 1 shows a cargo handling vehicle, and (a), (b), and (c) are side views illustrating the operation of each part during unloading. [Figure 3] Figure 1 shows the cargo handling vehicle, and (d), (e), and (f) are side views showing the operation of each part in the unloading operation, following Figure 2. [Figure 4] Figure 1 shows a cargo handling vehicle, and (a), (b), (c), and (d) are side views illustrating the operation of each part during the loading process. [Figure 5] Figure 1 shows the cargo handling vehicle, and (e), (f), and (g) are side views showing the operation of each part in the loading operation, following Figure 4. [Figure 6] This is a front view of the remote control device. [Figure 7] Figure 1 is a flowchart illustrating the automated unloading operation of a cargo handling vehicle. [Figure 8] Figure 1 is a flowchart illustrating the automated loading operation of a cargo handling vehicle. [Figure 9] This is a flowchart showing the operation of the bumper device in bumper switch enabled mode. [Figure 10] This is another flowchart illustrating the operation of the bumper device in bumper switch enabled mode. [Figure 11] This is a side view and a partially enlarged view thereof of a cargo handling vehicle (container transport vehicle) according to another embodiment of the present invention. [Figure 12] Figure 11 shows a cargo handling vehicle, and (a), (b), and (c) are side views illustrating the operation of each part during the loading process. [Figure 13]Figure 11 shows the cargo handling vehicle, and (d), (e), and (f) are side views showing the operation of each part following Figure 12 during the loading operation. [Figure 14] Figure 11 shows a cargo handling vehicle, and (a), (b), and (c) are side views illustrating the operation of each part during unloading. [Figure 15] Figure 11 shows the cargo handling vehicle, and (d), (e), and (f) are side views showing the operation of each part following Figure 14 during the unloading operation. [Figure 16] Figure 11 is a flowchart illustrating the automated unloading operation of a cargo handling vehicle. [Figure 17] Figure 11 is a flowchart illustrating the automated loading operation of a cargo handling vehicle. [Modes for carrying out the invention]

[0023] Embodiments of the present invention will be described below. In the following explanation, the relationship between front and rear is based on the front and rear of the cargo handling vehicle 1. That is, the front side means the side with the driver's seat 100, and the rear side means the opposite side. The cargo handling vehicle 1 in this embodiment is a vehicle transport vehicle, which lowers the slide body 32 that was on the vehicle section 5 to the ground to load automobiles and the like, and then lifts the slide body 32 back onto the vehicle section 5 for transport. As shown in Figure 1, the cargo handling vehicle 1 has a vehicle section 5 and a loading device 18. The loading device 18 has a loading and unloading device 26. The loading and unloading device 26 is broadly composed of a lift frame 30, a tilt mechanism (inclinating means) 31, and a slide body 32.

[0024] The loading device 18 also includes a control device 6, a hydraulic system 7, and a bumper system 50. Furthermore, the loading device 18 includes a remote control device (hereinafter referred to as the remote control) 8. Vehicle section 5 is the body of a known truck, has an engine, and rotates its wheels to travel on the road. The lift frame 30 is installed on the subframe 33 of the vehicle section 5 and pivots around a pin (not shown) located at the rear end of the vehicle section 5. That is, it can assume an inclined position as shown in Figures 3 and 4. Furthermore, the lift frame 30 itself moves in the longitudinal direction relative to the vehicle section 5 due to the action of a hydraulic cylinder (not shown).

[0025] The tilt mechanism (inclination means) 31 is composed of a hydraulic cylinder 35 and a link mechanism 36, and is used to incline the lift frame 30 so that the rear side is downward. The tilt mechanism 31 is an inclination means that performs an inclination operation to change the angle of the lift frame 30.

[0026] The lift frame 30 is provided with a rear end detection means 17. The rear end detection means 17 is a known proximity sensor or photoelectric sensor, and it detects whether or not the slide body 32 has reached the rear end of the lift frame 30.

[0027] The slide body 32 is slidably mounted to the lift frame 30 and is suspended by a chain (not shown) or the like, which moves linearly along the lift frame 30. A footplate 37 is also provided at the rear end of the slide body 32. The footplate 37 is located at the rear end of the slide body 32 and can be positioned to change between an upright position and a horizontal position.

[0028] An initial position detection means 15 is provided in either the vehicle section 5 or the loading device 18. The initial position detection means 15 is a known proximity sensor or photoelectric sensor, and detects whether the lift frame 30 and the slide body 32 are in the initial position. Furthermore, either the vehicle section 5 or the loading device 18 is provided with a reverse position detection means 16 and a reverse continuation detection means 70. The reverse position detection means 16 and the reverse continuation detection means 70 are known proximity sensors, photoelectric sensors, etc. The reverse position detection means 16 detects when the lift frame 30 and the slide body 32 have reached the reverse position. The reverse continuation detection means 70 detects when the lift frame 30 has left its initial position and is moving toward the reverse position.

[0029] Furthermore, a landing detection means 71 is provided in either the vehicle section 5 or the loading device 18. The landing detection means 71 is a known proximity sensor or photoelectric sensor, and detects that the lift frame 30 is in a horizontal position approximately parallel to the subframe 33. In other words, the landing detection means 71 detects that the lift frame 30 has landed on the vehicle section 5. The detection means described above, specifically the initial position detection means 15, the retraction position detection means 16, the retraction continuation detection means 70, and the landing detection means 71, may also be mechanical switches such as limit switches.

[0030] The bumper device 50 includes a bumper body 10 and a bumper movement mechanism 52 that moves the bumper body 10 back and forth. The bumper body 10 is a bar-shaped or plate-shaped member that extends in the width direction of the vehicle section 5. Like known bumpers, the bumper body 10 is intended to mitigate the impact of a collision and prevent other vehicles from getting underneath the vehicle section 5.

[0031] The bumper movement mechanism 52 moves the bumper body 10 in the front-rear direction in parallel using a hydraulic cylinder 53. The bumper movement mechanism 52 includes a guide (not shown), and by extending and retracting the hydraulic cylinder 53, the bumper body 10 is moved parallel to the front and back. The structure of the bumper movement mechanism 52 is not limited; it may employ a link mechanism or move the bumper body 10 using a motor. Furthermore, the bumper body 10 may be capable of being displaced not only in the horizontal direction but also in the vertical direction.

[0032] The bumper device 50 can change the position of the bumper body 10 between a driving position suitable for driving and a storage position retracted towards the vehicle section 5 by the bumper retraction mechanism 52. In this embodiment, the position in which the hydraulic cylinder 53 is extended and the bumper body 10 is pushed out to the rear is the driving position, and the position in which the hydraulic cylinder 53 is retracted and the bumper body 10 is positioned forward is the stowed position.

[0033] In the cargo handling vehicle 1 of this embodiment, the bumper device 50 is provided with a retraction detection means 55 and an extension detection means 56. The retraction detection means 55 is a sensor that detects whether or not the bumper body 10 is in the retraction position. The extension detection means 56 is a sensor that detects whether or not the bumper body 10 is in the driving position. The retraction detection means 55 and the extension detection means 56 are known proximity sensors, photoelectric sensors, etc. The retraction detection means 55 and the extension detection means 56 may also be mechanical switches such as limit switches.

[0034] In conventional cargo handling vehicles, the position of the bumper body was checked to determine whether it was in the stowed position or the driving position before starting the unloading or loading operation. This was necessary to avoid collision between the transported goods and the bumper body 1 when unloading or loading the transported goods onto the ground. However, in the cargo handling vehicle 1 of this embodiment, this condition is relaxed, making it possible to start the unloading or loading operation even if the vehicle has not reached the storage position or the driving position, in other words, without checking the status of the storage detection means 55 or the extension detection means 56. This shortens the total time required until the unloading operation is completed and the total time required until the loading operation is completed.

[0035] The hydraulic system 7 is a set of well-known hydraulic pumps, solenoid valves, and the like. The hydraulic pump rotates by receiving power transmission from the engine of the vehicle unit 5. In other words, the hydraulic system 7 is connected to the PTO shaft of the vehicle unit 5, and the hydraulic pump rotates and generates hydraulic pressure when the operator operates a PTO switch (not shown). The hydraulic system 7 is equipped with a solenoid valve that supplies hydraulic pressure to the hydraulic cylinder 35 and a solenoid valve that supplies hydraulic pressure to the hydraulic cylinder 53 (neither of which is shown in the figure).

[0036] The control device 6 includes a circuit that sends signals to each solenoid valve according to a predetermined procedure. The loading and unloading device 26 operates in a predetermined order based on the signals from the control device 6. The control device 6 has communication means for communicating with the remote control 8.

[0037] As shown in Figure 6, the remote control 8 is equipped with an automatic unloading switch 60 and an automatic loading switch 61, which are operating switches for operating the loading and unloading device 26. The remote control 8 is also equipped with a bumper extension switch 67 and a bumper retraction switch 68, which are bumper operation switches (bumper switches) for operating the bumper movement mechanism 52. These switches 60, 61, 67, and 68 are all button switches; they are only on while the operator is pressing them, and turn off when the operator releases their hand.

[0038] Furthermore, the remote control 8 is equipped with a mode switching switch (switching means) 65. In this embodiment, by operating the mode switching switch 65, it is possible to switch between an automatic priority mode (automatic priority state) in which the operation switch for operating the loading and unloading device 26 takes priority and the bumper operation switch (bumper switch) cannot operate the bumper movement mechanism 52, and a bumper switch enabled mode (bumper switch enabled state) in which the bumper operation switch (bumper switch) can operate the bumper movement mechanism 52.

[0039] In other words, by setting the operating mode to automatic priority mode using the mode switching switch (switching means) 65, a series of automatic lowering operations can be performed by turning on the automatic lowering switch 60. However, when the operating mode is automatic priority mode, both the bumper extension switch 67 and the bumper retraction switch 68 are disabled, and the bumper movement mechanism 52 cannot be operated by the bumper extension switch 67 or the bumper retraction switch 68. The same applies to the automatic loading operation; by turning on the automatic loading switch 61, a series of automatic loading operations can be performed. However, when the operating mode is automatic priority mode, both the bumper extension switch 67 and the bumper retraction switch 68 are disabled, and the bumper movement mechanism 52 cannot be operated by the bumper extension switch 67 or the bumper retraction switch 68.

[0040] On the other hand, when the operating mode is switched to the bumper switch enabled mode (bumper switch enabled state) using the mode switching switch (switching means) 65, both the bumper extension switch 67 and the bumper retraction switch 68 become enabled, and the bumper movement mechanism 52 can be operated by operating the bumper extension switch 67 or the bumper retraction switch 68.

[0041] The mode selector switch (switching mechanism) 65 is a switch that switches the driving mode each time it is pressed. For example, when the current driving mode is automatic priority mode, pressing the mode selector switch 65 switches the driving mode to bumper switch enabled mode. When the current driving mode is bumper switch enabled mode, pressing the mode selector switch 65 switches the driving mode back to automatic priority mode.

[0042] In this embodiment, the loading / unloading device 26 and the bumper device 50 can be coordinated to perform an automatic unloading operation in which the slide body 32 is automatically lowered. In addition, the loading / unloading device 26 and the bumper device 50 can be coordinated to perform an automatic loading operation in which the slide body 32 is automatically loaded. The automatic lowering operation is started by pressing the automatic lowering switch 60 and is performed by continuing to press the automatic lowering switch 60. Therefore, the automatic lowering switch 60 is a lowering switch that performs the lowering operation, and has the function of starting the lowering operation and the function of continuing the lowering operation. The automatic loading operation is started by pressing the automatic loading switch 61 and is performed by holding down the automatic loading switch 61. Therefore, the automatic loading switch 61 is a loading switch that performs the loading operation, and has the function of starting the loading operation and the function of continuing the loading operation.

[0043] Furthermore, in this embodiment, when the driving mode is the bumper switch enabled mode, the bumper extension switch 67 or the bumper retraction switch 68 can be operated to move only the bumper body 10. The bumper extension switch 67 and the bumper retraction switch 68 are switches that switch the solenoid valve that supplies hydraulic fluid to the hydraulic cylinder 53 of the bumper movement mechanism 52.

[0044] When the bumper switch is in the enabled mode, pressing and holding the bumper extension switch 67 causes the bumper body 10 to move backward towards the driving position. When the bumper body 10 leaves the retracted position, the retraction detection means 55 becomes non-detective. When the bumper body 10 moves backward and reaches the driving position, the extension detection means 56 becomes detective. When the bumper switch is in the enabled mode, pressing and holding the bumper retraction switch 68 causes the bumper body 10 to move forward towards the retraction position. When the bumper body 10 moves away from the driving position, the protrusion detection means 56 becomes non-detective. When the bumper body 10 moves forward and reaches the retraction position, the retraction detection means 55 becomes detective.

[0045] Next, we will explain the operation of the loading and unloading device 26, etc., when loading the slide body 32.

[0046] When the cargo handling vehicle 1 is in motion, the lift frame 30 is in a horizontal position as shown in Figure 2(a), and the slide body 32 is pulled up onto the lift frame 30. The lift frame 30 is in a horizontal position (grounded position) and is at its front end position (initial position) in the longitudinal direction. The slide body 32 is also at its front end position (initial position). Since the lift frame 30 and slide body 32 are in their initial positions, the initial position detection means 15 is ON. Since the lift frame 30 is in the landing position, the landing detection means 71 is ON.

[0047] Then, the loading / unloading device 26 is activated to lower the slide body 32 to the ground. The lowering operation is carried out by sequentially executing the following steps. (1) Lift frame retraction process (slide body horizontal movement process) (2) First tilting process (initial tilting motion) (3) Slide body lowering process (4) Second tilting process

[0048] (1) Lift frame retraction process (slide body horizontal movement process) The lift frame retraction process is a process in which the lift frame 30 is moved backward while maintaining a horizontal position by a hydraulic cylinder (not shown). The lift frame retraction process is also a horizontal movement process that moves the slide body from its initial position to the rear of the vehicle. A horizontal movement process is the operation of moving the slide body relative to the vehicle. When the lift frame 30 begins to retract, the initial position detection means 15 is turned off, and the retraction continuation detection means 70 is turned on instead. As shown in Figure 2(c), when the lift frame 30 retracts to a predetermined position, the retracted position detection means 16 detects this and turns ON.

[0049] (2) First tilting process The first tilting step is the initial tilting movement in the lowering operation. The first tilting step is the process of activating the hydraulic cylinder 35 and operating the tilt mechanism 31 to tilt the lift frame 30 to a certain angle as shown in Figure 3(d). When the first tilting step is started and the lift frame 30 is tilted, the landing detection means 71 is turned off. As shown in Figure 3(d), when the lift frame 30 is tilted to a predetermined angle, the tilt detection means 72 detects this and turns on, stopping the tilt mechanism 31 (tilting of the lift frame 30).

[0050] (3) Slide body lowering process The slide body lowering process, as shown in Figure 3(e), involves moving the slide body 32 in a straight line along the lift frame 30 toward the rear of the vehicle, allowing the rear end of the slide body 32 to touch the ground, and sliding the slide body 32 down. When the front of the slide body 32 reaches the rear end of the lift frame 30, the rear end detection means 17 detects this and turns on, stopping the movement of the slide body 32 toward the rear of the vehicle.

[0051] (4) Second tilting process The second tilting step, as shown in Figure 3(f), involves raising the lift frame 30 to its maximum angle and lowering the entire bottom surface of the slide body 32 to the ground. The tilt detection means 72 detects when the lift frame 30 has reached its maximum angle. Then, the footboard 37 is positioned horizontally, and the vehicle is brought in or out.

[0052] The loading operation is generally performed by executing the unloading operation described above in the reverse order. That is, the loading operation is performed by executing the following steps in sequence. (1) First tilt return process (initial tilting motion) (2) Slide body raising process (3) Second tilt return process (4) Lift frame advance process

[0053] (1) First tilt return process The first tilting step is the initial tilting movement in the loading operation. The first tilt return step is the process of lowering the tilt angle of the lift frame 30 from a state where the entire bottom surface of the slide body 32 is touching the ground, as shown in Figure 4(a), until the tilt detection means 72 turns ON, and lifting the rear end of the lift frame 30 off the ground, as shown in Figure 4(b).

[0054] (2) Slide body raising process The slide body raising process involves moving the slide body 32 along the lift frame 30 toward the front of the vehicle, as shown in Figure 4(c), and then placing the entire slide body 32 onto the lift frame 30, as shown in Figure 4(d).

[0055] (3) Second tilt return process The second tilt return process is a process of further lowering the angle of the lift frame 30 to return it to a horizontal position, as shown in Figure 5(e). When the lift frame 30 returns to a horizontal position, the retracted position detection means 16 is turned on, and the landing detection means 71 is switched on.

[0056] (4) Lift frame advance process The lift frame advancement process involves advancing the lift frame 30 and returning it to its initial position, as shown in Figure 5(f). When the lift frame 30 begins to advance, the retraction position detection means 16 turns off, and the retraction continuation detection means 70 turns on. As shown in Figure 5(g), the initial position detection means 15 turns ON when the lift frame 30 and slide body 32 return to their initial positions. When the lift frame 30 returns to its initial position, the reversal continuation detection means 70 turns OFF.

[0057] In summary, the loading operation of the cargo handling vehicle 1 (vehicle transporter) in this embodiment includes a loading process consisting of (1) a first tilt return process (initial tilting movement), (2) a slide body raising process, and (3) a second tilt return process, in which the lift frame 30 is tilted to pull the object to be transported (in this embodiment, an automobile) into the cargo handling vehicle and return the object to a horizontal position, and a horizontal movement process consisting of (4) a lift frame forward process, in which the lift frame 30 is moved horizontally to move the object to be transported to the front of the cargo handling vehicle 1 while maintaining a horizontal position. In this embodiment, the completion of the landing process is confirmed, as described above, when the retraction position detection means 16 turns ON and the landing detection means 71 switches to the ON state.

[0058] Next, the automatic unloading operation of the cargo handling vehicle 1 in this embodiment will be described. To perform the automatic lowering operation, the operating mode should be set to automatic priority mode beforehand using the mode selector switch 65. In the automatic unloading operation, the loading / unloading device 26 and the bumper device 50 operate in coordination. That is, in the automatic unloading operation, the loading / unloading device 26 and the bumper device 50 operate through a series of sequence controls. The remote control 8 used in this embodiment has an automatic lowering switch 60. The operating mode is automatic priority mode, and as long as the automatic lowering switch 60 is pressed down, a series of bumper movements and lowering operations continue.

[0059] Before the automatic unloading operation begins, the loading / unloading device 26 has returned to its initial position, as shown in Figure 2(a), and this state is detected by the initial position detection means 15. Furthermore, as shown in Figure 2(a), the bumper body 10 is in the state where the hydraulic cylinder 53 is extended, and the bumper body 10 is protruding to the rear in the driving position. Therefore, the protrusion detection means 56 is in the detection state. The retraction detection means 55 is in the non-detection state.

[0060] When lowering the slide body 32 to the ground, keep pressing the automatic lowering switch 60. The control of the automatic lowering operation will be explained below based on the flowchart in Figure 7. As a prerequisite, the operator operates a PTO switch (not shown), causing the hydraulic pump to rotate, generating hydraulic pressure, and enabling the supply of hydraulic fluid to each hydraulic cylinder 35, 53 by opening and closing each solenoid valve. In Step 1, wait for the automatic lowering switch 60 to be operated. When the worker presses the automatic lowering switch 60, the automatic lowering switch 60 is turned ON, and the process proceeds to Step 2 and beyond.

[0061] Next, in step 2, the retraction operation of the bumper body 10 begins. This causes the bumper body 10 to move toward the retraction position. Specifically, the solenoid valve that supplies hydraulic fluid to the hydraulic cylinder 53 of the bumper moving mechanism 52 is switched. As a result, the hydraulic cylinder 53 of the bumper moving mechanism 52 retracts, and the bumper body 10 moves to the front side of the vehicle section 5.

[0062] Then, in step 3, the system waits for the protrusion detection means 56 to change from a detection state to a non-detection state. Once it enters a non-detection state, that is, when the bumper body 10 leaves its driving position, the system proceeds to step 4.

[0063] In step 4, the bumper body 10, which has left its driving position, continues to move towards the storage position, and the reversing of the lift frame 30 begins. As shown in Figure 2(b), the reversing of the lift frame 30 begins, and the reversing continuation detection means 70 detects that this is continuing. That is, the reversing continuation detection means 70 turns ON, step 5 becomes YES, and the process proceeds to step 6.

[0064] In the following steps 6 and 7, it is confirmed whether the lift frame 30 has reached the retracted position and whether the bumper body 10 has reached the retracted position. In other words, the detection state of the reversing position detection means 16 is confirmed, and if the reversing position detection means 16 is in the ON state, then step 6 is yes. Furthermore, when the storage detection means 55 is turned on and detects that the bumper body 10 is in the storage position, step 7 becomes yes. Steps 6 and 7 can be performed in any order. In short, if the lift frame 30 has reached the retracted position and the retracted position detection means 16 is ON, and the bumper body 10 is in the retracted position and the retracted position detection means 55 is ON, the process proceeds to step 8 and the first tilting process is performed.

[0065] Thus, in this embodiment, the first tilting step is executed with the condition that the bumper body 10 is in a predetermined retracted position. In other words, the tilting step, as a specific operation, becomes executable only when the bumper body 10 is in the retracted position. In step 8, the first tilting process is performed, and the lift frame 30 is tilted to a certain angle. Next, the process moves to step 9, where the slide body descent process is performed. Then, the process moves to step 10, where the second inclination process is performed and the slide body 32 is lowered to the ground.

[0066] In this embodiment, since it is confirmed that the bumper body 10 is in the retracted position at the beginning of the automatic lowering operation, the slide body 32 and the like will not come into contact with the bumper body 10 even when the first tilting process or the second tilting process is performed.

[0067] Furthermore, if the design ensures that the bumper body 10 reaches the retracted position before the lift frame 30 retracts and reaches the retracted position, and the retracted position detection means 16 is turned on, then the confirmation that the bumper body 10 is in the retracted position in step 7 may be omitted.

[0068] If the worker releases the automatic unloading switch 60 during the operation, the loading and unloading device 26 stops at that point. If the worker presses the automatic unloading switch 60 again, the series of operations described above will resume from the stopped state. In other words, the operation of the loading and unloading device 26 has already started, and the movement of the loading and unloading device 26 has only temporarily stopped when the worker releases the automatic unloading switch 60. Therefore, if the worker presses the automatic unloading switch 60 again, the series of operations described above will resume from the stopped state. Once the lowering operation is complete, step 11 will become YES, and the series of automatic lowering operations will end.

[0069] If the storage detection means 55 does not detect that the bumper body 10 is in the storage position, the subsequent lowering operation will not begin in principle. According to this embodiment, the lift frame 30 is tilted after confirming that the bumper body 10 has moved to the stowed position, so the slide body 32 and the like do not come into contact with the bumper body 10.

[0070] For some reason, even if the operator continues to press the automatic lowering switch 60, the storage detection means 55 may not be able to detect that the bumper body 10 is in the stored position. To explain in accordance with the embodiment described above, in step 1, after waiting for the automatic lowering switch 60 to be operated, the worker presses the automatic lowering switch 60, which turns the automatic lowering switch 60 ON, and in step 2, the bumper body 10 moves toward the storage position. If the reverse continuation detection means 70 malfunctions or experiences some temporary problem that prevents confirmation of the reverse continuation detection means 70 being ON, the process cannot proceed to the next step, and the lowering operation will be interrupted.

[0071] In this situation, the operator presses the mode switching switch (switching means) 65 to temporarily switch the operating mode to the bumper switch enabled mode. As a result, the bumper extension switch 67 and the bumper retraction switch 68 become active, and the bumper movement mechanism 52 can be operated by operating the bumper extension switch 67 and the bumper retraction switch 68.

[0072] As explained in relation to the flowchart in Figure 9, when both Step 1 and Step 2 are YES, the driving mode is the bumper switch enabled mode, and the bumper retraction switch 68 is ON, the process proceeds to Step 3, in which the bumper movement mechanism 52 is driven and the bumper body 10 moves toward the retraction position. As long as the driving mode remains in bumper switch enabled mode and the operator continues to press the bumper retraction switch 68, the bumper body 10 continues to move toward the retraction position and eventually arrives at the retraction position. As a result, the retraction detection means 55 turns on, and the series of operations shown in the flowchart of Figure 9 is completed.

[0073] The same procedure applies when moving the bumper body 10 to the driving position. Referring to the flowchart in Figure 10, when both Step 1 and Step 2 are YES, the driving mode is the bumper switch enabled mode, and the bumper extension switch 67 is ON, the process proceeds to Step 3, where the bumper movement mechanism 52 is driven and the bumper body 10 moves toward the driving position. As long as the driving mode remains in bumper switch enabled mode and the operator continues to press the bumper extension switch 67, the bumper body 10 continues to move toward the driving position and finally arrives at the driving position. As a result, the extension detection means 56 turns on, and the series of operations ends.

[0074] Returning to the explanation of the automatic lowering operation shown in Figure 7, the driving mode is temporarily switched to the bumper switch enabled mode, and as a result of operating the bumper retraction switch 68, the retraction detection means 55 is turned ON. In this situation, press the mode selector switch (switching mechanism) 65 again to return the operating mode to automatic priority mode, and press the automatic lowering switch 60 to restart the automatic lowering operation. As a result, step 7 in the flowchart in Figure 7 becomes YES, and the process can proceed to step 8 and beyond to complete the unloading operation.

[0075] In the embodiment described above, the control system is designed so that when an operator presses the automatic lowering switch 60, the automatic lowering switch 60 is turned ON, and then, triggered by the confirmation of the ON state in step 1, the bumper body 10 moves toward the storage position.

[0076] However, the present invention is not limited to this configuration. For example, the lift frame 30 may be moved backward, detected by the backward continuation detection means 70, and the bumper body 10 may move toward the stowed position when the backward continuation detection means 70 is turned ON. Alternatively, when the initial position detection means 15 is turned off, it may be detected that the lift frame 30 is moving backward, and the bumper body 10 may be controlled to move toward the stowed position as a result of the initial position detection means 15 being turned off. Alternatively, the bumper body 10 may be moved toward the stowed position before the lift frame 30 begins to retract. In any case, it is desirable that the storage operation, which moves the bumper body 10 to the storage position, be initiated around the time the lowering operation begins. Furthermore, the lift frame 30 may be started to retract, provided that the bumper body 10 is in the stowed position.

[0077] Next, we will explain the control of the automatic loading operation based on the flowchart in Figure 8. In controlling the automatic loading operation, step 1 waits for the automatic loading switch 61 to be operated. When the operator presses the automatic loading switch 61, the automatic loading switch 61 turns ON, and the process moves to step 2.

[0078] In step 2, the bumper body 10 is moved toward the storage position, and in step 3, the storage detection means 55 determines whether or not the bumper body 10 is in the storage position. Normally, at the start of the automatic loading operation, the bumper body 10 is in the stowed position, so in most cases, step 2 is ignored and the process proceeds to step 3. If step 3 is answered with YES, the process moves to step 4 and the loading operation begins.

[0079] In step 5, the first tilt return process is performed, and from a state where the entire bottom surface of the slide body 32 is touching the ground as shown in Figure 4(a), the angle of the lift frame 30 is lowered, and the rear end of the lift frame 30 is lifted off the ground as shown in Figure 4(b).

[0080] In the subsequent step 6, the slide body raising process is performed, and as shown in Figure 4(c), the slide body 32 is moved along the lift frame 30 toward the front of the vehicle. In the following step 7, the second tilt return process is performed, and the angle of the lift frame 30 is further reduced to return to a horizontal position. Next, in step 8, the landing detection means 71 is turned on to confirm that the lift frame 30 is in a landing state on the vehicle section 5. If the landing detection means 71 is on, the lift frame 30 moves forward in the following step 9.

[0081] In the following step 10, the reverse continuation detection means 70 is turned on to confirm that the lift frame 30 is moving forward. Once it is confirmed that the reverse continuation detection means 70 is on, the process proceeds to step 11. As a result, the solenoid valve that supplies hydraulic fluid to the hydraulic cylinder 53 of the bumper moving mechanism 52 is switched on, the hydraulic cylinder 53 of the bumper moving mechanism 52 extends, the bumper body 10 moves to the rear side of the vehicle section 5, and the operation to bring the bumper body 10 to the driving position begins. In other words, in step 10, the reversing continuation detection means 70 is turned on and it has been confirmed that the lift frame 30 is moving forward. To put it another way, it has been confirmed that the slide body 32 and the lift frame 30 are not in an inclined state. Therefore, even if the bumper 10 reaches the driving position, there is no possibility of it colliding with the slide body 32 and the lift frame 30. Then the loading / unloading device 26 returns to its initial position, and the initial position detection means 15 detects this.

[0082] As a result, step 12 becomes yes, and we move on to step 13. In step 13, the automatic loading switch 61 is electrically held in the ON state. As a result, even if the operator releases their hand from the automatic loading switch 61, the processes from step 13 onward continue. When the protrusion detection means 56 detects that the bumper body 10 has reached the driving position, step 14 becomes YES, and the series of automatic loading operations ends.

[0083] Even during the automatic loading operation, the loading and unloading device 26 is operated only after confirming that the bumper body 10 is in the stowed position, so the slide body 32 and other parts do not come into contact with the bumper body 10 during the loading process. Furthermore, since step 3 is performed before the lift frame 30 is operated and after confirming that the bumper body 10 is in the stowed position, the slide body 32 and the like do not come into contact with the bumper body 10 during the loading process.

[0084] Even during the automatic loading operation, there are cases where the storage detection means 55 does not detect that the bumper body 10 has not moved to the storage position, and step 3 does not result in YES, even though the operator continues to press the automatic loading switch 61. In such cases, the operator presses the mode switching switch (switching means) 65 to switch from the driving mode to the bumper switch enabled mode. As a result, the bumper extension switch 67 and the bumper retraction switch 68 become active, and the bumper movement mechanism 52 can be operated by operating the bumper extension switch 67 and the bumper retraction switch 68. As long as the driving mode remains in bumper switch enabled mode and the operator continues to press the bumper retraction switch 68, the bumper body 10 continues to move toward the retraction position and eventually arrives at the retraction position. As a result, the retraction detection means 55 turns on, and the loading operation can proceed.

[0085] The same applies if the bumper body 10 does not move to the driving position due to a malfunction of the initial position detection 15, even though the lift frame 30 has returned to its initial position. In such cases, the operator presses the mode switching switch (switching means) 65 to switch from the driving mode to the bumper switch enabled mode. Then, the bumper extension switch 67 is pressed. As long as the driving mode remains in bumper switch enabled mode and the operator continues to press the bumper extension switch 67, the bumper body 10 continues to move toward the driving position and finally arrives at the driving position. As a result, the extension detection means 56 turns ON, step 14 becomes YES, and the series of automatic loading operations is completed.

[0086] Although the embodiments have been described above using a vehicle transporter as an example of cargo handling vehicle 1, the present invention can also be applied to container carriers, for example, as shown in Figure 11. As shown in Figure 11, the cargo handling vehicle 1 has a vehicle section 5 and a loading device 17. The loading device 17 includes a control device 6, a hydraulic device 7, and a bumper device 50.

[0087] The loading device 17 has a container loading section 11 on which the container 2 is placed, and a cargo handling arm 3. The container mounting section 11 is a frame on which the container 2 is mounted, and has a gate-shaped protective frame 12 at its front end. The protective frame 12 is provided with an initial position detection means 15.

[0088] The cargo handling arm 3 is composed of a hook arm 20 and a lift arm 21. The cargo handling arm 3 has a hook arm 20 attached to the tip of the lift arm 21 so as to be able to swing at an angle, and its overall shape is roughly "L"-shaped. A hydraulic cylinder 22 is attached between the hook arm 20 and the lift arm 21, and the angle of the hook arm 20 relative to the lift arm 21 changes by extending and retracting the hydraulic cylinder 22. A hook (engaging part) 23 is provided at the tip of the hook arm 20. The base end of the lift arm 21 is pivotably attached to the vehicle section 5, and the entire load handling arm 3 is pivotable. A hydraulic cylinder 25 is also attached to the lift arm 21, and this hydraulic cylinder 25 causes the entire load handling arm 3 to pivot.

[0089] The cargo handling vehicle 1 can also perform an automatic unloading operation by coordinating the cargo handling arm 3 and the bumper device 50 to automatically lower the container 2. Furthermore, the cargo handling arm 3 and the bumper device 50 can also perform an automatic loading operation to automatically load the container 2.

[0090] Next, we will explain the operation of the loading arm 3 and other components when loading container 2. When loading the container 2, which is installed on the ground, onto the vehicle unit 5, the hook (engaging part) 23 of the loading device 17 is engaged with the engagement pin 27 of the container 2, as shown in Figures 11 and 12(a). At this time, the hook arm 20 is in a slightly acute angle position relative to the lift arm 21. Then, in that state, the lift arm 21 is swung forward (counterclockwise in the diagram).

[0091] As a result, the front side of the container 2 is lifted, as shown in Figure 12(b), and pulled into the vehicle section 5, as shown in Figure 12(c). Then, as shown in Figure 13(d), the lift arm 21 is further swung to return its position to approximately horizontal. As a result, container 2 is positioned in a nearly horizontal position with the engagement pin 27 facing forward, and is loaded onto the cargo handling vehicle 1. Then, as shown in Figure 13(e), the hook arm 20 is swung to bring it closer to a vertical position relative to the lift arm 21, and container 2 is slid forward. The state in which container 2 has been loaded onto the loading vehicle 1 is as shown in Figure 13(f), with the hook arm 20 in a nearly vertical position, close to the protective frame 12, and the loading arm 3 returning to its initial position, as detected by the initial position detection means 15.

[0092] In summary, the loading operation of the cargo handling vehicle 1 (container carrier) in this embodiment includes a loading step in which the cargo handling arm 3 is driven to pull the object to be transported (container 2 in this embodiment) into the cargo handling vehicle 1 and return it to a horizontal position, and a horizontal movement step in which the cargo handling arm 3 is driven to move the object to the front of the cargo handling vehicle while maintaining its horizontal position.

[0093] Next, we will explain the operation of the loading / unloading arm 3 and other components when unloading container 2. When unloading container 2 from cargo handling vehicle 1, as shown in Figures 14 and 15, the hook arm 20 is swung backward (clockwise in the diagram), and then the lift arm 21 is changed to an inclined position. As a result, container 2 is slowly lowered to the ground. Specifically, as shown in Figure 14(c), the hook arm 20 is swung backward (clockwise in the diagram) to change the posture of the lift arm 21 to an acute angle, and the container 2 is slid backward. Next, as shown in Figure 15(d), the lift arm 21 is swung backward (clockwise in the drawing) to tilt its position. As shown in Figure 15(e), the lift arm 21 is swung further backward (clockwise in the drawing) to bring the rear end of the container 2 to the ground. Then, the lift arm 21 is swung further backward (clockwise in the diagram), and the hook arm 20 is swung slightly forward (counterclockwise in the diagram), causing the front end of the container 2 to touch the ground as shown in Figure 15(f), and the container 2 is lowered to the ground.

[0094] Next, the automatic unloading operation of the cargo handling vehicle 1 in this embodiment will be described. In the automatic unloading operation, the cargo handling arm 3 and the bumper device 50 operate in coordination. That is, in the automatic unloading operation, the cargo handling arm 3 and the bumper device 50 operate through a series of sequence controls.

[0095] When container 2 is mounted on vehicle unit 5, as shown in Figure 14(a), the hook arm 20 is in a nearly vertical position and the cargo handling arm 3 has returned to its initial position, and this state is detected by the initial position detection means 15. Furthermore, as shown in Figure 14(a), the bumper body 10 is in the state where the hydraulic cylinder 53 is extended, and the bumper body 10 is protruding to the rear in the driving position. Therefore, the protrusion detection means 56 is in the detection state. The retraction detection means 55 is in the non-detection state.

[0096] When lowering container 2 to the ground, keep pressing the automatic lowering switch 60. The control of the automatic lowering operation will be explained below based on the flowchart in Figure 16. In Step 1, wait for the automatic lowering switch 60 to be operated. When the worker presses the automatic lowering switch 60, the automatic lowering switch 60 is turned ON, and the process moves to Step 2, where the bumper body 10 begins to move to the storage position. Then, the process moves to step 3, where the bumper body 10 moves forward and away from its driving position, and the system waits for the protrusion detection means 56 to become non-detection.

[0097] If the protrusion detection means 56 becomes non-detection, that is, if the bumper 10 leaves its driving position, the process proceeds to step 4 and a series of lowering operations begin.

[0098] Next, in step 5, the hook arm 20 is swung backward (clockwise in the diagram) to change the posture of the lift arm 21 to an acute angle, and the container 2 is moved horizontally backward. At this time, the bumper body 10, which has left its driving position, continues to move toward the storage position in parallel with the movement of the container 2 to move horizontally backward. Once step 5 is completed, the process proceeds to step 6, where it is confirmed whether the storage detection means 55 is in a detection state, that is, whether the bumper body is in the storage position. If the detection state is confirmed, the process proceeds to step 7, where the container 2 is lowered to the ground. The process then proceeds to step 8. Once the lowering operation is complete, step 8 will show YES, and the series of automatic lowering operations will end.

[0099] If the storage detection means 55 does not detect that the bumper body 10 is in the storage position, the subsequent lowering operation will not begin in principle. In this case, as described above, the mode switching switch (switching means) 65 is pressed to switch from the driving mode to the bumper switch enabled mode, and the bumper retraction switch 68 is pressed to move the bumper body 10 toward the retraction position.

[0100] In the embodiments described above, step 6 involves checking whether the bumper body is in the retracted position, and only if the answer is yes, the horizontal movement of the container 2 to the rear is completed, and the container 2 is lowered to the ground. However, if the design ensures that the bumper body 10 reaches the retracted position by the time the horizontal movement of the container 2 to the rear is completed, the check in step 6 to confirm that the bumper body is in the retracted position may be omitted, and the operation of lowering the container to the ground in step 7 may be performed directly.

[0101] Furthermore, when loading the ground container 2 onto the vehicle unit 5, as shown in Figures 11 and 12(a), the hook 23 of the loading device 17 is engaged with the engagement pin 27 of the container 2, and the automatic loading switch 61 is kept pressed. The control of the automatic loading operation will be explained below based on the flowchart in Figure 17. In Step 1, wait for the automatic loading switch 61 to be operated. When the worker presses the automatic loading switch 61, the automatic loading switch 61 turns ON, and the process moves to Step 2.

[0102] In step 2, the bumper body 10 is moved to the storage position. Normally, at the start of the automatic loading operation, the bumper body 10 is in the storage position, so in most cases, step 2 is ignored and the process proceeds to step 3. If step 3 is answered with YES, the process moves to step 4, and the series of loading operations begins. First, in step 5, as shown in Figures 12(b) to 13(d), the front side of the container 2 is lifted and pulled into the vehicle section 5, the position of the lift arm 21 is returned to approximately horizontal, and the hook arm 20 is then swung to bring it closer to a vertical position relative to the lift arm 21. Next, proceed to step 6, and begin sliding container 2 forward as shown in Figures 13(d) to 13(f). At this point, proceed to step 7, and begin moving bumper body 10 to the driving position.

[0103] As a result of the above operations, the cargo handling arm 3 returns to its initial position, and the initial position detection means 15 detects this. In other words, Step 8 is "yes," and we move on to Step 9. Steps 9 onward are the same as steps 13 onward in Figure 8. Even if the operator releases their hand from the automatic loading switch 61, the processes from step 9 onward continue, and the bumper body 10 in step 7 continues to move to the rear side of the vehicle section 5 until the bumper body 10 reaches its driving position. When the protrusion detection means 56 detects that the bumper body 10 has reached the driving position, step 10 becomes YES, and the series of automatic loading operations ends.

[0104] If the bumper body 10 does not move to the driving position during the automatic loading operation, press the mode switching switch (switching means) 65 to switch to the bumper switch enabled mode. Then, the bumper extension switch 67 is pressed to move the bumper body 10 towards the driving position, and the automatic loading operation is completed.

[0105] The cargo handling arm 3 described above is of a type called a swing type, and both the hook arm 20 and the lift arm 21 are only capable of swinging and do not move in a straight line. Therefore, the present invention can be applied not only to material handling vehicles employing the aforementioned sliding type material handling arm, but also to material handling vehicles employing the swing type material handling arm 3.

[0106] In the embodiments described above, a mode selector switch 65 was provided as an example of a switching means for switching between the automatic priority state and the bumper switch enabled state. The mode selector switch 65 used in the embodiments switches the driving mode each time it is pressed, making it easy to use. However, the present invention is not limited to this type of switch as a switching means, and other types may be used. For example, there may be a switch for changing to an automatic priority state and a switch for changing to a bumper switch enabled state. Alternatively, other switches may be used in combination with the switching means. For example, the driving mode may be switched by long-pressing the bumper retraction switch 68 or the bumper extension switch 67. Alternatively, a mode switching switch 65 may be provided in the vehicle unit 5 (near the control device).

[0107] In the embodiment described above, the loading and unloading device 26 is equipped with an automatic unloading switch 60 and an automatic loading switch 61 as operating switches. However, there may also be switches to operate each part of the loading and unloading device 26 individually. For example, the remote control 8 may have the following switches: (1) A switch to move the lift frame 30 to the rear. (2) A switch to move the lift frame 30 forward. (3) A switch that causes the lift frame 30 to swing in a direction that increases its inclination. (4) A switch that causes the lift frame 30 to swing in a direction that reduces its inclination. (5) A switch for lowering the slide body 32. (6) A switch to raise the slide body 32.

[0108] In the embodiment described above, a button switch was used as the switch for the remote control. The button switch used in the above embodiment is a type of momentary switch, which is ON only while the operator is pressing it, and OFF when the operator releases their hand. However, the present invention is not limited to employing this switch; it is also possible to employ a switch that maintains the ON state once the ON switch is operated until the OFF operation is performed (alternate switch), or a switch that electrically holds the ON state for itself.

[0109] The cargo handling vehicle 1 described above performs the following steps sequentially during the unloading operation: (1) lift frame retraction, (2) first tilting, (3) slide body lowering, and (4) second tilting. However, it is not mandatory to perform all of these steps. For example, the lift frame retraction step may be omitted. Also, the second tilting step may be omitted.

[0110] In the embodiments described above, "specific actions that become possible on the condition that the bumper body is in a position that satisfies predetermined conditions" were exemplified by the tilting of the lift frame and the retraction of the lift frame. However, the present invention is not limited thereto and includes all actions in which the bumper body 10 or its moving mechanism 32 interferes with the lift frame or slide body.

[0111] The cargo handling vehicle 1 described above loads and unloads vehicles by completely lowering the slide body 32 to the ground and making the slide body 32 horizontal and upright. However, it is also possible to load and unload vehicles with the slide body 32 in an inclined position.

[0112] In the horizontal movement process, the slide body is moved from its initial position to the rear of the vehicle (the slide body is moved backward relative to the vehicle). This is done by moving the lift frame 30 backward, thereby moving the slide body 32 backward. However, the horizontal movement process may also be a slide body retraction process, in which the slide body 32 is moved backward relative to the lift frame 30 without moving the lift frame 30. In this case, the slide body retraction process is performed by moving the slide body 32 backward using a chain or the like provided on the lift frame 30. When the slide body 32 has retracted to a predetermined position, the retraction position detection means 16 detects the slide body 32 and turns on, stopping the movement of the slide body 32. In this case, the retraction position detection means 16 may be provided at an intermediate position on the lift frame 30. The same applies to the lift frame advancement process.

[0113] In the embodiments described above, the bumper body was described as having a structure that operates using power, but the bumper body may also have a structure that operates manually. [Explanation of Symbols]

[0114] 1. Cargo handling vehicles 2 containers 3. Loading Arm 5. Vehicle Department 6. Control device 8 Remote control 10 Bumper body 11 Container loading section 15 Initial position detection means 16 Reverse position detection means 17 Loading device 18 Loading device 20 Hook Arms 21 Lift Arm 23 Hook (engaging part) 26 Loading and unloading equipment 30 Lift Frame 31. Tilt mechanism (tilting means) 32 Slide Body 50 Bumper device 52 Bumper relocation mechanism 55 Storage detection means 56 Protrusion detection means 60 Automatic lowering switch 61 Automatic Loading Switch 65 Mode selector switch (switching mechanism) 67 Bumper protrusion switch 68 Bumper retractable switch 70 Reverse Continuation Detection Means 71. Implantation detection means

Claims

1. A cargo handling vehicle having a vehicle section and a loading device, wherein the loading device is mounted on the vehicle section, The loading device includes a loading / unloading device and a control device. In a cargo handling vehicle in which an unloading operation is performed by the aforementioned loading and unloading device, The vehicle has a bumper device, which has a bumper body, and the bumper body can be moved by power to a driving position suitable for driving and a retracted storage position. It is possible to detect that the bumper body is not in the position during driving, A cargo handling vehicle characterized in that a storage operation and a lowering operation are performed to move the bumper body to a storage position by performing a predetermined lowering operation, and the lowering operation is started when it is detected that the bumper body is not in the driving position.

2. A cargo handling vehicle having a vehicle section and a loading device, wherein the loading device is mounted on the vehicle section, The loading device includes a loading / unloading device and a control device. In a cargo handling vehicle in which loading operations are performed by the aforementioned loading and unloading device, The vehicle has a bumper device, which has a bumper body, and the bumper body can be moved by power to a driving position suitable for driving and a retracted storage position. The loading operation includes a loading step of pulling the transported object into the cargo handling vehicle and returning the transported object to a horizontal position, and a horizontal movement step of moving the transported object to the front of the cargo handling vehicle while maintaining the horizontal position. The loading device is capable of detecting that the loading operation is not a landing process, A cargo handling vehicle characterized in that, when it is detected that the loading operation is not a landing process, the bumper body starts moving to the driving position.

3. The aforementioned cargo handling vehicle is equipped with a transport vehicle, The aforementioned loading and unloading device has a sliding body that moves the transported object in the front-to-back direction and changes its orientation to an inclined position. The aforementioned loading operation comprises a landing step of returning the slide body to a horizontal position and a horizontal movement step of moving the slide body forward. The cargo handling vehicle according to claim 2, characterized in that, on the condition that a transition from the loading process to the horizontal movement process is detected, the movement of the bumper body to the driving position is initiated.

4. The aforementioned cargo handling vehicle is equipped with a transport vehicle, The loading and unloading device comprises a lift frame that moves the transported object in the front-to-back direction and changes its orientation to an inclined position, and a slide body that moves linearly along the lift frame. The lift frame can be tilted, and the slide body can be moved in a straight line to cause at least a part of the slide body to land on the ground. It is possible to perform a lowering operation to lower the slide body to the ground and a loading operation to pull the slide body onto the vehicle section. The aforementioned loading operation comprises a landing step of returning the slide body to a horizontal position and a horizontal movement step of moving the slide body forward. The cargo handling vehicle according to claim 2, characterized in that, on the condition that a transition from the loading process to the horizontal movement process is detected, the movement of the bumper body to the driving position is initiated.

5. The aforementioned cargo handling vehicle is for carrying containers, and the loading and unloading device has a cargo handling arm. The loading arm is equipped with an engaging portion that engages with the container, The engaging part can be engaged with the container placed on the ground, and the loading arm can be driven to pull the container onto the vehicle, enabling a loading operation. The loading operation includes a loading step of driving the loading arm to pull the container into the loading vehicle and return it to a horizontal position, and a horizontal movement of driving the loading arm to move the container to the front of the loading vehicle while maintaining the horizontal position. The cargo handling vehicle according to claim 2, characterized in that, on the condition that a transition from the loading process to the horizontal movement process is detected, the movement of the bumper body to the driving position is initiated.

6. A loading device mounted on a cargo handling vehicle, Equipped with loading and unloading equipment, In a loading device in which an unloading operation is performed by the aforementioned loading and unloading device, The vehicle has a bumper device, which has a bumper body, and the bumper body can be moved by power to a driving position suitable for driving and a retracted storage position. The aforementioned loading device is capable of detecting that the bumper body is not in the driving position, A loading device characterized in that a storage operation and a lowering operation are performed to move the bumper body to a storage position by performing a predetermined lowering operation, and the lowering operation is started when it is detected that the bumper body is not in the driving position.

7. A loading device mounted on a cargo handling vehicle, Equipped with loading and unloading equipment, In a loading device in which a loading operation is performed by the aforementioned loading / unloading device, The vehicle has a bumper device, which has a bumper body, and the bumper body can be moved by power to a driving position suitable for driving and a retracted storage position. The aforementioned loading operation includes a loading step of pulling the transported material into the cargo handling vehicle and returning the transported material to a horizontal position, and a horizontal movement step of moving the transported material to the front of the cargo handling vehicle while maintaining the horizontal position. The loading device is capable of detecting that the loading operation is not a landing process, A loading device characterized in that, when it is detected that the loading operation is not a landing process, the bumper body starts moving to the driving position.

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