Handling vehicle and loading device

Abstract

To provide a cargo handling vehicle that prevents a slide body, etc. from coming into contact with a bumper when a slide body is unloaded.SOLUTION: A cargo handling vehicle has a vehicle portion and a loading device. The loading device has an unloading device. The unloading device has: a lift frame; inclination means that performs an inclination operation for inclining a posture of the lift frame; and a slide body that linearly moves along the lift frame. At least part of the slide body can be landed on the ground by inclining the lift frame and linearly moving the slide body. Storage detection means that detects that the bumper body is in the storage position is provided. On condition that the storage detection means detects that the bumper body is in the storage position, the unloading operation and / or the inclining operation can be started.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a cargo handling vehicle, such as a vehicle transporter, whose loading platform can be lowered to the ground.

Background Art

[0002] Patent Document 1 discloses a body loading and unloading vehicle. The body loading and unloading vehicle disclosed in Patent Document 1 is a vehicle transporter and is used when transporting vehicles such as passenger cars and construction machinery. The vehicle transporter 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 (loading platform) can be slid downward to lower the body to the ground.

[0003] Cargo handling vehicles are required to be equipped with a rear bumper. To ensure safety in the event of a collision with a pedestrian or another vehicle, the rear bumper must protrude a certain distance backward from the vehicle body. By the way, the above-described vehicle transporter, etc., functionally tilts the posture of the loading platform backward or lowers the loading platform from the rear to the ground, and the rear bumper is attached in a state of protruding to the rear of the vehicle. Therefore, the rear bumper gets in the way when tilting the loading platform or the like. Therefore, a structure for retracting the rear bumper when performing operations such as loading and unloading has been proposed (Patent Document 2). When using the vehicle loader of Patent Document 2 to load and unload an automobile, the operator performs the operation according to the following procedure. That is, first, the bumper is retracted. Subsequently, the lift frame is tilted and the slide body (loading platform) is slid downward to lower the slide body to the ground.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

[0005] If an operator performs work according to the above-described procedure, the lift frame and the slide body will not contact the bumper during loading and unloading. However, there are cases where an operator may make a mistake in the procedure and perform the loading and unloading work. And there is a concern that with the bumper protruding rearward, the lift frame and the slide body move, and the slide body or the like collides with the bumper.

[0006] An object of the present invention is to provide a cargo handling vehicle in which at least when the slide body is lowered, the slide body or the like does not contact the bumper, paying attention to the above-described points of the prior art. [Means for Solving the Problems]

[0007] An aspect for solving the above problems is a cargo vehicle having a vehicle part and a loading device, wherein the loading device is mounted on the vehicle part, and the loading device includes a loading and unloading device and an operation switch for operating the loading and unloading device. The loading and unloading device includes a lift frame, an inclination means for performing an inclination operation of changing the angle of the lift frame, and a slide body that performs a linear movement along the lift frame. It is possible to incline the lift frame, linearly move the slide body, and land at least a part of the slide body on the ground, and it is possible to perform a lowering operation of lowering the slide body to the ground and a loading operation of pulling the slide body onto the vehicle part. In the cargo vehicle, it has a bumper device, and the bumper device has a bumper body that can be changed in position between a traveling position suitable for traveling and a retracted storage position, and has a storage detection means for detecting that the bumper body is in the storage position. The cargo vehicle is characterized in that the linear movement operation and / or the inclination operation can be started on the condition that the storage detection means detects that the bumper body is in the storage position.

[0008] The cargo vehicle of this aspect inclines the lift frame and linearly moves the slide body to land at least a part of the slide body on the ground. The steps of inclining the lift frame and linearly moving the slide body may be in a fixed order or may be carried out simultaneously. The cargo vehicle of this aspect has a storage detection means and can confirm whether the bumper body is in the storage position. In the cargo vehicle of this aspect, on the condition that the bumper body is in the storage position, the operations of the slide body and the lift frame can be started. Therefore, when the slide body and the lift frame start to operate, the bumper body is always in the storage position, and the slide body and the like do not contact the bumper body when the slide body is lowered.

[0009] In the above-described aspect, in the lowering operation, it is desirable that the tilting operation be performed a plurality of times, and that the first tilting operation be in a state where it can be started on the condition that the storage detection means has detected.

[0010] In a cargo handling vehicle equipped with a slide body, the slide body or the lift frame often comes into contact with the bumper when the lift frame is tilted. In the cargo handling vehicle of this aspect, since the first tilting operation is in a state where it can be started on the condition that the storage detection means has detected, when the lift frame starts to operate, the bumper body is always in the storage position, and the slide body or the like does not come into contact with the bumper body when the slide body is lowered.

[0011] In each of the above-described aspects, the lowering operation includes a horizontal movement operation of moving the slide body to the rear side of the vehicle part and a first tilting step of tilting the lift frame performed in the horizontal movement operation, and it is desirable that the horizontal movement operation be in a state where it can be started on the condition that the storage detection means has detected.

[0012] The "horizontal movement operation of moving the slide body to the rear side of the vehicle part" includes an operation of moving the slide body on the lift frame to the rear side of the vehicle part by moving the lift frame to the rear side. Also, the slide body may be moved to the rear side of the vehicle part alone. In the cargo handling vehicle of this aspect, the bumper body retracts to the storage position at an early stage, so the safety is high.

[0013] In each of the above-described aspects, there is a lowering switch for performing the lowering operation as the operation switch, the bumper device moves the bumper body by power, and when the lowering switch is turned on, the bumper device is driven and the bumper body moves to the storage position, and it is desirable that the loading and unloading device perform the series of lowering operations when the storage detection means detects that the bumper body is in the storage position.

[0014] Also, it is desirable that the above-described series of operations be continuously performed on the condition that the lowering switch maintains the on state. "The on state of the lowering switch is maintained" means, for example, when an operator continuously presses a manual switch (momentary switch), or once the on switch is operated, the on state is maintained until an off operation is performed (alternate switch). It also includes the case where the on state is self-held electrically. According to this aspect, by operating the lowering switch, the retraction of the bumper body and a series of lowering operations are continuously executed. Also, in this aspect, prior to the driving of the loading and unloading device, the bumper body moves to the storage position, and then the loading and unloading device operates, so the slide body or the like does not contact the bumper body when lowering the slide body.

[0015] In each of the above-described aspects, there is a lowering switch that starts the lowering operation as the operation switch. When the lowering switch is operated to start the lowering operation, if the storage detection means does not detect that the bumper body is in the storage position, the lowering operation is not started. It is desirable that the lowering operation be started automatically on the condition that the operation of the lowering switch continues for a certain period of time, or on the condition that another operation is added.

[0016] This aspect is for dealing with failures or misdetections of the storage detection means. According to the cargo handling vehicle of this aspect, when the state where the lowering operation does not start continues for a certain period of time, the lowering operation can be started automatically or on the condition that another operation is added. For example, when it is confirmed visually that the bumper body is in the storage position, the lowering operation can be performed.

[0017] In each of the above-described aspects, there is a loading switch that performs the loading operation as the operation switch. It is desirable that the bumper body can be moved to the traveling position on the condition that the loading operation is completed.

[0018] According to this aspect, during the loading operation, the slide body or the like does not contact the bumper body.

[0019] In each of the above aspects, it is desirable that the bumper device moves the bumper body by power, and has an extension switch for moving the bumper body to the traveling position and a storage switch for moving the bumper body to the storage position.

[0020] According to this aspect, the bumper body can be moved independently.

[0021] In the above aspect, there is a lowering switch for starting the lowering operation as the operation switch. When the lowering switch is operated to start the lowering operation after the storage switch has been operated for a predetermined time, if the storage detection means does not detect that the bumper body is in the storage position, it is desirable that the lowering operation be started automatically or on the condition that another operation is added.

[0022] This aspect is for dealing with failures and misdetections of the storage detection means. By operating the storage switch, the bumper body can be moved to the storage position. Therefore, referring to the operation history of the storage switch, if the storage switch has been operated before the lowering switch is operated, the lowering operation may be performed in some cases. According to this aspect, before the lowering switch is operated, if the storage switch has been operated, the lowering operation may be performed exceptionally in some cases.

[0023] Aspects related to a loading device are a loading device mounted on a vehicle, having a loading and unloading device and an operation switch for operating the loading and unloading device. The loading and unloading device has a lift frame, an inclination means for performing an inclination operation to incline the posture of the lift frame, and a slide body that performs a linear movement along the lift frame. At least a part of the slide body can be made to land on the ground. In a loading device capable of performing a lowering operation of lowering the slide body to the ground and a loading operation of pulling the slide body onto the vehicle part, it has a bumper device. The bumper device has a bumper body, and the bumper body can be changed in position to a running position suitable for running and a retracted storage position. It has a storage detection means for detecting that the bumper body is in the storage position. The linear movement and / or the inclination operation can be started on the condition that the storage detection means detects that the bumper body is in the storage position.

Effect of the Invention

[0024] According to the freight vehicle and the loading device of the present invention, when lowering the slide body, the slide body or the like does not come into contact with the bumper.

Brief Description of the Drawings

[0025]

Figure 1

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Mode for Carrying Out the Invention

[0026] Hereinafter, embodiments of the present invention will be described. In the following description, the front - rear relationship is based on the front - rear of the cargo handling vehicle 1. That is, the front side means the driver's seat 100 side, and the rear side means the opposite side. The cargo handling vehicle 1 of this embodiment is a vehicle transporter. It lowers the slide body 32 on the vehicle part 5 to the ground, loads an automobile or the like, and in this state, pulls up the slide body 32 onto the vehicle part 5 and transports it. The cargo handling vehicle 1 has a vehicle part 5 and a loading device 18 as shown in Fig. 1. The loading device 18 has a loading - unloading device 26. The loading - unloading device 26 is mainly composed of a lift frame 30, a tilt mechanism (tilting means) 31, and a slide body 32.

[0027] The loading device 18 also includes a control device 6, a hydraulic device 7, and a bumper device 50. Further, the loading device 18 includes a remote control device (hereinafter referred to as a remote control) 8. The vehicle unit 5 is a known truck body, has an engine, and rotates wheels to travel on the road. The lift frame 30 is installed on the subframe 33 of the vehicle unit 5 and swings about a pin (not shown) provided on the rear end side of the vehicle unit 5. That is, it can take an inclined posture as shown in FIGS. 3 and 4. Also, due to the action of a hydraulic cylinder (not shown), the lift frame 30 itself moves in the front-rear direction with respect to the vehicle unit 5.

[0028] The tilt mechanism (tilting means) 31 is composed of a hydraulic cylinder 35 and a link mechanism 36, and is for making the above-described lift frame 30 take an inclined posture with the rear side down. The tilt mechanism 31 is a tilting means for performing a tilting operation to change the angle of the lift frame 30.

[0029] The slide body 32 is slidably (linearly movable) attached to the above-described lift frame 30, and a chain or the like (not shown) is suspended and linearly moves along the lift frame 30. A tread plate 37 is provided at the rear end of the slide body 32. The tread plate 37 is at the rear end of the slide body 32 and can change its posture between an upright posture and a flat posture.

[0030] The lift frame 30 is provided with a rear end detection means 17. The rear end detection means 17 is a known proximity sensor, photoelectric sensor, etc., and detects whether or not the slide body 32 has reached the rear end of the lift frame 30.

[0031] Initial position detection means 15 is provided in either the vehicle unit 5 or the loading device 18. The initial position detection means 15 is a known proximity sensor, photoelectric sensor, etc., and detects whether or not the lift frame 30 and the slide body 32 are in the initial position. Further, a backward position detection means 16 and a backward continuation detection means 70 are provided either in the vehicle unit 5 or the loading device 18. The backward position detection means 16 and the backward continuation detection means 70 are known proximity sensors, photoelectric sensors, or the like. The backward position detection means 16 detects that the lift frame 30 and the slide body 32 have reached the backward position. The backward continuation detection means 70 detects that the lift frame 30 has left the initial position and is moving toward the backward position.

[0032] Further, a landing detection means 71 is provided either in the vehicle unit 5 or the loading device 18. The landing detection means 71 is a known proximity sensor, photoelectric sensor, or the like, and detects that the lift frame 30 is in a horizontal posture substantially parallel to the sub-frame 33. That is, the landing detection means 71 detects that the lift frame 30 has landed on the vehicle unit 5. An inclination detection means 72 is provided either in the vehicle unit 5 or the tilt mechanism 31 (link mechanism 36). The inclination detection means 72 detects the inclination angle of the lift frame 30, and detects that the lift frame 30 has reached the inclination angle in the first inclination step described below, or that the lift frame 30 has reached the inclination angle in the second inclination step described below. Note that each of the above-described detection means, specifically, the initial position detection means 15, the backward position detection means 16, the backward continuation detection means 70, and the landing detection means 71 may be a mechanical switch such as a limit switch.

[0033] The bumper device 50 has a bumper body 10 and a bumper moving mechanism 52 that moves the bumper body 10 back and forth. The bumper body 10 is a bar-shaped or plate-shaped member extending in the width direction of the vehicle unit 5. Similar to the known one, the bumper body 10 mitigates the impact against a collision and prevents another vehicle from getting under the vehicle unit 5.

[0034] The bumper moving mechanism 52 moves the bumper body 10 in parallel in the front-rear direction by a hydraulic cylinder 53. The bumper moving mechanism 52 has a guide (not shown), and by expanding and contracting the hydraulic cylinder 53, the bumper body 10 is translated in the front-rear direction in parallel. The structure of the bumper moving mechanism 52 is not limited, and a link mechanism or a mechanism that moves the bumper body 10 by a motor may be adopted. Moreover, it may be possible not only to simply move the bumper body 10 in the horizontal direction but also to displace it in the height direction.

[0035] The bumper device 50 can change the position of the bumper body 10 by the bumper moving mechanism 52 between a traveling position suitable for traveling and a storage position retracted to the vehicle part 5 side. In the present embodiment, the position where the hydraulic cylinder 53 is extended and the bumper body 10 projects rearward is the traveling position, and the position where the hydraulic cylinder 53 is contracted and the bumper body 10 is arranged forward is the storage position.

[0036] In the cargo vehicle 1 of the present embodiment, a storage detection means 55 and an overhang detection means 56 are provided in the bumper device 50. The storage detection means 55 is a sensor that detects whether the bumper body 10 is in the storage position. The overhang detection means 56 is a sensor that detects whether the bumper body 10 is in the traveling position. The storage detection means 55 and the overhang detection means 56 are known proximity sensors, photoelectric sensors, etc. The storage detection means 55 and the overhang detection means 56 may also be mechanical switches such as limit switches.

[0037] The hydraulic device 7 is one in which known hydraulic pumps, solenoid valves, etc. are set. The hydraulic pump rotates by receiving power transmission from the engine of the vehicle part 5. That is, the hydraulic device 7 is connected to the PTO shaft of the vehicle part 5, and when the operator operates a PTO switch (not shown), the hydraulic pump rotates to generate hydraulic pressure. The hydraulic device 7 is provided with a solenoid valve that supplies hydraulic pressure to the hydraulic cylinder 25 and a solenoid valve that supplies hydraulic pressure to the hydraulic cylinder 53 (both not shown).

[0038] The control device 6 is provided with a circuit that sends signals to each solenoid valve in accordance with a predetermined procedure. The loading and unloading device 26 operates in a predetermined order according to the signal from the control device 6. The control device 6 has communication means for communicating with the remote controller 8.

[0039] The remote controller 8 is equipped with an automatic unloading switch 60, an automatic loading switch 61, a manual unloading switch 65, and a manual loading switch 66 as operating switches for operating the loading and unloading device 26. The remote controller 8 is also equipped with a bumper extension switch 67 and a bumper retraction switch 68 as bumper operating switches for operating the bumper movement mechanism 52. All of these switches 60, 61, 65, and 66 are button switches, and they are in the on state only while the operator is pressing them, and turn off when the hand is released.

[0040] In the present embodiment, as will be described later, an automatic unloading operation can be performed in which the loading and unloading device 26 and the bumper device 50 cooperate to automatically lower the slide body 32. Also, an automatic loading operation can be performed in which the loading and unloading device 26 and the bumper device 50 cooperate to automatically load the slide body 32. The automatic unloading operation is started by pressing the automatic unloading switch 60 and is executed by continuously pressing the automatic unloading switch 60. Therefore, the automatic unloading switch 60 is an unloading switch for performing the unloading operation, and has a function of starting the unloading operation and a function of continuing the unloading operation. The automatic loading operation is started by pressing the automatic loading switch 61 and is executed by continuously pressing the automatic loading switch 61. Therefore, the automatic loading switch 61 is a loading switch for performing the loading operation, and has a function of starting the loading operation and a function of continuing the loading operation.

[0041] In this embodiment, the loading / unloading device 26 can also be operated by operating the manual lowering switch 65 or the manual loading switch 66. By operating the manual lowering switch 65, a manual lowering operation can be performed. The manual lowering operation is started by pressing the manual lowering switch 65 and is executed by continuously pressing the manual lowering switch 65. Therefore, the manual lowering switch 65 is a lowering switch that performs the lowering operation and has a function of starting the lowering operation and a function of continuing the lowering operation. The manual loading operation is started by pressing the manual loading switch 66 and is executed by continuously pressing the manual loading switch 66. Therefore, the manual loading switch 66 is a loading switch that performs the loading operation and has a function of starting the loading operation and a function of continuing the loading operation.

[0042] Furthermore, in this embodiment, the bumper main body 10 alone can also be moved by operating the bumper extension switch 67 or the bumper storage switch 68. The bumper extension switch 67 and the bumper storage switch 68 are switches that switch the electromagnetic valve that supplies hydraulic oil to the hydraulic cylinder 53 of the bumper movement mechanism 52.

[0043] When the bumper extension switch 67 is continuously pressed, the bumper main body 10 moves backward toward the traveling position. When the bumper main body 10 leaves the storage position, the storage detection means 55 becomes a non-detection state. When the bumper main body 10 moves backward and reaches the traveling position, the extension detection means 56 becomes a detection state. When the bumper storage switch 68 is continuously pressed, the bumper main body 10 moves forward toward the storage position. When the bumper main body 10 leaves the traveling position, the extension detection means 56 becomes a non-detection state. When the bumper main body 10 moves forward and reaches the storage position, the storage detection means 55 becomes a detection state.

[0044] Next, the operation of the loading and unloading device 26 and the like when loading the slide body 32 will be described.

[0045] When the material handling vehicle 1 is traveling, as shown in Fig. 2(a), the lift frame 30 is in a horizontal posture, and the slide body 32 is pulled up on the lift frame 30. The posture of the lift frame 30 is horizontal (landing state), and in the front-rear direction, it is at the position of the front end (initial position). Also, the slide body 32 is at the position of the front end (initial position). Since the lift frame 30 and the slide body 32 are in the initial positions, the initial position detection means 15 is in the on state. Since the lift frame 30 is in the landing state, the landing detection means 71 is in the on state.

[0046] Then, the slide body 32 is lowered to the ground by the loading and unloading device 26. The lowering operation is performed by sequentially executing the following steps. (1) Lift frame retraction step (slide body horizontal movement step linear movement operation) (2) First inclination step (first inclination operation) (3) Slide body lowering step (4) Second inclination step

[0047] (1) Lift frame retraction step (slide body horizontal movement step linear movement operation) The lift frame retraction step is a step of linearly moving the lift frame 30 backward in a horizontal posture by a hydraulic cylinder (not shown). The lift frame retraction step is also a horizontal movement operation (linear movement operation) of moving the slide body to the rear side of the vehicle part. The horizontal movement operation is a linear movement operation of linearly moving the slide body with respect to the vehicle part. When the lift frame 30 starts to retract, the initial position detection means 15 turns off, and instead, the retraction continuation detection means 70 turns on. As shown in Fig. 2(c), when the lift frame 30 retracts to a predetermined position, the retraction position detection means 16 detects this and turns on.

[0048] (2) First tilting step The first tilting step is the first tilting operation in the lowering operation. The first tilting step is a step of starting the hydraulic cylinder 35, operating the tilt mechanism 31, and tilting the lift frame 30 to a certain angle as shown in Fig. 3(d). When the first tilting step is started and the lift frame 30 tilts, the landing detection means 71 becomes off. When the lift frame 30 tilts to a predetermined angle as shown in Fig. 3(d), the tilt detection means 72 detects this and becomes on, stopping the tilt mechanism 31 (tilt of the lift frame 30).

[0049] (3) Slide body lowering step The slide body lowering step is a step of moving the slide body 32 along the lift frame 30 to the rear side of the vehicle and landing the rear end of the slide body 32 on the ground to let the slide body 32 slide down as shown in Fig. 3(e). When the front part of the slide body 32 reaches the rear end of the lift frame 30, the rearmost end detection means 17 detects this and becomes on, stopping the movement of the slide body 32 to the rear side of the vehicle.

[0050] (4) Second tilting step The second tilting step is a step of raising the lift frame 30 to the maximum angle and landing the entire bottom surface of the slide body 32 on the ground as shown in Fig. 3(f). The fact that the lift frame 30 has reached the maximum angle is detected by the tilt detection means 72. Then, the tread plate 37 is set in a horizontal posture, and the vehicle is loaded or unloaded.

[0051] The loading operation is performed by executing the above-described lowering operation in reverse order. That is, the loading operation is performed by sequentially executing the following steps. (1) First tilting return step (first tilting operation) (2) Slide body raising step (3) Second tilting return step (4) Lift frame forward movement step

[0052] (1) First tilt return process The first tilt process is the first tilt operation in the loading operation. The first tilt return process is a process of lowering the tilt angle of the lift frame 30 until the tilt detection means 72 is turned on from the state where the entire bottom surface of the slide body 32 as shown in Fig. 4(a) touches the ground, and separating the rear end of the lift frame 30 from the ground as shown in Fig. 4(b).

[0053] (2) Slide body lifting process The slide body lifting process is a process of moving the slide body 32 along the lift frame 30 to the front side of the vehicle as shown in Fig. 4(c), and placing the entire slide body 32 on the lift frame 30 as shown in Fig. 4(d).

[0054] (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 the horizontal position as shown in Fig. 4(e). When the lift frame 30 returns to the horizontal position, the landing detection means 71 switches to the on state.

[0055] (4) Lift frame forward movement process The lift frame forward movement process is a process of moving the lift frame 30 forward and returning the lift frame 30 to the initial position as shown in Fig. 4(f). When the lift frame 30 starts to move forward, the reverse position detection means 16 turns off, and the reverse continuation detection means 70 turns on. When the lift frame 30 and the slide body 32 return to the initial position, the initial position detection means 15 turns on. When the lift frame 30 returns to the initial position, the reverse continuation detection means 70 turns off.

[0056] Next, the automatic unloading operation of the loading and unloading vehicle 1 of the present embodiment will be described. In the automatic unloading operation, the loading and unloading device 26 and the bumper device 50 operate in cooperation. That is, in the automatic unloading operation, the loading and unloading device 26 and the bumper device 50 operate by a series of sequence controls. The remote controller 8 adopted in this embodiment has an automatic lowering switch 60. While the automatic lowering switch 60 is being continuously pressed, a series of bumper operations and lowering operations continue.

[0057] Before starting the automatic lowering operation, as shown in Fig. 2(a), the loading and unloading device 26 has returned to the initial position, and this state is detected by the initial position detecting means 15. Also, as shown in Fig. 2(a), the bumper body 10 is in a state where the hydraulic cylinder 53 has extended, and the bumper body 10 projects rearward and is in the traveling position. Therefore, the projecting detecting means 56 is in the detecting state. Also, the storing detecting means 55 is in the non-detecting state.

[0058] When lowering the slide body 32 to the ground, continuously press the automatic lowering switch 60. Hereinafter, the control of the automatic lowering operation will be described based on the flowchart of Fig. 7. As a prerequisite, an operator operates a PTO switch (not shown), the hydraulic pump rotates, hydraulic pressure is generated, and hydraulic oil can be supplied to each of the hydraulic cylinders 35 and 53 by opening and closing each solenoid valve. In step 1, wait for the automatic lowering switch 60 to be operated. When the operator presses the automatic lowering switch 60, the automatic lowering switch 60 is turned on, and the process proceeds to step 2.

[0059] In step 2, check the detection state of the storing detecting means 55 to confirm whether the bumper body 10 is in the storing position. Normally, at the start of the automatic lowering operation, since the bumper body 10 is in the traveling position, in most cases, step 2 results in NO, and the process proceeds to step 3. That is, in the automatic lowering operation, the operation of the loading and unloading device 26 is controlled to be in a state where it can be started on the condition that the storing detecting means 55 detects that the bumper body 10 is in the storing position. If the storing detecting means 55 is in the non-detecting state when the automatic lowering switch 60 is operated to start the lowering operation, the lowering operation will not start.

[0060] In step 3, the electromagnetic valve that supplies hydraulic oil to the hydraulic cylinder 53 of the bumper movement mechanism 52 is switched. As a result, the hydraulic cylinder 53 of the bumper movement mechanism 52 contracts, and the bumper body 10 moves to the front side of the vehicle part 5. Then, it proceeds to step 4 to determine whether a certain period of time has elapsed. If the certain period of time has not elapsed, it returns to step 2, and hereinafter, steps 3, 4, and 2 are repeated.

[0061] When the bumper body 10 moves to the front side, as shown in Fig. 2(b), the bumper body 10 reaches the storage position, and the storage detection means 55 detects that the bumper body 10 is in the storage position. As described above, on the condition that the storage detection means 55 detects that the bumper body 10 is in the storage position, it is controlled so that the operation of the loading and unloading device 26 can be started. Therefore, when the storage detection means 55 detects that the bumper body 10 is in the storage position, the start condition of the operation of the loading and unloading device 26 is satisfied.

[0062] When the storage detection means 55 detects that the bumper body 10 is in the storage position, step 2 becomes YES and proceeds to step 5 and below. In step 5 and below, a series of lowering operations are executed. That is, in step 6, the backward movement of the lift frame 30 is started. In this embodiment, the slide body 32 on the lift frame 30 also moves backward together with the lift frame 30, and a horizontal movement operation (linear movement operation) is performed. Then, in step 7, it is confirmed whether the lift frame 30 has reached the backward position. Specifically, the detection state of the backward position detection means 16 is confirmed. If the backward position detection means 16 is in the on state, step 7 becomes YES and proceeds to step 8.

[0063] In step 8, the first inclination process is executed, and the lift frame 30 is inclined to a certain angle. Subsequently, proceed to step 9, and the slide body lowering process is executed. Further, proceed to step 10, and the second inclination process is executed to lower the slide body 32 to the ground.

[0064] In this embodiment, since it is confirmed that the bumper body 10 is in the storage position at the initial stage of the automatic lowering operation, even if the first inclination process or the second inclination process is executed, the slide body 32 or the like will not contact the bumper body 10.

[0065] During the operation, if the operator releases the automatic lowering switch 60, the loading and unloading device 26 stops at that moment. When the operator presses the automatic lowering switch 60 again, from the stopped state, the above-described series of operations is restarted. That is, the operation of the loading and unloading device 26 has already started, and when the operator releases the automatic lowering switch 60, the movement of the loading and unloading device 26 is only temporarily stopped. Therefore, when the operator presses the automatic lowering switch 60 again, from the stopped state, the above-described series of operations is restarted. When the lowering operation is completed, step 11 becomes YES, and a series of automatic lowering operations ends.

[0066] If the storage detection means 55 does not detect that the bumper body 10 is in the storage position, in principle, the subsequent lowering operation does not start. According to this embodiment, since the loading and unloading device 26 is operated after confirming that the bumper body 10 has moved to the storage position, the slide body 32 or the like will not contact the bumper body 10. Particularly in this embodiment, after confirming that the bumper body 10 has moved to the storage position, the lift frame 30 retreats. In this embodiment, naturally, after confirming that the bumper body 10 has moved to the storage position, the lift frame 30 inclines. Therefore, the slide body 32 or the like will not contact the bumper body 10.

[0067] Also, in this embodiment, even though the operator continues to press the automatic lowering switch 60, if the state where the storage detection means 55 cannot detect that the bumper body 10 is in the storage position continues for a certain period of time, the process shifts from step 4 to step 5, and a series of lowering operations are started. The certain period of time is the time elapsed several seconds after the time (3 seconds to 10 seconds) from when the bumper body 10 starts to be stored until it is completed. For example, the certain period of time is about 4 seconds to 120 seconds.

[0068] The reason for adopting such a control method is to cope with malfunctions of the storage detection means 55 and the like. That is, if the lowering operation does not start during a certain period of time, the operating state of the bumper device 50 is checked as the normal behavior of an operator. And if the bumper body 10 has been sufficiently retracted toward the vehicle side, there will be no problem even if the lowering operation is started. Therefore, in this embodiment, sufficient time is ensured for the storage operation (shrinking of the cylinder) of the bumper to be completed and for the bumper to be expected to be stored, and if this time has elapsed, the lowering operation can be performed exceptionally. The start of the lowering operation when the storage detection means 55 cannot detect that the bumper body 10 is in the storage position may be automatically executed after the passage of time, or may be executed after the operator visually confirms the storage of the bumper by operating a confirmation switch or the like.

[0069] In the above-described embodiment, at the initial stage of the lowering operation, the position of the bumper body 10 is checked, and if the bumper body 10 is not in the storage position, the loading and unloading device 26 is not driven, and the lowering operation itself is not started. However, depending on the structure and mounting position of the bumper body 10, there may be cases where the bumper body 10 does not interfere even when the lift frame 30 retracts. There are also vehicle carriers that do not have the function of retracting the lift frame 30. For such a vehicle carrier, if the bumper body 10 has moved to the storage position before the inclination of the lift frame 30 starts, the slide body 32 or the like will not contact the bumper body 10.

[0070] Therefore, as shown in the flowchart of FIG. 8, before the first tilting process is started, the position of the bumper body 10 may be confirmed, and the first tilting process may be started on the condition that the bumper body 10 is in the storage position.

[0071] According to the flowchart shown in FIG. 8, in step 1, it waits for the automatic lowering switch 60 to be operated. When the automatic lowering switch 60 is pressed by the operator, it proceeds to step 2 and the lowering operation is started. That is, in step 3, the backward movement of the slide body 32 is started. And in step 4, it is confirmed whether the slide body 32 has reached the backward position. If the backward position detection means 16 is in the on state, step 4 becomes YES and it proceeds to step 5.

[0072] And in step 5, the detection state of the storage detection means 55 is confirmed, and it is confirmed whether the bumper body 10 is in the storage position. Steps 5, 6, and 7 in the flowchart shown in FIG. 8 are the same as flowcharts 2, 3, and 4 in FIG. 7. As described above, usually, at the start of the automatic lowering operation, since the bumper body 10 is in the traveling position, in many cases, step 5 becomes NO, and it proceeds to step 6 and the bumper body 10 moves to the front side of the vehicle part 5. That is, in the automatic lowering operation of the present embodiment, the tilting of the lift frame 30 becomes possible on the condition that the storage detection means 55 detects that the bumper body 10 is in the storage position.

[0073] When it is confirmed that the bumper body 10 is in the storage position, it proceeds to step 8 and below, and the first tilting process is executed, and the lift frame 30 tilts to a certain angle. Subsequently, it proceeds to step 9, and the slide body lowering process is executed. Further, it proceeds to step 10, and the second tilting process is executed and the slide body 32 is lowered to the ground.

[0074] Next, the control of the automatic loading operation will be described based on the flowchart of FIG. 9. In the control of the automatic loading operation, in step 1, it waits for the automatic loading switch 61 to be operated. When the operator presses the automatic loading switch 61, the automatic loading switch 61 is turned on, and the process proceeds to step 2.

[0075] In step 2, the storage detection means 55 determines whether the bumper body 10 is in the storage position. Normally, at the start of the automatic loading operation, since the bumper body 10 is in the storage position, in many cases, step 2 becomes YES, and the process proceeds to step 5, and the loading operation starts. If for some reason the storage detection means 55 cannot detect that the bumper body 10 is in the storage position, the process proceeds to step 3. That is, also in the automatic loading operation, the operation of the loading / unloading device 26 is controlled to be in a state where it can start on the condition that the storage detection means 55 detects that the bumper body 10 is in the storage position. When the automatic loading switch 61 is operated to start the loading operation, if the storage detection means 55 is in a non-detection state, the unloading operation is not started.

[0076] In step 3, the hydraulic cylinder 53 of the bumper moving mechanism 52 contracts, and the bumper body 10 moves to the front side of the vehicle part 5. Then the process proceeds to step 4, and it is determined whether a certain period of time has elapsed. If the certain period of time has not elapsed, the process returns to step 2, and hereinafter, steps 3, 4, and 2 are repeated.

[0077] If the bumper body 10 is in the storage position, step 2 becomes YES, and the process proceeds to step 5 and subsequent steps. In steps 5 and subsequent steps, a series of loading operations are executed. In step 6, the first inclination return process is executed. From the state where the entire bottom surface of the slide body 32 as shown in FIG. 4(a) is in contact with the ground, as shown in FIG. 4(b), the angle of the lift frame 30 is lowered, and the rear end of the lift frame 30 is separated from the ground.

[0078] In the subsequent step 7, the slide body lifting process is executed, and as shown in FIG. 4(c), the slide body 32 is moved along the lift frame 30 toward the front side of the vehicle. In the subsequent step 8, the second tilting return process is executed, and the angle of the lift frame 30 further decreases to return to the horizontal posture. In the subsequent step 9, the lift frame 30 moves forward. Then, the loading and unloading device 26 returns to the initial position, and the initial position detecting means 15 detects this.

[0079] As a result, step 10 becomes YES, and the process proceeds to step 11. In step 11, the on state of the automatic loading switch 61 is electrically self-held. As a result, even if the operator releases the hand from the automatic loading switch 61, the processes after step 11 continue. In the subsequent step 12, the electromagnetic valve that supplies hydraulic oil 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 extends, the bumper body 10 moves to the rear side of the vehicle part 5, and the bumper body 10 reaches the traveling position. Therefore, it is possible to prevent the cargo handling vehicle 1 from starting to move while the bumper body 10 is in the storage position. When the protrusion detecting means 56 detects that the bumper body 10 has reached the traveling position, step 13 becomes YES, and a series of automatic loading operations ends.

[0080] Even during the automatic loading operation, after confirming that the bumper body 10 is in the storage position, the loading and unloading device 26 is operated, so that the slide body 32 or the like does not contact the bumper body 10 during the loading process. Also, in step 2, before the lift frame 30 operates, after confirming that the bumper body 10 is in the storage position, the lift frame 30 is operated, so that the slide body 32 or the like does not contact the bumper body 10 during the loading process.

[0081] Even during the automatic loading operation, if the storage detection means 55 cannot detect that the bumper body 10 is in the storage position for a certain period of time despite the operator continuously pressing the automatic loading switch 61, the process shifts from step 4 to step 5, and a series of loading operations is started.

[0082] The material handling vehicle 1 of the present embodiment is provided with a bumper protrusion switch 67 and a bumper storage switch 68, and the bumper body 10 can also be moved by operating these switches. Also, in the material handling vehicle 1 of the present embodiment, the remote controller 8 is provided with a manual lowering switch 65 and a manual loading switch 66, and the loading and unloading of the slide body 32 can also be performed by operating these switches. That is, the manual lowering switch 65 can be operated to perform a manual loading and unloading operation. Also, the manual loading switch 66 can be operated to perform a manual loading operation.

[0083] Here, in the material handling vehicle 1 of the present embodiment, there are certain restrictions when starting the manual loading and unloading operation. Even in the manual loading and unloading operation, the operation of the loading and unloading device 26 can be started on the condition that the storage detection means 55 detects that the bumper body 10 is in the storage position. That is, in the present embodiment, when the manual lowering switch 65 is pressed and it cannot be confirmed that the bumper body 10 is in the storage position, the manual lowering switch 65 becomes invalid, and the loading and unloading device 26 does not operate. Based on the flowchart of FIG. 10, the control of the manual lowering operation will be described. In step 2, it is confirmed from the on / off state of the storage detection means 55 whether the bumper body 10 is in the storage position. If the bumper body 10 is not in the storage position, the subsequent operations are not performed and the process ends.

[0084] When the operator encounters this situation, the operator presses the bumper storage switch 68 to move the bumper body 10 forward to the storage position. Then, the storage detection means 55 is changed to the detection state. After that, when the manual lowering switch 65 is pressed again, Step 2 becomes YES, and the process proceeds to Step 3 to execute a series of lowering operations. When the lowering operation is completed, Step 8 becomes YES, and a series of manual lowering operations end.

[0085] Even in the manual lowering operation, the loading and unloading device 26 operates on the condition that the bumper body 10 is in the retracted position. Therefore, during the loading process, the slide body 32 or the like does not contact the bumper body 10.

[0086] There are similar restrictions at the start of the manual loading operation as well. That is, in this embodiment, when the manual loading switch 66 is pressed and it cannot be confirmed that the bumper body 10 is in the retracted position, the manual loading switch 66 becomes invalid, and the loading and unloading device 26 does not operate. Based on the flowchart of FIG. 12, the control of the manual loading operation will be described. At Step 2, it is confirmed from the on / off state of the storage detection means 55 whether the bumper body 10 is in the retracted position. If the bumper body 10 is not in the retracted position, the subsequent operations are not performed and the process ends.

[0087] When the operator encounters this situation, the operator presses the bumper storage switch 68 to move the bumper body 10 forward to the retracted position. Then, the storage detection means 55 is changed to the detection state. After that, when the manual loading switch 66 is pressed again, Step 2 becomes YES, and the process proceeds to Step 3 to execute a series of loading operations. When the initial position detection means 15 detects that the loading and unloading device 26 has returned to the initial position, Step 7 becomes YES, and a series of manual loading operations end.

[0088] Even in the manual lowering operation, the confirmation of whether the bumper body 10 is in the retracted position may be performed before the first inclination step. In the flowchart shown in FIG. 11, the position of the bumper body 10 is confirmed, and the first inclination step can be started on the condition that the bumper body 10 is in the storage position. In the control of the flowchart of FIG. 11, at step 4, the position of the bumper body 10 is confirmed. If the bumper body 10 is in the storage position, the process can proceed to the following steps. If the bumper body 10 is not in the storage position, wait until the bumper body 10 reaches the storage position.

[0089] Also in the manual lowering operation of the present embodiment, step 4 of FIG. 11 is before the first inclination step of step 5 and before the lift frame 30 starts to incline. Also in the control of the flowchart of FIG. 11, after confirming that the bumper body 10 is in the storage position, the lift frame 30 is inclined, so that in the process of loading, the slide body 32 or the like does not contact the bumper body 10.

[0090] In the control of the automatic lowering flowchart shown in FIGS. 7 and 8 and the control of the automatic loading flowchart shown in FIG. 9, if the storage detection means 55 cannot detect that the bumper body 10 is in the storage position for a certain period of time even though the operator continues to press the automatic lowering switch 60, a series of lowering operations or the like are unconditionally started. On the other hand, other conditions may be added to the conditions for starting the lowering operation or the like. Also, it may be configured to start the lowering operation or the like by satisfying requirements that replace the above-described conditions.

[0091] For example, a control may be adopted in which the lowering operation or the like is started on the condition that there is a history of operating the bumper storage switch 68 for a certain period of time to move the bumper body 10 to the storage position before operating the automatic lowering switch 60 or the automatic loading switch 61.

[0092] FIG. 13 is a flowchart showing control considering the history of whether the bumper storage switch 68 has been in the ON state for a certain period of time. For example, in step 01, the bumper storage switch 68 is turned on, and after going through the process that this state is maintained for a predetermined time in step 02, when reaching step 2 and only when it is necessary to check the detection state of the storage detection means 55, if the operator continues to press the automatic lowering switch 60, a series of lowering operations and the like will be started. The "predetermined time" in step 02 is based on the time required for the bumper body 10 to reach the storage position by turning on the bumper storage switch 68, and the "fixed time" in step 4 is based on the time required for the bumper body 10 to automatically reach the storage position. Therefore, it is desirable to set the "fixed time" in step 4 to be longer than the "predetermined time" in step 02.

[0093] Although not shown in the flowchart of FIG. 13, if the automatic lowering switch 60 is pressed without going through steps 01 and 02 and reaches step 2, and if the storage detection means 55 is off, the control is interrupted or terminated at that stage.

[0094] FIG. 14 is a flowchart showing control considering the history of whether the bumper storage switch 68 has been in the on state for a certain time in the manual loading and unloading operation. In step 01, if the storage switch 68 is not turned on, it proceeds to step 1, and waits for the automatic lowering switch 60 to be operated in the same manner as the above-described flowchart. There may also be a case where it reaches step 1 after going through steps 01 and 02.

[0095] When reaching step 2, the detection state of the storage detection means 55 is checked. If the storage detection means 55 is in the off state, it proceeds to step 03 and refers to the past history. If it has passed through step 02 before reaching step 2, it proceeds to step 3 and starts the lowering operation. If it has not passed through step 02 before reaching step 2, the control is terminated.

[0096] In the embodiment described above, as operation switches for operating the loading and unloading device 26, an automatic unloading switch 60, an automatic loading switch 61, a manual unloading switch 65, and a manual loading switch 66 are provided, but there may be switches for individually operating each part of the loading and unloading device 26. For example, the remote controller 8 may have the following switches. (1) A switch for moving the lift frame 30 backward. (2) A switch for moving the lift frame 30 forward. (3) A switch for swinging the lift frame 30 in a direction in which the inclination becomes stronger. (4) A switch for swinging the lift frame 30 in a direction in which the inclination becomes gentler. (5) A switch for lowering the slide body 32. (6) A switch for raising the slide body 32.

[0097] Even when operating each member by operating these switches, it is desirable to perform control such that the first tilting operation of the lift frame 30 can be started on the condition that the storage detection means has detected. Also, it is desirable to perform control such that the horizontal movement operation of moving the lift frame 30 to the rear side can be started on the condition that the storage detection means has detected.

[0098] In the embodiment described above, when performing not only the unloading operation but also the loading operation, control is incorporated such that the operation of the loading and unloading device 26 can be started on the condition that the storage detection means 55 has detected that the bumper body 10 is in the storage position, but this control may be adopted only in the case of the unloading operation.

[0099] In the embodiment described above, the bumper body 10 is driven by power such as a hydraulic cylinder 53, but the bumper body 10 may be moved manually. Even in this case, the storage detection means 55 is essential, and the loading and unloading device 26 is driven on the condition that the storage detection means 55 detects that the bumper body 10 is in the storage position.

[0100] When adopting a structure for manually moving the bumper body 10, it is desirable to provide a traveling position side locking mechanism for locking the bumper body 10 in the traveling position and a storage position side locking mechanism for locking the bumper body 10 in the storage position. Also, when adopting a structure for manually moving the bumper body 10, it is desirable to drive the storage position side locking mechanism with power such as a cylinder.

[0101] In the embodiment described above, a button switch is adopted as the remote control switch. The button switch adopted in the above-described embodiment is a kind of momentary switch, which is in an on state only while the operator is pressing it, and becomes off when the hand is released. However, the present invention is not limited to adopting this switch, and when an on-switch is operated once, an on state can be maintained until an off operation is performed (alternate switch), or a switch that electrically self-maintains the on state can also be adopted.

[0102] In the embodiment described above, as a horizontal movement operation for moving the slide body to the rear side of the vehicle part (moving the slide body backward with respect to the vehicle part), a lift frame retraction process for moving the slide body 32 backward by moving the lift frame 30 backward is performed. However, the horizontal movement operation may be a slide body retraction process for moving the slide body 32 backward with respect to the lift frame 30 without moving the lift frame 30. In the slide body retraction process in this case, the slide body 32 is moved backward by a chain or the like provided on the lift frame 30. When the slide body 32 retracts to a predetermined position, the retraction position detection means 16 detects the slide body 32 and becomes on, and the movement of the slide body 32 stops. The retraction position detection means 16 in this case may be provided at an intermediate position of the lift frame 30. The same applies to the forward movement process of the lift frame.

[0103] In the case of the loading vehicle 1 described above, during the lowering operation, (1) the lift frame backward movement process, (2) the first tilting process, (3) the slide body lowering process, and (4) the second tilting process are sequentially performed. However, it is not essential to execute all of these processes. For example, the lift frame backward movement process may be omitted. Also, the second tilting process may be omitted. The loading vehicle 1 described above completely lowers the slide body 32 to the ground and straightens the slide body 32 horizontally to perform loading and unloading of the vehicle. However, loading and unloading of the vehicle may be performed with the slide body 32 in an inclined state.

Explanation of symbols

[0104] 1 Loading vehicle 5 Vehicle part 6 Control device 8 Remote control 10 Bumper body 15 Initial position detection means 16 Backward position detection means 18 Loading device 26 Loading and unloading device 30 Lift frame 31 Tilt mechanism (tilting means) 32 Slide body 50 Bumper device 52 Bumper movement mechanism 55 Storage detection means 56 Protrusion detection means 60 Automatic lowering switch 61 Automatic loading switch 65 Manual lowering switch 66 Manual loading switch 67 Bumper protrusion switch 68 Bumper storage switch

Claims

1. A material handling vehicle having a vehicle part and a loading device, wherein the loading device is mounted on the vehicle part, the loading device includes a loading and unloading device and an operation switch for operating the loading and unloading device, the loading and unloading device includes a lift frame, an inclination means for performing an inclination operation for changing the angle of the lift frame, and a slide body that performs a linear movement along the lift frame, and it is possible to incline the lift frame and linearly move the slide body to land at least a part of the slide body on the ground, in a material handling vehicle capable of performing a lowering operation of lowering the slide body to the ground and a loading operation of pulling the slide body onto the vehicle part, it has a bumper device, and the bumper device has a bumper body, and the bumper body can be changed in position between a traveling position suitable for traveling and a retracted storage position, and can be changed in position between the traveling position and the storage position regardless of the operation of the operation switch, it has storage detection means for detecting that the bumper body is in the storage position, on the condition that the storage detection means detects that the bumper body is in the storage position, the linear movement operation and / or the inclination operation can be started, the operation switch is characterized in that it operates only the loading and unloading device among the loading and unloading device and the bumper device.

2. In the lowering operation, the inclination operation is performed a plurality of times, The material handling vehicle according to claim 1, characterized in that the first inclination operation can be started on the condition that the storage detection means detects.

3. The lowering operation includes a horizontal movement operation of moving the slide body to the rear side of the vehicle part and a first inclination step of inclining the lift frame performed in the horizontal movement operation, The material handling vehicle according to claim 1 or 2, characterized in that the horizontal movement operation can be started on the condition that the storage detection means detects.

4. There is a lowering switch for starting the lowering operation as the operation switch, When the lowering switch is operated to start the lowering operation, if the storage detection means does not detect that the bumper body is in the storage position, the lowering operation is not started, and automatically or on condition that another operation is added, provided that the operation of the lowering switch continues for a certain period of time, the cargo handling vehicle according to any one of claims 1 to 3, characterized in that the lowering operation is started.

5. There is a loading switch that performs the loading operation as the operation switch, The cargo handling vehicle according to any one of claims 1 to 4, characterized in that on condition that the loading operation is completed, the bumper body can be moved to the traveling position.

6. The bumper device moves the bumper body by power, The cargo handling vehicle according to any one of claims 1 to 5, characterized by having an extension switch for moving the bumper body to the traveling position and a storage switch for moving the bumper body to the storage position.

7. There is a lowering switch that starts the lowering operation as the operation switch, After the storage switch is operated for a predetermined time, when the lowering switch is operated to start the lowering operation, if the storage detection means does not detect that the bumper body is in the storage position, the lowering operation is started automatically or on condition that another operation is added, the cargo handling vehicle according to claim 6.

8. A loading device mounted on a vehicle, Having a loading and unloading device and an operation switch for operating the loading and unloading device, The loading and unloading device has a lift frame, an inclination means for performing an inclination operation for inclining the posture of the lift frame, and a slide body that performs a linear movement along the lift frame, and at least a part of the slide body can be landed on the ground, In a loading device capable of performing a lowering operation of lowering the slide body to the ground and a loading operation of pulling the slide body onto the vehicle part. It has a bumper device, and the bumper device has a bumper body which can be changed in position between a running position suitable for running and a retracted storage position, and can be changed in position between the running position and the storage position regardless of the operation of the operation switch. It has a storage detection means for detecting that the bumper body is in the storage position. On the condition that the storage detection means detects that the bumper body is in the storage position, the linear movement and / or the tilting operation can be started. The operation switch is a loading device characterized in that only the loading and unloading device among the loading and unloading device and the bumper device is operated.

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