Vehicle transport vehicle

Abstract

To provide a vehicle carrier that comprises a lift device for dumping a tilt frame, a body slidable on the tilt frame, a longitudinal driving device for forcibly sliding the body on the tilt frame, and a controller capable of controlling operation switching of the longitudinal driving device and the lift device on the basis of output of a remote control device and a sensor device, and that can grasp deviation movement information (that is, a movement direction and an amount of deviation movement) when the body is deviated and moved from a temporary stop position during temporary stop of body unloading or loading operation.SOLUTION: In a rotation amount sensor RS of a longitudinal driving device, a plurality of dog teeth of a sensor gear 71 is set to tooth forms and pitches such that an output pattern of a proximity sensor 70, which has detected those dog teeth, is periodically repeated in association with rotation of the sensor gear, and the tooth forms and pitches are different when the sensor gear rotates normally and reversely. A controller can calculate a rotation amount and determine a slide direction of the body on the basis of the output pattern.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a vehicle transporter, and more particularly to a vehicle transporter having a tilt frame supported at the rear of the vehicle body so that it can be dumped and moved back and forth, a lift device that forcibly dumps the tilt frame, a body having a vehicle loading section on which another vehicle can be placed and that can slide back and forth on the tilt frame, a chain-driven front-rear drive device that has a chain fixed to the body and forcibly slides the body on the tilt frame, a sensor device that detects the slide position of the body relative to the tilt frame, a remote control device that can command the execution and temporary suspension of operation of the front-rear drive device and lift device involved in the loading and unloading processes of other vehicles, and a control device that can control switching of operation of the front-rear drive device and lift device based on the outputs of the remote control device and the sensor device. [Background technology]

[0002] The above-mentioned vehicle transporter is conventionally known, as disclosed in Patent Document 1, for example, and in this known vehicle, a plurality of predetermined slide positions of the body relative to the tilt frame are directly detected using a plurality of limit switches each having a dog and a proximity sensor and provided between the body and the tilt frame. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3648075 Summary of the Invention [Problem to be solved by the invention]

[0004] In the vehicle transporter of Patent Document 1, the body unloading and loading operations are performed at any time by remote control operation, and if the remote control operation is stopped in the middle of the body unloading or loading operation, the body operation can be temporarily stopped.

[0005] However, if the body should shift from its temporary stop position for some reason (for example, if a worker touches the operating part of the hydraulic control valve for driving the body without operating the remote control during maintenance), it is difficult to easily determine the direction in which the body has shifted because there is no unloading or loading signal from the remote control device, which can reduce the accuracy of control performed after the process is resumed using the remote control.For example, if the body is temporarily stopped during the unloading process before a specific limit switch that determines the start of lifting the dump truck is detected, and the body shifts during the temporary stop and passes the detection position of the specific limit switch, the situation cannot be accurately determined, which could affect subsequent control.

[0006] Instead of or in addition to the method of directly detecting that the body has reached a predetermined sliding position using the limit switch, as in the vehicle transporter of Patent Document 1, an alternative is conceivable in which a rotation amount sensor detects the amount of rotation of a rotating shaft of the front and rear drive device that rotates in conjunction with the chain, and the sliding position of the body is detected based on that amount of rotation. In this case, a typical rotation amount sensor has been known in the art, for example, to have a structure including a sensor gear that has multiple dog teeth on its outer periphery and rotates in conjunction with the rotating shaft, and a proximity sensor that can detect the dog teeth. However, because the sensor gear of this known rotation amount sensor has multiple dog teeth with the same tooth width arranged at an equal pitch, it is difficult to determine the direction of rotation even if the amount of rotation can be detected.

[0007] Therefore, even in the above alternative, if the remote control operation is stopped midway through the body unloading or loading operation to temporarily halt the body operation and the body shifts from the temporary stop position for some reason, it is difficult for the rotation amount sensor to easily determine the direction in which the body has shifted. Therefore, when the temporarily stopped process is resumed by remote control operation, the control device will resume the process from a body position different from the body position it had determined before the temporary stop, which also reduces the accuracy of the control.

[0008] The present invention has been proposed in view of the above, and has as its object to provide a vehicle transporter that can solve the problems of the conventional structure. [Means for solving the problem]

[0009] In order to achieve the above object, the present invention provides a tilt frame supported on the rear of a vehicle body so as to be dumpable and movable forward and backward, a lift device that forcibly dumps the tilt frame, a body having a vehicle loading section on which another vehicle can be placed and slidable in the forward and backward directions on the tilt frame, a chain-driven longitudinal drive device having a chain fixed to the body and forcibly sliding the body on the tilt frame, a sensor device that detects the slide position of the body relative to the tilt frame, a remote control device that can command the execution and temporary suspension of operation modes of the longitudinal drive device and the lift device involved in the loading and unloading processes of other vehicles, and a remote control device that can command the execution and temporary suspension of operation of the longitudinal drive device and the lift device based on the outputs of the remote control device and the sensor device. a control device capable of controlling the chain, wherein the front and rear drive device has a rotating shaft that rotates in conjunction with the chain, and the sensor device includes at least a rotation amount sensor that can detect the rotation amount of the rotating shaft, the rotation amount sensor having a sensor gear that has a plurality of dog teeth arranged at intervals in the circumferential direction on its outer periphery and that rotates in conjunction with the rotating shaft, and a proximity sensor that can detect the dog teeth, the plurality of dog teeth are set to have a tooth shape and pitch such that an output pattern of the proximity sensor that detects the dog teeth is repeated periodically as the sensor gear rotates and is different between when the sensor gear is rotating forward and when it is rotating reversely, and the control device is capable of calculating the rotation amount and determining the rotation direction of the rotating shaft based on the output pattern of the proximity sensor.

[0010] In addition to the first feature, the present invention has a second feature in that the plurality of dog teeth having different tooth widths are arranged on the outer periphery of the sensor gear so as to have different arrangement patterns during forward and reverse rotation of the sensor gear.

[0011] Furthermore, in addition to the first or second feature, the present invention has a third feature in that, when the body shifts without operation of the remote control device while the body is temporarily stopped during the loading process or the unloading process, the control device has a means for calculating and storing the direction and amount of shift based on the output pattern, and is capable of determining, based on this memory, whether or not to return the body to the initial position of the temporary stop when the temporary stop is released, and, if it is determined that the body should be returned, is capable of controlling the longitudinal drive device so that the body returns to the initial position. [Effects of the Invention]

[0012] According to a first feature, in a vehicle transporter, a front-rear drive device that forcibly slides the body relative to the tilt frame has a rotating shaft for driving a chain, and a sensor device includes a rotation amount sensor that can detect the rotation amount of the rotating shaft, wherein the rotation amount sensor includes a sensor gear that has a plurality of dog teeth on its outer periphery and rotates in conjunction with the rotating shaft, and a proximity sensor that can detect the dog teeth, and the plurality of dog teeth are set to have a tooth shape and pitch such that the output pattern of the proximity sensor that detects them is repeated periodically as the sensor gear rotates and is different when the sensor gear is rotating forward and reverse, and the control device can calculate the rotation amount of the rotating shaft based on the output pattern of the proximity sensor and can determine the rotation direction of the rotating shaft. This means that if the body shifts from the pause position for some reason while the operation is temporarily stopped by remote control during unloading or loading of the body, the control device can accurately grasp information about the body's deviation from the pause position (i.e., the direction and amount of deviation) based on the characteristic output pattern of the proximity sensor, which is advantageous in improving the accuracy of process control after the pause is released.

[0013] According to a second feature, a plurality of dog teeth with different tooth widths are arranged on the outer periphery of the sensor gear in different arrangement patterns depending on whether the sensor gear is rotating forward or reverse, and the control device utilizes the fact that the arrangement pattern (i.e., the order) of pulses with different pulse widths output by the proximity sensor in accordance with the differences in the tooth widths of the plurality of dog teeth differs depending on whether the sensor gear is rotating forward or reverse, thereby enabling the control device to grasp the deviation movement information while the body is temporarily stopped. Moreover, the deviation movement information can be accurately grasped with a simple structure that simply differs the tooth widths of the plurality of dog teeth and arranges them in a specific arrangement pattern, which contributes to cost reduction.

[0014] According to a third feature, the control device has means for calculating and storing the direction and amount of displacement based on the output pattern of the proximity sensor when the body shifts while temporarily stopped during the loading or unloading process without operation of the remote control device, and is able to determine based on this memory whether or not to return the body to the initial position of the temporary stop when the temporary stop is released, and if it is determined that the body should be returned, is able to control the front and rear drive device so that the body returns to the initial position. This allows the control device to not only grasp information about the body's shift from the temporary stop position based on the characteristic output pattern of the proximity sensor when the body shifts while temporarily stopped without operation of the remote control, but also to determine based on this grasped information whether or not to return the body to the initial position of the temporary stop when the temporary stop is released, and if it is determined that the body should be returned, to easily and accurately return the body to the position immediately before the shift, thereby improving the control accuracy of the process that is resumed after the temporary stop is released. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is an overall side view of a vehicle transporter according to an embodiment of the present invention; [Figure 2] FIG. 1 is a perspective view showing an assembly of a tilt frame and a subframe equipped with a front-rear drive device and a lift device. [Figure 3] FIG. 3 is a perspective view of the subframe; [Figure 4] FIG. 3 is a perspective view of the tilt frame; [Figure 5] FIG. 3 is a plan view of the tilt frame; [Figure 6] Enlarged cross-sectional view of line 6-6 in Figure 5 [Figure 7] Enlarged cross-sectional view of line 7-7 in Figure 5 [Figure 8] Enlarged plan view of the area indicated by arrow 8 in Figure 5 [Figure 9] 9 arrow view of Figure 8 [Figure 10] 5A is an enlarged cross-sectional view taken along line 10A-10A in FIG. 5, (B) is an enlarged cross-sectional view taken along line 10B-10B in FIG. 5, and (C) is an enlarged cross-sectional view taken along line 10C-10C in FIG. 5. [Figure 11] 1A and 1B are longitudinal cross-sectional views of a pivotal connection portion of a lift device to a subframe, showing a state where the lift angle is 0 and a state where the lift angle is at its maximum. [Figure 12] Cross-sectional view of the main part of the hoist arm (cross-sectional view taken along line 12-12 in Figure 11(A)) [Figure 13] An explanatory diagram showing the process of unloading a vehicle transporter [Figure 14] (A) is an enlarged cross-sectional view of the portion indicated by the arrow 14A in FIG. 13(e), and (B) is an enlarged cross-sectional view of the portion indicated by the arrow 14B in FIG. 13(f). [Figure 15] Control block diagram of a vehicle loading device mounted on a vehicle transporter [Figure 16] Flowchart of the vehicle transporter unloading process (first control example) [Figure 17] Flowchart of the vehicle transporter loading process (first control example) [Figure 18] Flowchart of the vehicle transporter unloading process (second control example) [Figure 19] Flowchart of the vehicle transporter loading process (second control example) [Figure 20] 1 is a flowchart of an example of control for dealing with body slippage when a loading or unloading process is temporarily stopped. [Figure 21] FIG. 1 is a front view showing an example of a sensor gear in a rotation amount sensor; [Figure 22]10 is a timing chart showing an example of an output of an ON signal pulse of a proximity sensor, where (a) shows when the rotating shaft (sensor gear) is rotating forward, and (b) shows when the rotating shaft is rotating backward. [Figure 23] 10A and 10B are timing charts showing other examples of output of signal pulses from a proximity sensor, in which (a) shows an example of output of an OFF signal pulse, and (b) shows an example of output of a combination of an ON signal pulse and an OFF signal pulse. [Figure 24] FIG. 21 is a front view showing a modified example of the sensor gear. [Figure 25] A timing chart showing an example of an output of an ON signal pulse from a proximity sensor when the rotating shaft (sensor gear) of the modified example is rotating forward (corresponding to FIG. 22(a)). DETAILED DESCRIPTION OF THE INVENTION

[0016] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the accompanying drawings.

[0017] 1 to 15, a structural example of an embodiment will be described. The vehicle body F of the vehicle transporter V includes a chassis frame Fm that serves as the skeleton of the vehicle, extends in the fore-and-aft direction, and suspends front and rear wheels at the front and rear portions, and a subframe Fs that is fixed (for example, by welding or bolting) to the chassis frame Fm and extends in the fore-and-aft direction. The chassis frame Fm and the subframe Fs each have a pair of left and right vertical frames that extend in the fore-and-aft direction, and a plurality of horizontal frames that connect the vertical frames at intervals in the fore-and-aft direction, and are formed in a roughly ladder-like shape.

[0018] A pair of left and right roller support brackets 11 protrude from the horizontal frame at the rear end of the subframe Fs, and as is clear from Figure 7, a pair of left and right rollers 12 are rotatably supported on the roller support brackets 11. The roller support brackets 11 support the undersides of a pair of left and right vertical frames 21 of the tilt frame T (described later) so that they can slide back and forth.

[0019] The vehicle body F is equipped with a vehicle loading device A for loading and unloading other vehicles transported by a vehicle transporter V. This vehicle loading device A includes a tilt frame T supported at the rear of the vehicle body F so that it can be dumped and moved back and forth, a lift device L that forcibly dumps the tilt frame T, a body B having a vehicle loading section on which another vehicle V′ can be placed and that can slide in the fore-and-aft direction on the tilt frame T, a chain-transmission type longitudinal drive device D that has a chain 26 fixed to the body B and forcibly slides the body B on the tilt frame T, a sensor device S that detects the slide position of the body B relative to the tilt frame T, a remote control device R that can command the execution and temporary suspension of operation modes of the longitudinal drive device D and the lift device L involved in the loading and unloading process of the other vehicle V′, and a control device C that can control the longitudinal drive device D and the lift device L based on the outputs of the remote control device R and the sensor device S.

[0020] Next, specific examples of the vehicle loading device A will be described in order, mainly with reference to FIGS.

[0021] First, as is clear from Fig. 4, the tilt frame T is formed in a ladder shape having a pair of vertical frames 21 lined up at a distance from one another on the left and right, and a plurality of horizontal frames 22 that connect the vertical frames 21 at a distance from one another on the front and rear. Each vertical frame 21 is made up of a channel material with a U-shaped cross section with its opening facing outward, and rollers 33 (see Figs. 6 and 10), which will be described later and which are used to smoothly slide the front part of the body B on the tilt frame T back and forth, are rollably received within the vertical frame 21.

[0022] In addition, both ends of the rearmost horizontal frame 22 extend further outward than the vertical frame 21, and a pair of left and right roller support brackets 28 protrude from these extending portions. Guide rollers 29 (see Figures 4 and 7), which will be described later and are used to smoothly slide the body B back and forth on the tilt frame T, are rotatably supported on the roller support brackets 28.

[0023] Furthermore, a ground contact bracket 51 is provided in the middle of the rearmost horizontal frame 22, projecting downward, on the inner side of the guide roller 29. A ground contact roller 52 is rotatably supported on this ground contact bracket 51, for smoothly moving the lower rear end of the tilt frame T back and forth relative to the ground when the tilt angle of the tilt frame T is at its maximum and the body B is lowered to the ground (see Figures 13 and 14(B)).

[0024] A rotary drive shaft 23f for driving the chain 26 of the front-rear drive device D is rotatably supported at the front end of the tilt frame T, and a hydraulically operated motor M for driving the rotary drive shaft 23f is fixed coaxially with the rotary drive shaft 23f. The rotation speed of the motor M is adjusted by a hydraulic control circuit for motor drive so that it always remains constant in both forward and reverse directions.

[0025] The longitudinal drive device D comprises a pair of left and right front sprockets 24 fixed at a distance from each other in the middle of the rotary drive shaft 23f, a pair of left and right rear sprockets 25 rotatably supported on the rear end of the tilt frame T via rotary driven shafts 23r (see Figure 7) corresponding to the left and right front sprockets 24, a chain 26 wound between the front and rear sprockets 24, 25, and a connecting device J that connects the upper side of each chain 26 to the body B.

[0026] Thus, when the motor M rotates, the body B synchronizes with the movement of the upper side of the chain 26 linked thereto via the connecting device J, thereby allowing the body B to move forward and backward in accordance with the rotation of the motor M. In this case, the amount of rotation (i.e., the number of rotations, the rotation angle) of the rotary drive shaft 23f is proportional to the amount of sliding of the body B in the forward and backward directions relative to the tilt frame T. Therefore, if the amount of rotation of the rotary drive shaft 23f as a rotary shaft is detected by the rotation amount sensor RS, which will be described later, it becomes possible to detect the sliding distance of the body B from the forward limit relative to the tilt frame T.

[0027] The rotary drive shaft 23f is rotatably supported by bearing brackets 21b fixed to the front end of each vertical frame 21 of the tilt frame T. As is clear from Fig. 8, each bearing bracket 21b has a bracket base joined (e.g., bolted) to a front end wall plate 21a fixed (e.g., welded) to the front end of each vertical frame 21. In addition, rear end wall plates 21c are fixed (e.g., welded) to the rear ends of the left and right vertical frames 21, connecting them together.

[0028] Thus, the front end wall plate 21a engages with the roller 33 in a manner that allows it to approach or retract, and functions as a front stopper that determines the forward limit of the body B relative to the tilt frame T, and the rear end wall plate 21c engages with the roller 33 in a manner that allows it to approach or retract, and functions as a rear stopper that determines the backward limit of the body B relative to the tilt frame T.

[0029] 21, a sensor gear 71 is concentrically fixed to the right end of the rotary drive shaft 23f. The sensor gear 71 has multiple arrangements 7G of multiple dog teeth 7a, 7b, 7c arranged at a constant circumferential interval t. A proximity sensor 70 capable of detecting the approach of the dog teeth 7a, 7b, 7c of the sensor gear 71 is fixed to the end wall plate 21a of the right vertical frame 21, as shown in FIG. 8. The proximity sensor 70 outputs a pulsed detection signal that alternates between on and off every time the dog teeth 7a, 7b, 7c approach each other to the control device C. The control device C calculates the amount of rotation of the rotary drive shaft 23f, and therefore the sliding distance of the body B from the forward limit relative to the tilt frame T, based on, for example, the pulse width of the on signal (corresponding to the tooth width of the dog teeth 7a, 7b, 7c) and the width of the off signal (corresponding to the pitch interval t between the dog teeth 7a, 7b, 7c).

[0030] Thus, the sensor gear 71 and the proximity sensor 70 cooperate with each other to form the rotation amount sensor RS.

[0031] In the sensor gear 71 of this embodiment, the above-mentioned multiple dog teeth 7a, 7b, 7c are set to have tooth shapes and pitches such that the output pattern of the proximity sensor 70 that detects them is repeated periodically as the sensor gear 71 rotates and is different during forward and reverse rotation of the sensor gear 71. Meanwhile, the control device C can calculate the amount of rotation of the sensor gear 71 based on the output pattern of the proximity sensor 70 and can determine the sliding direction of the body B.

[0032] More specifically, as is clear from Figure 21, on the outer periphery of the sensor gear 71 of this embodiment, multiple dog tooth arrangement sets 7G are arranged side by side at the same pitch interval t, in which three dog teeth 7a, 7b, 7c with different tooth widths are arranged in order of tooth width size so that the arrangement pattern is different when the sensor gear 71 is rotating forward and reverse (in the illustrated example, the relationship between the size of the tooth widths of the dog teeth 7a, 7b, 7c is reversed).

[0033] The memory means of the control device C pre-stores the tooth widths of the dog teeth 7a, 7b, and 7c (i.e., the pulse widths of the ON signal pulses Pa, Pb, and Pc output by the sensor gear 71 according to the tooth widths) and the pitch interval t between the dog tooth arrangement sets 7G. As is clear from FIG. 22, the order of the ON signal pulses Pa, Pb, and Pc is reversed during forward rotation (a) and reverse rotation (b) of the rotary drive shaft 23f (and thus the sensor gear 71) as the rotating shaft. Based on this stored information and the output pattern of the proximity sensor 70, the control device C can calculate both the amount of rotation (i.e., the sliding position of the body B) and direction of rotation (i.e., the sliding direction of the body B) of the sensor gear 71.

[0034] Furthermore, the control device C is provided with means for calculating and storing information on the shifting movement, i.e., the direction and amount of shifting, based on the output pattern of the proximity sensor 70 when the body B slides, i.e., shifts, while the body B is temporarily stopped during the loading or unloading process, without the operation of the remote control device R. Based on this stored information, the control device C can determine whether or not to return the body B to the initial position of the temporary stop when the temporary stop is released, as will be described later, and if it determines that the body B should be returned, it can control the longitudinal drive device D so that the body B returns to the initial position of the temporary stop.

[0035] In the above determination, if there is a risk that the amount of deviation of body B during the temporary stop will exceed a predetermined limit, thereby reducing the accuracy of process control after the temporary stop is released (for example, if body B deviates too far rearward during the lowering process, making it impossible to lift the tilt frame T in the dump, or if it deviates too far forward, causing the timing of lifting the dump to be earlier), then the determination is to "return." If the control device C determines that there is no such risk, it does not perform a return operation for body B, but instead corrects the initial temporary stop position of body B stored at the time of temporary stop, taking into account the deviation information (i.e., the direction and amount of movement of the deviation) based on the stored information regarding the deviation of body B during the temporary stop.

[0036] Thus, while the loading process or unloading process of the other vehicle V' is being executed, the control device C calculates the movement distance of the body B from the forward limit based on the rotation amount detected by the rotation amount sensor RS, and when the movement distance reaches a predetermined distance, switches the operation of the front-rear drive device D and the lift device L in a control manner as will be described later. The detection result of the tilt angle sensor St is also taken into account in this operation switching as will be described later.

[0037] Next, an example of the body B will be described. The body B comprises a rectangular, flat-plate-shaped main body 31 whose upper surface serves as a vehicle loading area on which another vehicle V' (see FIG. 1) is placed, a gate-shaped guard frame 36 erected at the upper front end of the main body 31, and a gate hinge 37 journaled at the lower end of the main body 31 so as to be able to rise and fall. A clamp mechanism is interposed between the main body 31 and the gate hinge 37, which can rotate the gate hinge 37 between an upright position and a reclined position and can hold it in the upright position; however, as this is well known, a functional description thereof will be omitted.

[0038] Further, a receiving frame 33 is provided downwardly projecting from the underside of the main body 31, and the lower end of the receiving frame 33 is engageable with the guide roller 29 so as to be slidable back and forth on the guide roller 29. A pair of receiving frames 33, one on the left and one on the right, are arranged at positions corresponding to the guide rollers 29, and extend linearly in the front-to-rear direction.

[0039] 6 and 10, a pair of roller support brackets 32 on each side protrude downward from the underside of the front of the main body 31, and the upper parts of triangular movable support plates 34 are pivotally connected to these roller support brackets 32 so as to be able to rotate relative to each other. The rollers 33, which are housed in the vertical frame 21 so as to be able to roll and are aligned in the front and rear directions, are rotatably supported on the lower parts of the movable support plates 34, and contact-type proximity sensors 36 are provided to protrude downward between the pivot axes of the front and rear rollers 33.

[0040] 6 and 8, a pair of left and right connecting brackets 35 for connecting a chain protrude downward from the front underside of the main body 31, laterally centerward of the roller support brackets 32. One end and the other end of the chain 26 are pin-connected to the front and rear ends of a connecting block 38b, which is connected between each pair of connecting brackets 35 via a connecting pin 38p. Thus, in this embodiment, the connecting brackets 35, connecting block 38b, and connecting pin 38p constitute the connecting device J.

[0041] In addition, a ground contact roller 39 is rotatably supported at the rear end of the main body 31, and serves as the ground contact portion when the body B touches the ground in a rearwardly downward tilted position, thereby enabling the rear end of the body B to move smoothly backward on the ground in this tilted position.

[0042] Furthermore, the sensor device S includes first to fourth sensors LSf, LSm, and LSr that can directly detect the slide position of the body B and are independent of the rotation amount sensor RS.

[0043] The forward movement limit sensor LSf as a first sensor can detect the forward movement limit of the body B relative to the tilt frame T, and is composed of the proximity sensor 36 and a front dog df that can slidably engage with the detection portion of the proximity sensor 36. That is, at the same time that the body B reaches the forward movement limit, the detection portion of the proximity sensor 36 comes into sliding contact with the front dog df, and the proximity sensor 36 detects that the body B has reached the forward movement limit, and at the same time, a detection signal is output to the control device C.

[0044] The intermediate position sensor LSm also functions as a second sensor capable of detecting a dump lift start position where the tilt frame T is dumped upward while the body B is sliding rearward to lower it from the tilt frame T to the ground, and is composed of a proximity sensor 36 and an intermediate dog dm that is slidably engageable with the detection portion of the proximity sensor 36. That is, at the same time that the body B reaches the dump lift start position, the detection portion of the proximity sensor 36 slides into contact with the intermediate dog dm from its front end, and the proximity sensor 36 detects that the body B has reached the dump lift start position, and at the same time, a detection signal is output to the control device C.

[0045] The intermediate position sensor LSm also functions as a third sensor that can detect the dump lowering start position where the tilt frame T is dumped downward while the body B is sliding forward to be loaded from the ground onto the tilt frame T, and like the second sensor, it is composed of a proximity sensor 36 and an intermediate dog dm. However, at the same time that the body B reaches the dump lowering start position, the detection portion of the proximity sensor 36 comes into sliding contact with the intermediate dog dm from its rear end, and the proximity sensor 36 detects that the body B has reached the dump lowering start position, and at the same time, a detection signal is output to the control device C.

[0046] The reverse limit sensor LSr, which serves as a fourth sensor, is capable of detecting the reverse limit of the body B relative to the tilt frame T, and is composed of a proximity sensor 36 and a rear dog dr that is slidably engageable with the detection portion of the proximity sensor 36. That is, at the same time that the body B reaches the reverse limit, the detection portion of the proximity sensor 36 comes into sliding contact with the rear dog dr, and the proximity sensor 36 detects that the body B has reached the reverse limit, and at the same time, a detection signal is output to the control device C.

[0047] The front dog df is bolted to the front end of the tilt frame T (bearing bracket 21b in this embodiment), the middle dog dm to the middle part near the front end of the tilt frame T (bracket 21b' fixed to the underside of the middle part of the vertical frame 21 in this embodiment), and the rear dog dr to the rear end of the tilt frame T (bracket 21b'' fixed to the underside of the rear of the vertical frame 21 in this embodiment), each of which is positionally adjustable.

[0048] Thus, when a detection position that should be detected by any of the first to fourth sensors LSf, LSm, LSr is not detected by the rotation amount sensor RS but is detected by any of the sensors LSf, LSm, LSr, the control device C causes the notification means 80 to issue a notification as described below, and also when a detection position that should be detected by any of the sensors LSf, LSm, LSr is detected by the rotation amount sensor RS but not by any of the sensors LSf, LSm, LSr, the control device C causes the notification means 80 to issue a notification as described below.

[0049] Furthermore, when the rotation amount sensor RS detects a predetermined limit position where the body B has traveled a predetermined distance beyond the detection position that should be detected by any of the sensors LSf, LSm, and LSr, even though the detection position that should be detected by any of the sensors LSf, LSm, and LSr is not detected by the sensor, the control device C completely stops the front-rear drive device D and the lift device L, as described below.

[0050] The lift device L comprises a lift cylinder Lc, one end of which is pivotally connected p1 to a cylinder support bracket 14 fixed to the subframe Fs so as to be rotatable relative to the lift cylinder Lc, and a hoist arm 40, the middle of which is pivotally connected p2 to the other end of the lift cylinder Lc so as to be rotatable relative to the lift cylinder Lc. One end of the hoist arm 40 is pivotally connected p3 to a first arm support bracket 15 fixed to the subframe Fs so as to be rotatable relative to the lift cylinder Lc, and the other end of the hoist arm 40 is pivotally connected p4 to a second arm support bracket 27 fixed to the tilt frame T so as to be rotatable relative to the lift cylinder Lc.

[0051] The hoist arm 40 functions as a movable part whose angle changes more than the angle change of the tilt frame T when the lift device L is operated. An inclination angle sensor St that can detect the inclination angle of the hoist arm 40 as the movable part by itself (i.e., without needing a dog such as a proximity sensor) is fixed to the hoist arm 40. This inclination angle sensor St changes its posture relative to the vertical line (i.e., the direction in which gravity acts) when the hoist arm 40 tilts, and is configured to be able to detect the inclination angle of the hoist arm 40 by detecting the change in gravitational acceleration that accompanies this posture change.

[0052] The hoist arm 40 of this embodiment includes a pair of side plates 41 that sandwich the lift cylinder Lc from the left and right, and a top plate 42 that covers a space 43 sandwiched between the side plates 41 from above when the hoist arm 40 is in a traveling position. An inclination angle sensor St is installed on the inner surface of the hoist arm 40 facing the space 43, and a detection signal from the inclination angle sensor St is output to the control device C.

[0053] The hoist arm 40 also has a bottom plate 45 that covers the tilt angle sensor St and the space 43 around it from below and connects the left and right side plates 41 when in its traveling position (see Figures 11(A) and 12). This bottom plate 45 can prevent objects (e.g., pebbles, water, etc.) that are splashed up from below when the vehicle is traveling from coming into contact with the tilt angle sensor St, and also functions as a reinforcing material for the hoist arm 40.

[0054] The control device C stores as a reference value the detection value of the inclination angle sensor St when the tilt frame T, and therefore the hoist arm 40, is in the traveling posture (see FIGS. 13(a) and 13(b) described later), and further stores the detection value of the inclination angle sensor St corresponding to the inclination angle of the hoist arm 40 when the tilt frame T is at a predetermined intermediate angle, for example, 12 degrees (see FIGS. 13(c) to 13(e) described later), and the detection value of the inclination angle sensor St corresponding to the inclination angle of the hoist arm 40 when the tilt frame T is at its maximum inclination (see FIG. 13(f) described later). The control device C then calculates the inclination angle of the hoist arm 40 by comparing the reference value with the detection value, and can detect from the calculated inclination angle that the tilt frame T has reached a predetermined intermediate angle (for example, 12 degrees) or the maximum inclination angle. Therefore, the operation of the longitudinal drive device D and the lift device L is switched in a control manner described later, taking this detection result into consideration.

[0055] A proximity sensor 46 for detecting when the hoist arm 40 is at its maximum tilt is fixed to the first arm support bracket 15 on the subframe Fs, and this proximity sensor 46 detects this by engaging with a dog 42d fixed to the top plate 42 of the hoist arm 40 when the hoist arm 40 is at its maximum tilt, and outputs a detection signal to the control device C. Thus, the proximity sensor 46 and the dog 42d constitute a maximum tilt detection sensor LSt.

[0056] A control panel (not shown) incorporating a control device C including a microcomputer capable of controlling the operation of the longitudinal drive device D and the lift device L is installed in the driver's cab of the vehicle transporter V. This control panel is provided with, for example, a main switch SWm for turning the power on and off, a stop switch SWe for temporarily stopping the longitudinal drive device D and the lift device L, a lowering switch SWo for issuing a command to start a lowering process for lowering the body B from the tilt frame T to the ground, and a loading switch SWi for issuing a command to start a loading process for loading the body B from the ground onto the tilt frame T, so that these switches SWm, SWe, SWo, and SWi cooperate with one another to form the remote control device R described above, and are each connected to the control device C as is clear from FIG.

[0057] In particular, the unloading switch SWo in this embodiment is configured so that the unloading process is executed only when it is pressed, and that the unloading process is paused if the unloading switch SWo is released during execution. Similarly, the loading switch SWi is configured so that the loading process is executed only when it is pressed, and that the loading process is paused if the loading switch SWi is released during execution. Therefore, simply releasing the unloading switch SWo or the loading switch SWi during execution of a process can pause the unloading process or the loading process without relying on the stop switch SWe. Furthermore, if the unloading switch SWo or the loading switch SWi is pressed again while the unloading process or the loading process is paused as described above, the unloading process or the loading process can be resumed.

[0058] As a modification of the remote control device R of the above embodiment, the unloading switch SWo may be configured so that when pressed, the unloading process starts, and the unloading process continues to the end even if the switch is subsequently released. The loading switch SWi may also be configured so that when pressed, the loading process starts, and the loading process continues to the end even if the switch is subsequently released. In this modification, pressing the stop switch SWe during the execution of the unloading or loading process can temporarily halt the unloading or loading process, and pressing the unloading switch SWo or the loading switch SWi in this paused state can resume the unloading or loading process.

[0059] The control device C is also connected to the various sensors RS, LSf, LSm, LSr, and St described above, and receives their detection signals. The control device C is also connected to an electromagnetic motor drive hydraulic control valve Vm, which is provided in the on-board hydraulic control circuit to rotate the motor M forward and backward, an electromagnetic lift cylinder drive hydraulic control valve Vc, which is provided in the on-board hydraulic control circuit to extend and retract the lift cylinder Lc, and a warning lamp 80 (see FIG. 15) that serves as a warning means for warning of malfunctions of the sensors.

[0060] In addition, each of the hydraulic control valves Vm, Vc is provided with a conventional operating unit (not shown) that allows a worker to manually operate the valves independently of the remote control device R or the control device C, for example, during maintenance of the vehicle transporter V.

[0061] Incidentally, malfunctions of sensors can occur in the following ways: For example, in the rotation amount sensor RS, some of the dog teeth of the sensor gear 71 may be chipped, or the proximity sensor 70 may fail to detect some of the dog teeth (i.e., skipped teeth) due to vibration or shock of the tilt frame T. In addition to a malfunction of the proximity sensor 70 itself, a situation in which the attachment position of the proximity sensor 70 becomes misaligned may cause the dog teeth to become unable to be detected or to continue detecting them.

[0062] On the other hand, possible malfunctions of the forward limit sensor LSf, the intermediate position sensor LSm and the reverse limit sensor LSr include, for example, a failure of the proximity sensor 36 itself, a deviation in the mounting position of the proximity sensor 36, or deformation or deviation in the position of the dogs df, dm and dr, which causes the proximity sensor 36 to be unable to detect the dogs df, dm and dr or to detect them in a position different from the normal position.

[0063] As the notification means, a notification sound generator such as a notification buzzer or speaker may be used instead of or in addition to the notification lamp 80. The notification means may be provided in the control panel or outside the control panel.

[0064] Furthermore, the control panel may be provided in addition to the driver's cab, or in a suitable location on the vehicle exterior panel outside the driver's cab, or on the body B. At least the switches and notification means (notification lamp 80) of the control panel may be provided on a wired or wireless remote control device that can be separated from the control panel.

[0065] Next, the operation of the embodiment will be described.

[0066] In the vehicle loading device A of the vehicle transporter V, in its traveling posture, as shown in Figures 1 and 13(a), the tilt frame T is mounted in a prone position on the subframe Fs, and further, the body B, which is at the forward limit and in a prone position, is mounted on the tilt frame T. Then, another vehicle V' loaded on the body B can be transported by the vehicle transporter V.

[0067] The process of lowering the body B (and therefore the other vehicle V' thereon) from this traveling position to the ground is shown in time sequence in FIG.

[0068] To briefly outline the process, first, the forward rotation of the longitudinal drive device D causes the body B to slide rearward from the forward limit relative to the tilt frame T. When this sliding causes the movement distance of the body B from the forward limit to reach a predetermined distance as shown in Fig. 13(b), the rotation amount sensor RS detects this, and based on the detection result, the control device C stops the longitudinal drive device D and causes the lift device L to dump the tilt frame T upward together with the body B.

[0069] The reason why the tilt frame T is dumped up after the body B is moved backward a predetermined distance is to shift the center of gravity of the body B rearward, thereby reducing the load on the lift device L when the tilt frame T is dumped up around the guide rollers 12.

[0070] Then, as shown in Figure 13(c), when the tilt angle sensor St detects that the tilt angle of the tilt frame T has reached a predetermined intermediate angle, the control device C stops the lift device L based on the detection result and resumes the forward rotation of the front and rear drive device D, causing the body B to slide rearward again.

[0071] As the body B slides rearward, the rear end of the body B (more specifically, the ground contact roller 39) touches the ground as shown in FIG. 13(d), and thereafter the body B assumes a support state in which it is supported by both the ground and the tilt frame T, and in this support state the body B slides further rearward.

[0072] Then, when the body B reaches the backward limit relative to the tilt frame T as shown in Figure 13(e), this is detected by the backward limit sensor LSr, and based on the detection result, the control device C stops the front-rear drive device D and causes the lift device L to dump the tilt frame T upward again. Thereafter, when the tilt angle sensor St detects that the tilt frame T has reached the maximum tilt angle as shown in Figure 13(f), the control device C stops the lift device L based on the detection result. At this time, the ground contact roller 52 at the rear end of the tilt frame T is placed in a ground contact state, as is clear from Figure 14(B).

[0073] 13(d) to (f), it is possible to load or unload another vehicle V' onto or from the body B. When loading or unloading, the gate hinge 37 at the rear end of the body B is opened, and in this case, the gate hinge 37 functions as a gangway that allows the other vehicle V' to smoothly enter. In contrast, when performing the steps of FIG. 13(d) to (f) without loading or unloading the other vehicle V', the gate hinge 37 is held in the closed position because if it is left open, it may rub against the ground and be damaged.

[0074] In particular, in the state shown in FIG. 13(f), the body B, which is at the rearmost position relative to the tilt frame T, is in a substantially horizontal ground contact state, so that another vehicle V' can easily drive onto the body B.

[0075] The loading process from the state of FIG. 13(f) to the state of FIG. 13(a) can be carried out by reversing the procedure of the unloading process described above.

[0076] More specific control modes for the unloading process and loading process outlined above will be described with reference to the flowcharts in Figures 16 to 19. The flowcharts in Figures 16 and 17 correspond to a first control example in which proximity sensors (i.e., forward limit sensor LSf, intermediate position sensor LSm, and reverse limit sensor LSr) are used in addition to the rotation amount sensor RS to detect the forward / backward sliding position of the body B relative to the tilt frame T, while the flowcharts in Figures 18 and 19 correspond to a second control example in which only the rotation amount sensor RS is used to detect the forward / backward sliding position of the body B relative to the tilt frame T, without also using the proximity sensors (i.e., forward limit sensor LSf, intermediate position sensor LSm, and reverse limit sensor LSr).

[0077] The amount of rotation detected by the rotation amount sensor RS can be converted into the distance traveled by the body B from its forward limit, and in the following description of the control mode, this distance will be simply referred to as the "detection distance of the rotation amount sensor RS," with the unit of the number being millimeters.

[0078] In the case of an embodiment specialized in the second control example, the proximity sensors (that is, the forward limit sensor LSf, the intermediate position sensor LSm, and the reverse limit sensor LSr) are omitted from the control block diagram shown in FIG. [Unloading process according to the first control example] When the main switch SWm on the control panel is pressed and then the lowering switch SWo is pressed, in step S1 the motor M of the front and rear drive device D starts rotating forward, causing the body B to slide backward. Next, in step S2 it is determined whether the detection distance of the rotation amount sensor RS is 1100 or more, and if the result is YES, the process proceeds to step S3 to determine whether the intermediate position sensor LSm (second sensor) is ON.

[0079] If the answer is YES in step S3, the process proceeds to step S4 to determine whether the detected distance of the rotation amount sensor RS has reached the normal distance of 1,300. If the answer is YES, the process proceeds to step S5 to cancel the alarm operation, and then to step S6 to stop the motor M and extend the lift cylinder Lc. Next, the process proceeds to step S7 to determine whether the detected angle of the tilt angle sensor St has reached a predetermined intermediate angle (for example, the tilt angle of the body B is 12 degrees). If the answer is YES, the process proceeds to step S8 to stop the lift cylinder Lc and rotate the motor M forward again to slide the body B backward again. Next, the process proceeds to step S9 to determine whether the detected distance of the rotation amount sensor RS is 4,200 or more. If the answer is YES, the process proceeds to step S10 to determine whether the reverse limit sensor LSr (fourth sensor) is ON.

[0080] If the answer to step S10 is YES, the program proceeds to step S11 to determine whether the distance detected by the rotation amount sensor RS has reached the normal distance of 4400. If the answer is YES, the program proceeds to step S12 to cancel the alarm, and then to step S13 to stop the motor M and extend the lift cylinder Lc again. Next, the program proceeds to step S14 to determine whether the angle detected by the tilt angle sensor St has reached the maximum tilt angle. If the answer is YES, the program proceeds to step S15 to stop the lift cylinder Lc and end the program.

[0081] If the answer is NO in step S4, the process proceeds to step S21, where the notifying means 80 is activated to issue a notification and the detected distance of the rotation amount sensor RS is corrected to the normal distance 1300, after which the process returns to step S6.

[0082] If the answer is NO in step S11, the process proceeds to step S22, where the notifying means 80 is activated to notify and the detected distance of the rotation amount sensor RS is corrected to the normal distance of 4400, and then the process returns to step S13.

[0083] If the answer is NO in step S14, the process proceeds to step S23, where it is determined whether the maximum tilt detection proximity sensor LSt is ON. If the answer is YES in step S23, the process proceeds to step S15, and if NO, the process returns to step S14.

[0084] If the answer is NO in step S3, the process proceeds to step S31, where it is determined whether the distance detected by the rotation amount sensor RS has reached the normal distance of 1,300. If the answer is YES, the process proceeds to step S32, where the notification means 80 issues a notification, and then the process proceeds to step S33. In step S33, it is determined whether the distance detected by the rotation amount sensor RS has reached the limit distance of 1,500. If the answer is YES, the process proceeds to step S34, where the motor M and the lift cylinder Lc are completely stopped. Note that if the answer is NO in both step S31 and step S33, the process returns to step S3.

[0085] If the answer is NO in step S10, the process proceeds to step S36 to determine whether the distance detected by the rotation amount sensor RS has reached the normal distance of 4400, and if the answer is YES, the process proceeds to step S32 to activate the notification means 80, and then to step S37 to activate the notification means 80, and then to step S13. If the answer is NO in step S36, the process returns to step S10.

[0086] In the first control example of the unloading process described above, after step S32, the process proceeds to step S33, where it is determined whether a full stop is required. However, as another control example (not shown), a control mode can also be implemented in which the process proceeds from step S32 to step S6 without proceeding to step S33. In this other control example, even if it is determined in step S3 that the intermediate position sensor LSm has not detected anything, the process proceeds to step S6 immediately after causing the notification means 80 to issue a notification in step S32 in response to the rotation amount sensor RS detecting the normal distance 1300 in step S31, thereby continuing the subsequent processing procedure. Furthermore, steps S2 and / or S9 may be omitted. [Loading process according to the first control example] When the main switch SWm on the control panel is pressed and then the loading switch SWi is pressed, in step S101 the lift cylinder Lc begins to retract, dumping the tilt frame T downward. Next, in step S102 it is determined whether the tilt angle sensor St has reached an intermediate opening (for example, the tilt angle of the body B is 12 degrees). If the answer is YES, the process proceeds to step S103, where the lift cylinder Lc is stopped and the motor M of the front-rear drive device D is rotated in the reverse direction to slide the body B forward relative to the tilt frame T.

[0087] Next, proceed to step S104 to determine whether the detected distance of the rotation amount sensor RS is 1500 or less, and if so, proceed to step S105 to determine whether the intermediate position sensor LSm (second sensor) is ON. If so, proceed to step S106 to determine whether the detected distance of the rotation amount sensor RS has reached the normal distance of 1300, and if so, proceed to step S107 to cancel the alarm operation, and then proceed to step S108 to stop the motor M and retract the lift cylinder Lc.

[0088] Next, the process proceeds to step S109, where it is determined whether the angle detected by the tilt angle sensor St has reached the minimum angle (for example, 0 degrees), and if the result is YES, the process proceeds to step S110, where the lift cylinder Lc is stopped and the motor M is rotated in the reverse direction again to slide the body B forward again. Thereafter, the process proceeds to step S111, where it is determined whether the distance detected by the rotation amount sensor RS has fallen below 200, just before the forward limit, and if the result is YES, the process proceeds to step S112, where it is determined whether the forward limit sensor LSf (first sensor) is ON.

[0089] If the answer is YES in step S112, the process proceeds to step S113, where the lift cylinder Lc is stopped, and the process ends.

[0090] If the answer is NO in step S106, the process proceeds to step S121, where the notifying means 80 is activated to notify and the detected distance of the rotation amount sensor RS is corrected to the normal distance 1300, after which the process returns to step S108.

[0091] If the answer is NO in step S105, the process proceeds to step S131, where it is determined whether the distance detected by the rotation amount sensor RS is equal to or less than the normal distance of 1,300. If the answer is YES, the process proceeds to step S132, where the alarm means 80 issues an alarm, and then the process proceeds to step S133. In step S133, it is determined whether the distance detected by the rotation amount sensor RS is equal to or less than the limit distance of 1,000. If the answer is YES, the process proceeds to step S134, where the motor M and the lift cylinder Lc are completely stopped. Note that if the answer is NO in both steps S131 and S133, the process returns to step S105.

[0092] In the above loading process, after step S132, the process proceeds to step S133 where it is determined whether a full stop is required. However, as another control example (not shown), it is also possible to proceed from step S132 to step S108 without proceeding to step S133. In this other control example, even if it is determined in step S105 that the intermediate position sensor LSm has not detected anything, the notification means 80 is activated in step S132 in response to the rotation amount sensor RS detecting the normal distance 1300 in step S131, and then the process immediately proceeds to step S108, thereby continuing the subsequent processing procedures. Furthermore, steps S104 and / or S111 may be omitted. [Unloading process according to the second control example] When the main switch SWm on the control panel is pressed and then the lowering switch SWo is pressed, in step S201 the motor M of the longitudinal drive unit D starts rotating forward, sliding the body B backward. Next, in step S202, it is determined whether the distance detected by the rotation amount sensor RS has reached the normal distance of 1300. If the result is YES, the process proceeds to step S203, where the motor M is stopped and the lift cylinder Lc is extended.

[0093] Next, the process proceeds to step S204 to determine whether the angle detected by the tilt angle sensor St has reached a predetermined intermediate angle (for example, the tilt angle of the body B is 12 degrees). If the answer is YES, the process proceeds to step S205 to stop the lift cylinder Lc and rotate the motor M forward again to slide the body B backward again. Thereafter, the process proceeds to step S206 to determine whether the distance detected by the rotation amount sensor RS has reached the normal distance of 4400. If the answer is YES, the process proceeds to step S207 to stop the motor M and extend the lift cylinder Lc again.

[0094] Thereafter, the process proceeds to step S208, where it is determined whether the angle detected by the tilt angle sensor St has reached the maximum tilt angle. If the answer is YES, the process proceeds to step S209, where the lift cylinder Lc is stopped, and the process ends. [Loading process according to the second control example] When the main switch SWm on the control panel is pressed and then the loading switch SWi is pressed, in step S211 the lift cylinder Lc begins to retract, dumping the tilt frame T downward. Next, in step S212 it is determined whether the tilt angle sensor St has reached an intermediate opening (for example, the tilt angle of the body B is 12 degrees). If the answer is YES, the process proceeds to step S213, where the lift cylinder Lc is stopped and the motor M of the front-rear drive device D is rotated in the reverse direction, causing the body B to slide forward relative to the tilt frame T.

[0095] Next, the process proceeds to step S214, where it is determined whether the distance detected by the rotation amount sensor RS has reached the normal distance 1300. If the answer is YES, the process proceeds to step S215, where the motor M is stopped and the lift cylinder Lc is extended again.

[0096] Next, the program proceeds to step S216 to determine whether the angle detected by the tilt angle sensor St has reached a minimum angle (e.g., 0 degrees). If the answer is YES, the program proceeds to step S217 to stop the lift cylinder Lc and reverse the motor M again to slide the body B forward again. Thereafter, the program proceeds to step S218 to determine whether the detected distance by the rotation amount sensor RS has reached 0. If the answer is YES, the program proceeds to step S219 to stop the lift cylinder Lc and end the program. [Example of control to deal with body misalignment during temporary stoppage of process] However, if the body B should shift during the unloading process or the loading process while the process is temporarily stopped by the remote control device R, the shifting movement may affect the control when the process is resumed by remote control operation after the temporary stop is released. Therefore, in this embodiment, an example of control by the control device C corresponding to the body shifting movement is executed, as shown in the flowchart of Fig. 20. Next, this control example will be described.

[0097] First, when an operator stops remote control operation to temporarily suspend the unloading or loading process during execution of the process, the process proceeds to step S301, where the process being executed (and therefore body B) is placed in a temporary suspension state. Next, the process proceeds to step S302, where it is determined whether remote control operation has been resumed to release the temporary suspension. If not resumed, the process proceeds to step S303, where it is determined whether body B has shifted during the temporary suspension. If not, the process returns to step S301.

[0098] If it is determined in step S303 that body B is shifting during the temporary stop, the process proceeds to step S304, where the output pattern of the rotation amount sensor RS (proximity sensor 70) during the shifting is read into the storage means of the control device C, and then the process proceeds to step S305. In step S305, it is determined whether the shifting of body B has ended, and if it has ended, the process returns to step S301, and if it has not ended, the process returns to step S304 and continues reading the output pattern.

[0099] Furthermore, if it is determined in step S302 that the remote control operation has been resumed to release the pause, the process proceeds to step S306, where it is determined whether a shift in movement of body B occurred during the pause (i.e., whether there was a reading history of the output pattern during the pause), and if a shift in movement has occurred, the process proceeds to step S307, where the control device C calculates the shift in movement information of body B (i.e., the direction and amount of movement of body B) based on the reading history of the output pattern during the pause.

[0100] Next, the process proceeds to step S308, where it is determined from the calculation result of the deviation movement information whether it is necessary to return body B to its original pause position (i.e., the initial position of the pause) when the pause is released. If it is determined that body B does not need to be returned, the process proceeds to step S309. Then, in this step S309, the original pause position of body B stored in the storage means of control device C is corrected based on the calculation result of the deviation movement information so as to be corrected to the actual position (i.e., the position after the deviation movement). Thereafter, the process proceeds to step S310, where the process that was paused is resumed.

[0101] However, if it is determined in step S308 from the calculation result of the deviation movement information that it is necessary to return body B to the original temporary stop position (i.e., the initial position of the temporary stop), the process proceeds to step S311. In step S311, the longitudinal drive device D (motor M) is operated and controlled based on the calculation result of the deviation movement information to return body B to the original temporary stop position, and after the return movement, the process proceeds to step S310, where the process during the temporary stop is resumed.

[0102] In step S311, while the body B is returning to its original position, the notification means 80 or another notification means may notify or warn the user of the fact.

[0103] According to the embodiment described above, the longitudinal drive device D, which forcibly slides the body B relative to the tilt frame T, has a rotary drive shaft 23f as a rotary shaft for driving the chain 26, and the rotation amount of the rotary drive shaft 23f is detected by the rotation amount sensor RS. Based on this detected rotation amount, the movement distance of the body B from the forward limit is calculated, and the operation of the longitudinal drive device D and the lift device is switched when the movement distance reaches a predetermined distance. Therefore, the movement distance of the body B from the forward limit can be precisely detected by the rotation amount sensor RS, and the operation is switched appropriately based on the detection result.

[0104] This makes it possible to effectively reduce the risk of missed detection due to vibrations, shocks, etc. that the tilt frame T receives while the body B is sliding (and therefore the risk that the above-mentioned operation switching will not be performed), compared to the conventional structure in which multiple limit switches (proximity switches) are used to pinpoint multiple operation switching positions. Therefore, for example, this is effective in preventing the inconvenience of body B sliding backward to the reverse limit without dumping due to missed detection during the unloading operation of body B, or the inconvenience of body B sliding forward to the forward limit while still in the dumped state due to missed detection during the loading operation of body B.

[0105] In addition to the rotation amount sensor RS, the sensor device S of the embodiment includes a forward limit sensor LSf as a first sensor that detects the forward limit of the body B, an intermediate position sensor LSm as a second sensor that detects the dump lift start position while the body B is sliding backward to be lowered, an intermediate position sensor LSm as a third sensor that detects the dump lower start position while the body B is sliding forward to be loaded from the ground, and a backward limit sensor LSr as a fourth sensor that detects the backward limit of the body B.

[0106] Then, when a detection position that should be detected by any of the first to fourth sensors LSf, LSm, LSr is not detected by the rotation amount sensor RS but is detected by any of the sensors LSf, LSm, LSr, as is clear from the first control example (step S21 in FIG. 16 and step S121 in FIG. 17), the control device C operates the notification means 80 to issue a notification. As a result, a notification is issued in a situation where the detection results of any of the first to fourth sensors LSf, LSm, LSr and the rotation amount sensor RS do not match, particularly in a situation where the detection position is not detected by the rotation amount sensor RS but is detected by any of the first to fourth sensors LSf, LSm, LSr, making it easier to find a malfunction of the rotation amount sensor RS.

[0107] Furthermore, even if the above-mentioned detection position is detected by rotation amount sensor RS but not by any of the above-mentioned sensors LSf, LSm, LSr, as is clear from the first control example (step S32 in FIG. 16 and step S132 in FIG. 17), the control device C operates the notification means 80 to issue a notification. As a result, a notification is issued in a situation where the detection results of any of the first to fourth sensors LSf, LSm, LSr and rotation amount sensor RS do not match, particularly in a situation where the above-mentioned detection position is detected by rotation amount sensor RS but not by any of the first to fourth sensors LSf, LSm, LSr, making it easier to find a malfunction in any of the first to fourth sensors LSf, LSm, LSr.

[0108] Furthermore, in particular, when the above-mentioned detection position is not detected by any of the first to fourth sensors LSf, LSm, and LSr, but the rotation amount sensor RS detects a predetermined limit position where the body B has traveled a predetermined distance beyond the detection position, as is clear from the first control example (steps S33 and S34 in FIG. 16, steps S133 and S134 in FIG. 17), it is determined that a malfunction has occurred in either one of the first to fourth sensors LSf, LSm, and LSr or the rotation amount sensor RS, and the longitudinal drive device D and the lift device are automatically stopped. As a result, for example, even in a situation where any of the first to fourth sensors LSf, LSm, and LSr misses the detection position and the body B slides excessively, the longitudinal sliding movement of the body B and the tilting movement of the tilt frame T can be automatically stopped, further improving work safety.

[0109] The lift device L of this embodiment has a hoist arm 40 as a movable part whose angle changes more than the angle change of the tilt frame T when it is operated, and a tilt angle sensor St is installed on the hoist arm 40 to detect the tilt angle of the hoist arm 40 from changes in gravitational acceleration.When the control device C detects that the tilt angle of the tilt frame T is a predetermined angle from the detected angle of the tilt angle sensor St, it switches the operation of the front / rear drive device D and the lift device.

[0110] As a result, when the tilt frame T is dumped by the lift device L, the inclination angle sensor St can detect the inclination angle of the hoist arm 40, which changes more than the angle change of the tilt frame T, based on changes in gravitational acceleration, and from this detected angle, it can be accurately detected that the inclination angle of the tilt frame T is the predetermined angle at which the above-mentioned operation switching should be performed. Moreover, because the inclination angle sensor St only needs to be attached to the hoist arm 40, the attachment work is greatly simplified compared to conventional structures using proximity sensors having two parts, a dog and a sensor body, and fine adjustment of the two parts is also unnecessary. As a result, the advantages of the inclination angle sensor St that utilizes changes in gravitational acceleration can be utilized while overcoming its disadvantages, making it possible to detect the inclination angle of the tilt frame T with sufficient accuracy.

[0111] Furthermore, the hoist arm 40 of this embodiment is equipped with a pair of side plates 41 that sandwich the lift cylinder from the left and right, and a top plate 42 that covers a space 43 sandwiched between the side plates 41 from above when the hoist arm 40 is in the traveling position, and since the inclination angle sensor St is installed on the inner surface of the hoist arm 40 facing the space 43, the top plate 42 and both side plates 41, which are used to ensure the strength of the hoist arm 40, can also be used as rain covers for the inclination angle sensor St. This eliminates the need for a dedicated rain cover to cover the inclination angle sensor St, thereby reducing costs.

[0112] 6 and 7, the vertical frame 21 of the tilt frame T is mounted on the guide rollers 29 pivotally supported at the rear of the subframe Fs and on the horizontal frame at the front of the subframe Fs so that it can be moved toward or away from the tilt frame T. This makes the tilt frame T prone to vibration and shock, and therefore the tilt angle also prone to fluctuation. In contrast, the lift cylinder Lc and hoist arm 40 of the lift device L have their base ends pivotally connected p1, p3 to the subframe Fs, so their respective tilt angles are less likely to fluctuate. Therefore, the tilt angle sensor St fixed to the hoist arm 40 can detect the tilt angle more accurately than an inclination angle sensor having a proximity sensor mounted on the tilt frame T.

[0113] In the embodiment, the front-rear drive device D that forcibly slides the body B relative to the tilt frame T has a rotary drive shaft 23f for driving the chain 26, and a rotation amount sensor RS that can detect the rotation amount of the rotary drive shaft 23f is equipped with a sensor gear 71 that has a plurality of dog teeth 7a, 7b, 7c on its outer periphery and rotates in conjunction with the rotary drive shaft 23f, and a proximity sensor 70 that can detect the dog teeth 7a, 7b, 7c. In particular, the plurality of dog teeth 7a, 7b, 7c are set to have a tooth shape and pitch such that the output pattern of the proximity sensor 70 that detects them is repeated periodically as the sensor gear 71 rotates and is different when the sensor gear 71 is rotating forward and reverse. The control device C can calculate the rotation amount of the rotary drive shaft 23f, i.e., the sensor gear 71 (i.e., the sliding amount of the body B) based on the output pattern of the proximity sensor 70, and can calculate and determine the rotation direction (i.e., the sliding direction of the body B).

[0114] If the body B deviates from the temporary stop position for some reason while the process is temporarily stopped by remote control operation during the unloading or loading process of the body B, the control device C can accurately recognize information about the deviation of the body B from the initial temporary stop position (i.e., the direction and amount of deviation) based on the characteristic output pattern of the proximity sensor 70. Therefore, by utilizing this deviation information, it is possible to improve the accuracy of process control after the temporary stop is released. Next, the effects thereof will be specifically described.

[0115] That is, in this embodiment, multiple dog teeth 7a, 7b, and 7c with different tooth widths are arranged on the outer periphery of the sensor gear 71 so that their arrangement order differs between forward and reverse rotation of the sensor gear 71 (see FIG. 21). Therefore, the arrangement pattern, i.e., the order, of pulses Pa, Pb, and Pc with different pulse widths output by the proximity sensor 70 in response to the difference in tooth width of each dog tooth 7a, 7b, and 7c differs between forward and reverse rotation of the sensor gear 71, as is clear from FIG. 22 (i.e., the order is reversed). The control device C can recognize the above-mentioned deviation movement information of the body B by utilizing the fact that the arrangement pattern of pulses with different pulse widths output by the proximity sensor 70 in response to the difference in tooth width of each dog tooth 7a, 7b, and 7c differs between forward and reverse rotation. Moreover, the deviation movement information can be accurately recognized with a simple structure that simply differs the tooth widths of the dog teeth 7a, 7b, and 7c and arranges them in a specific pattern, which contributes to cost reduction.

[0116] Furthermore, the control device C of the embodiment has a memory means for storing information on the shifting movement (i.e., the direction and amount of the shifting movement, specifically the direction and amount of rotation of the rotary drive shaft 23f) even if the body B shifts during the pause of the above process without the operation of the remote control device R, and based on this memory, it is possible to determine whether or not to return the body B to the initial pause position when the pause is released (see step S308 above), and if it is determined that the body B should be returned, it is possible to control the longitudinal drive device D so that the body B returns to the initial pause position (see step S311 above).

[0117] In this way, when the body B shifts without remote control operation during the temporary stop, the control device C can not only recognize information about the shifting movement of the body B based on the characteristic output pattern of the proximity sensor 70, but also determine, based on the recognized information, whether or not to return the body B to the initial temporary stop position when the temporary stop is released. Moreover, if it is determined that the body B should be returned, the control device C can easily and accurately return the body B to the initial temporary stop position, thereby improving the control accuracy of the process that is resumed after the temporary stop is released.

[0118] In the above embodiment, multiple (eight) dog tooth arrangement sets 7G are shown, each having three dog teeth 7a, 7b, and 7c with different tooth widths arranged in different arrangement patterns (i.e., arranged in order of tooth width size) at the same pitch interval t, but the number of dog teeth per dog tooth arrangement set 7G may be four or more. Alternatively, the number of dog tooth arrangement sets 7G provided on one sensor gear 71 is not limited to that in the embodiment, and in particular in the case of a dog tooth arrangement set 7G having a large number of dog teeth with different tooth widths, the number may be fewer than in the embodiment, for example, just one set.

[0119] Furthermore, the output pulse signal of the sensor gear 71 that detects the multiple dog teeth 7a, 7b, 7c may be an output pattern of only ON signals with different pulse widths as in the above embodiment, or may be an output pattern of only OFF signals with different pulse widths as shown in Figure 23(a').

[0120] Alternatively, the output pattern may be a combination of ON signals and OFF signals, as shown in FIG. 23(a''). In this case, the number of dog teeth with different tooth widths per dog tooth arrangement set 7G can be two, as in the illustrated example. That is, by combining the pulse width of the ON signal (the widths of "large" and "small" in the example of FIG. 23(a'')) and the pulse width of the OFF signal (similarly the width of "medium"), even if there are two dog teeth with different tooth widths, it is possible to distinguish and recognize the output pattern during forward rotation of the sensor gear 71 and the output pattern during reverse rotation, and to determine the direction of rotation.

[0121] 24 shows a modified example of the sensor gear 71 of the above-described embodiment. In this modified example, instead of a set of multiple dog teeth 7a, 7b, 7c with different face widths like the dog tooth arrangement set 7G of the sensor gear 71 of the above-described embodiment, a set of smaller dog teeth 7a', 7b', 7c' with the same face width is used, the number of which corresponds to the size of the face width of the dog teeth 7a, 7b, 7c.

[0122] In this modified example, the groups 7Ga, 7Gb, 7Gc of small dog teeth 7a', 7b', 7c' are arranged at regular intervals t" in the circumferential direction. In particular, in the small dog tooth groups 7Ga, 7Gb each having a plurality of small dog teeth 7a', 7b', the small dog teeth 7a', 7b' are arranged at the same small pitch intervals t' which are smaller than the regular intervals t". The other configurations of the modified example are the same as those of the vehicle transporter V of the above embodiment.

[0123] Therefore, in this modified example, the control device C can recognize information about the deviation of the body B from the temporary stop position (i.e., the direction and amount of deviation) by utilizing the fact that the periodic generation pattern of the small pulses Pa', Pb', Pc' (in other words, the number of output pulses corresponding to each small dog tooth assembly 7Ga, 7Gb, 7Gc) that are output in small increments when the proximity sensor 70 detects the small dog teeth 7a', 7b', 7c' of each assembly 7Ga, 7Gb, 7Gc is different when the sensor gear 71 is rotating forward and reverse, as is clear from Figure 24.

[0124] Although the embodiment of the present invention has been described above, the present invention is not limited to this embodiment, and various embodiments can be implemented within the scope of the present invention.

[0125] For example, in the above embodiment, the control device C activates the alarm means 80 to issue an alarm in either the first case where a detection position that should be detected by any of the first to fourth sensors LSf, LSm, LSr is not detected by the rotation amount sensor RS but is detected by one of the sensors LSf, LSm, LSr, or the second case where the detection position is detected by the rotation amount sensor RS but not by any of the sensors LSf, LSm, LSr. However, in the present invention, the alarm may be activated in the first case but not in the second case, or conversely, the alarm may be activated in the second case but not in the first case.

[0126] In addition, in the above embodiment, the intermediate position sensor LSm is shown as being used both as the second sensor (i.e., a sensor capable of detecting the dump lift start position where the tilt frame T is dumped upward during the sliding process of the unloading process) and the third sensor (i.e., a sensor capable of detecting the dump lowering start position where the tilt frame T is dumped downward during the sliding process of the loading process), but the second and third sensors may also be implemented as separate sensors.

[0127] In the above embodiment, the forward limit sensor LSf is used as the first sensor, the intermediate position sensor LSm is used as the second and third sensors, and the reverse limit sensor LSr is used as the fourth sensor. However, it is also possible to implement another embodiment in which all of these sensors LSf, LSm, and LSr are omitted (i.e., the second control example shown in FIGS. 18 and 19), or to implement yet another embodiment in which only at least one of these sensors LSf, LSm, and LSr is used.

[0128] In addition, in the above embodiment, the rotating shaft about which the rotation amount sensor RS detects the rotation amount is exemplified as the rotating drive shaft 23f that is arranged coaxially with the motor M and is directly connected to and driven by the motor M, but the rotating shaft of the present invention may also be a rotating drive shaft 23f that is not arranged coaxially with the motor M (i.e., a rotating drive shaft that rotates in conjunction with the motor via an interlocking mechanism), or may be another rotating shaft that rotates in conjunction with at least the chain 26, such as a rotating driven shaft 23r located at the rear end of the tilt frame T, or an intermediate shaft with an intermediate sprocket that is located midway between the front and rear of the tilt frame T and rotates in conjunction with the chain 26.

[0129] The above embodiment also illustrates a vehicle transporter V in which the detection of the slide position of the body B, which is necessary for controlling the operation switching of the longitudinal drive device D and the lift device T during the unloading process and the loading process, is performed solely by the rotation amount sensor R, which detects the amount of rotation of the rotary drive shaft 23f (sensor gear 71) of the longitudinal drive device D, which serves as a rotary shaft that rotates in conjunction with the chain 26, or in combination with a plurality of limit switches (first to fourth sensors LSf, LSm, LSr) that can directly detect that the body B has reached a predetermined slide position. In contrast, the present invention may also be applied to a vehicle transporter of the type that detects the slide position of the body B for the above operation switching using only the plurality of limit switches (first to fourth sensors LSf, LSm, LSr) (see Patent Document 1), so as to be able to respond to slippage of the body B during a temporary stop of the process. Even in this case, slippage information (the direction and amount of slippage of the body B) can be calculated and acquired based on the output pattern of the rotation amount sensor R (proximity sensor 70) of the present invention, as in the above embodiment.

[0130] In this case, a return command switch is connected to the control device C, which commands the return of body B to the stop position at the beginning of the temporary stop (i.e., before the misalignment). For example, if an operator recognizes the misalignment of body B during a temporary stop of the process and determines that automatic return is necessary, the operator presses this return command switch, which causes the control device C to control the automatic return of body B to the stop position at the beginning of the temporary stop (movement processing for automatic return similar to that of step S311), and after this automatic return, the temporary stop process is resumed by remote control operation of the remote control device R. On the other hand, if an operator recognizes the misalignment of body B during a temporary stop of the process but determines that automatic return is unnecessary, the temporary stop process can be resumed by remote control operation without pressing the return command switch.

[0131] In another embodiment of the present invention, a second sensor gear having dog teeth of the same tooth width at an equal pitch may be provided on the rotating shaft of the present invention (e.g., the rotary drive shaft 23f) in addition to the sensor gear 71, and the dog teeth of this second sensor gear may be detected by a second proximity sensor provided separately from the proximity sensor 70, so that the second sensor gear and second proximity sensor can detect that the rotating shaft (23f) is rotating at a constant speed. In this other embodiment, if the body B shifts without remote control operation during a temporary stop of the unloading process or loading process, and particularly if the second sensor gear and second proximity sensor can detect that the rotating shaft (23f) is rotating at a constant speed at that time, it is possible to more accurately and precisely grasp information about the shifting movement of the body B (i.e., the direction of shifting and the amount of movement) by taking into consideration the result of determining the direction of shifting movement of the body B (i.e., the rotation direction of the rotating shaft) using the above-described technical feature of the present invention. [Explanation of symbols]

[0132] B...Body C...Control device D. Front and rear drive unit F... L·····Lift device R Remote control device RS····Rotational amount sensor S...Sensor device T·····Tilt Frame V...Vehicle transporter V'...Other vehicle 23f...Rotary drive shaft as a rotating shaft 26 Chain

Claims

1. a tilt frame (T) supported at the rear of a vehicle body (F) so as to be capable of being dumped and so as to be movable forward and backward; a lift device (L) for forcibly dumping the tilt frame (T); a body (B) having a vehicle loading section on which another vehicle (V') can be placed and slidable in the forward and backward direction on the tilt frame (T); a chain-transmitted longitudinal drive device (D) having a chain (26) fixed to the body (B) for forcibly sliding the body (B) on the tilt frame (T); a sensor device (S) for detecting the slide position of the body (B) relative to the tilt frame (T); a remote control device (R) capable of commanding the execution and temporary suspension of operation modes of the longitudinal drive device (D) and the lift device (L) involved in the loading and unloading processes of the other vehicle (V'); and a control device (C) capable of controlling switching of operation of the longitudinal drive device (D) and the lift device (L) based on outputs of the remote control device (R) and the sensor device (S), the longitudinal drive device (D) has a rotating shaft (23f) that rotates in conjunction with the chain (26), and the sensor device (S) includes at least a rotation amount sensor (RS) that can detect the amount of rotation of the rotating shaft (23f); The rotation amount sensor (RS) includes a sensor gear (71) having a plurality of dog teeth (7a, 7b, 7c, 7a', 7b', 7c') arranged at intervals in the circumferential direction on its outer periphery and rotating in conjunction with the rotation shaft (23f), and a proximity sensor (70) capable of detecting the dog teeth (7a, 7b, 7c, 7a', 7b', 7c'), The plurality of dog teeth (7a, 7b, 7c, 7a', 7b', 7c') are set to have tooth shapes and pitches such that an output pattern of the proximity sensor (70) that detects them is periodically repeated with the rotation of the sensor gear (71) and is different between when the sensor gear (71) is rotating in the forward direction and when it is rotating in the reverse direction; The vehicle transporter is characterized in that the control device (C) is capable of calculating the amount of rotation based on the output pattern of the proximity sensor (70) and determining the direction of rotation of the rotating shaft (23f).

2. 2. The vehicle transporter according to claim 1, wherein the plurality of dog teeth (7a, 7b, 7c) having different tooth widths are arranged on the outer periphery of the sensor gear (71) in a pattern that differs depending on whether the sensor gear (71) is rotating forward or reverse.

3. 3. The vehicle transporter according to claim 1 or 2, wherein the control device (C) has means for calculating and storing the direction and amount of shift based on the output pattern when the body (B) shifts without operation of the remote control device (R) while the body (B) is temporarily stopped during the loading process or the unloading process, and is capable of determining based on this memory whether or not to return the body (B) to its initial position when the temporary stop is released, and if it is determined that the body (B) should be returned, is capable of controlling the front and rear drive device (D) so that the body (B) returns to its initial position.

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