Forklift, cargo handling system, loading method, and forklift control device

Abstract

To provide a fork lift, a loading / unloading system, a loading method, and a control device for a fork lift that are able to further stabilize a center of gravity.SOLUTION: A fork lift includes a vehicle capable of traveling on a road surface and a loading / unloading device provided on the vehicle; wherein the loading / unloading device includes: a mast extending in a vertical direction at a front part of the vehicle; a lift bracket provided on the mast so as to be capable of being lifted / lowered; and a pair of forks, the forks respectively have claw portions extending forward from the lift bracket and are apart from each other in a vehicle width direction; wherein the vehicle includes: a vehicle body; and a pair of straddle legs provided so as to extend forward from a lower part of the vehicle body and sandwich the loading / unloading device in the vehicle width direction, the straddle legs supporting a mast such that the loading / unloading device can move forward and backward between an advanced position and a retracted position; and wherein, when the loading / unloading device is located at the retracted position, respective front ends of the claw portions are located further backward than respective front ends of the straddle legs.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a forklift, a cargo handling system, a loading method, and a control device for the forklift. [Background technology]

[0002] For example, Patent Document 1 discloses a reach forklift truck equipped with a vehicle body having a pair of straddle legs and a load-handling device provided between the pair of straddle legs. This load-handling device includes a carriage that moves back and forth along the straddle legs, a pair of masts erected on the carriage, and a pair of forks attached to the masts so that they can be raised and lowered. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-191702 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a reach-type forklift is used to transport a load on the forks, the center of gravity of the entire forklift may not be stable depending on the shape of the load.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a forklift, a cargo handling system, a loading method, and a forklift control device that can further stabilize the center of gravity. [Means for solving the problem]

[0006] In order to solve the above problems, a forklift according to the present disclosure includes a vehicle capable of traveling on a road surface and a loading device provided on the vehicle, the loading device having a mast extending in a vertical direction at the front of the vehicle, a lift bracket provided on the mast so as to be able to be raised and lowered, and a pair of forks having claw portions extending forward from the lift bracket and spaced apart in the vehicle width direction, the vehicle having a vehicle body and a pair of straddle legs extending forward from a lower part of the vehicle body and provided so as to sandwich the loading device in the vehicle width direction, and supporting the mast so that the loading device can be advanced and retreated between a forward position and a backward position, The vehicle further includes a linkage mechanism provided on each of the pair of straddle legs that links with the lowering movement of the pair of forks supporting the pallet, and a pallet guide that is rotatably held by the linkage mechanism, and the linkage mechanism links with the lowering movement to rotate the pair of pallet guides from a retracted position in which the pallet guides are housed in the straddle legs to a guiding position above the straddle legs in which the pair of pallet guides clamp the pallet in the vehicle width direction. Further, a forklift according to the present disclosure includes a vehicle capable of traveling on a road surface and a loading device provided on the vehicle, the loading device having a mast extending in a vertical direction at the front of the vehicle, a lift bracket provided on the mast so as to be able to rise and fall, and a pair of forks having claw portions extending forward from the lift bracket and spaced apart in a vehicle width direction, the vehicle includes a vehicle body and a pair of forks extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, so that the loading device can be advanced and retreated between a forward position and a backward position. and a linkage mechanism provided on each of the pair of straddle legs that links with the backward movement of the loading device; and a pallet guide provided on each of the pair of straddle legs and held by the linkage mechanism so that it can move in the vehicle width direction, wherein the linkage mechanism links with the backward movement to move the pair of pallet guides from a retracted position where the pallet guides are located directly above the straddle legs to a guide position where the pair of pallet guides are spaced apart from each other in the vehicle width direction further than the retracted position.

[0007] In addition, the cargo handling system according to the present disclosure includes: The vehicle comprises a vehicle capable of traveling on a road surface and a loading and unloading device provided on the vehicle, the loading and unloading device having a mast extending in the vertical direction at the front of the vehicle, a lift bracket provided on the mast so as to be able to be raised and lowered, and a pair of forks having claw portions extending forward from the lift bracket and spaced apart in the vehicle width direction, the vehicle having a vehicle body and a pair of straddle legs extending forward from a lower portion of the vehicle body and provided so as to sandwich the loading and unloading device in the vehicle width direction, supporting the mast so that the loading and unloading device can be moved forward and backward between a forward position and a reverse position, and when the loading and unloading device is positioned in the reverse position, the front ends of the claw portions are located rearward of the front ends of the straddle legs.a forklift; and a pallet having a loading surface on which a load is placed from above, a non-loading surface facing the opposite side to the loading surface, and fork pockets arranged between the loading surface and the non-loading surface and into which a pair of forks can be inserted, wherein the claw portions face downward and have holding surfaces that face the inner surfaces of the fork pockets when the pair of forks are inserted into the fork pockets, and the straddle legs have receiving surfaces that face upward, and the receiving surfaces face the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the cargo handling device is located at the retreat position. The inner surface of the fork pocket is composed of an upper surface facing downward, a lower surface facing upward and facing the upper surface, and side surfaces connecting the upper and lower surfaces, and the forklift further includes a centering mechanism provided on the claw portion that positions the claw portion within the fork pocket by pressing the side surfaces when the claw portion is pressed against the lower surface within the fork pocket. Further, a loading and unloading system according to the present disclosure includes a vehicle capable of traveling on a road surface, and a loading and unloading device provided on the vehicle, the loading and unloading device having a mast extending in a vertical direction at the front of the vehicle, a lift bracket provided on the mast so as to be able to rise and fall, and a pair of forks having claw portions extending forward from the lift bracket and spaced apart in a vehicle width direction, the vehicle having a vehicle body and a pair of straddle legs extending forward from a lower part of the vehicle body and provided so as to sandwich the loading and unloading device in the vehicle width direction, supporting the mast so that the loading and unloading device can move forward and backward between a forward position and a reverse position, the front ends of the claw portions being located rearward of the front ends of the straddle legs when the loading and unloading device is positioned in the reverse position, a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and a forklift arranged between the loading surface and the non-loading surface and into which the pair of forks can be inserted. the forklift further comprises a pallet having a fork pocket, and the claw portions face downward and have a clamping surface that faces the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket, and the straddle legs have a receiving surface that faces upward, and the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the loading device is positioned in the retreated position, the forklift further comprises a linkage mechanism provided on each of the pair of straddle legs that links with the lowering movement of the pair of forks supporting the pallet, and a pallet guide that is rotatably held by the linkage mechanism, and the linkage mechanism links with the lowering movement to rotate the pair of pallet guides from a retracted position where the pallet guides are housed in the straddle legs to a guiding position where the pair of pallet guides sandwich the pallet in the vehicle width direction above the straddle legs. a forklift truck mounted on the vehicle, the forklift having a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and a pair of forks spaced apart in the vehicle width direction, the forklift truck having a mast extending in a vertical direction at the front of the vehicle, a lift bracket mounted on the mast so as to be able to rise and fall, and a pair of forks having claw portions extending forward from the lift bracket and spaced apart in the vehicle width direction; the vehicle having a vehicle body and a pair of straddle legs extending forward from a lower portion of the vehicle body and provided to sandwich the loading device in the vehicle width direction, the straddle legs supporting the mast so as to enable the loading device to move forward and backward between a forward position and a reverse position, the front ends of the claw portions being located rearward of the front ends of the straddle legs when the loading device is positioned in the reverse position; a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and a forklift truck mounted on the vehicle, the forklift truck having a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and a pair of forks inserted therein; and a pocket, wherein the claw portions face downward and have a restraining surface that faces the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket, and the straddle legs have a receiving surface that faces upward and the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the loading device is positioned in the retracted position, and the forklift further comprises a linkage mechanism that is provided on each of the pair of straddle legs and links with the retraction operation of the loading device, and a pallet guide that is provided on each of the pair of straddle legs and held by the linkage mechanism so as to be movable in the vehicle width direction, and the linkage mechanism links with the retraction operation to move the pair of pallet guides from a retracted position where the pallet guides are located directly above the straddle legs to a guide position where the pair of pallet guides are spaced apart in the vehicle width direction than the retracted position.

[0008] Further, the loading method according to the present disclosure includes: The vehicle comprises a vehicle capable of traveling on a road surface and a loading and unloading device provided on the vehicle, the loading and unloading device having a mast extending in a vertical direction at the front of the vehicle, a lift bracket provided on the mast so as to be able to be raised and lowered, and a pair of forks having claw portions extending forward from the lift bracket and provided spaced apart in the vehicle width direction, the vehicle having a vehicle body and a pair of straddle legs extending forward from a lower portion of the vehicle body and provided so as to sandwich the loading and unloading device in the vehicle width direction, and supporting the mast so that the loading and unloading device can move forward and backward between a forward position and a reverse position, and when the loading and unloading device is positioned in the reverse position, The pallet further includes a forklift, the end of which is located rearward of the front end of the straddle leg, a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side from the loading surface, and fork pockets arranged between the loading surface and non-loading surface and into which the pair of forks can be inserted, the claw portions facing downward and having a holding surface that faces the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket, and the straddle leg has a receiving surface facing upward, and the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the cargo handling device is located in the retreat position. A loading method for loading the pallet onto the forklift in a cargo handling system includes the steps of: pulling the pallet backward when the pair of forks are inserted into the fork pockets and lift up the pallet; moving the pair of forks downward to place the pallet on the receiving surface; and, when the pallet is placed on the receiving surface, moving the pair of forks further downward so that the retaining surface fixes the pallet on the receiving surface.

[0009] Further, the forklift control device according to the present disclosure includes: The vehicle comprises a vehicle capable of traveling on a road surface and a loading and unloading device provided on the vehicle, the loading and unloading device having a mast extending in a vertical direction at the front of the vehicle, a lift bracket provided on the mast so as to be able to be raised and lowered, and a pair of forks having claw portions extending forward from the lift bracket and provided spaced apart in the vehicle width direction, the vehicle having a vehicle body and a pair of straddle legs extending forward from a lower portion of the vehicle body and provided so as to sandwich the loading and unloading device in the vehicle width direction, and supporting the mast so that the loading and unloading device can move forward and backward between a forward position and a reverse position, and when the loading and unloading device is positioned in the reverse position, The pallet further includes a forklift, the end of which is located rearward of the front end of the straddle leg, a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side from the loading surface, and fork pockets arranged between the loading surface and non-loading surface and into which the pair of forks can be inserted, the claw portions facing downward and having a holding surface that faces the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket, and the straddle leg has a receiving surface facing upward, and the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the cargo handling device is located in the retreat position. A forklift control device for loading the pallet onto the forklift in a cargo handling system, comprising: a reach-in instruction unit that causes the pair of forks to pull the pallet rearward when the pair of forks are inserted into the fork pockets and lift up the pallet; and a lift-down instruction unit that lowers the pair of forks, wherein the lift-down instruction unit includes a first lowering instruction unit that lowers the pair of forks when the pallet is pulled rearward, and a second lowering instruction unit that further lowers the pair of forks when the pallet is placed on the receiving surface. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide a forklift, a cargo handling system, a loading method, and a forklift control device that can further stabilize the center of gravity. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view showing the overall configuration of a cargo handling system according to a first embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram showing the configuration of a pallet according to the first embodiment of the present disclosure. [Figure 3] FIG. 1 is a first perspective view showing a configuration of a forklift according to a first embodiment of the present disclosure. [Figure 4] FIG. 2 is a second perspective view showing the configuration of the forklift according to the first embodiment of the present disclosure. [Figure 5] 3A to 3C are diagrams illustrating the lifting and lowering operation of the cargo handling device according to the first embodiment of the present disclosure. [Figure 6] 3A to 3C are diagrams illustrating the forward and backward movement of the cargo handling apparatus according to the first embodiment of the present disclosure. [Figure 7] FIG. 2 is a functional block diagram showing the configuration of a control device according to the first embodiment of the present disclosure. [Figure 8] 1 is a diagram showing a state in which a forklift according to a first embodiment of the present disclosure performs loading or unloading work at a destination position within a logistics facility. FIG. [Figure 9] 4 is a flowchart showing the operation of the control device according to the first embodiment of the present disclosure. [Figure 10] 3 is a flowchart showing a loading method according to the first embodiment of the present disclosure. [Figure 11] FIG. 10 is a diagram showing a state in which the loading device is lifted up in a third step of the loading method according to the first embodiment of the present disclosure. [Figure 12] FIG. 10 is a diagram showing a state when the loading device is lifted down in a fifth step of the loading method according to the first embodiment of the present disclosure. [Figure 13]FIG. 10 is a diagram showing a state when the loading device is lifted down in a sixth step of the loading method according to the first embodiment of the present disclosure. [Figure 14] 10A and 10B are diagrams illustrating a configuration of a guide portion according to a second embodiment of the present disclosure. [Figure 15] 10A and 10B are diagrams illustrating a configuration of a stopper portion according to a third embodiment of the present disclosure. [Figure 16] FIG. 11 is a first view of a centering mechanism according to a fourth embodiment of the present disclosure, as viewed from the rear side. [Figure 17] FIG. 11 is a second view of the centering mechanism according to the fourth embodiment of the present disclosure, as viewed from the rear side. [Figure 18] FIG. 11 is a view of a centering mechanism according to a fifth embodiment of the present disclosure, as viewed from the front side. [Figure 19] FIG. 13 is a view of a centering mechanism according to a sixth embodiment of the present disclosure, as viewed from the rear side. [Figure 20] 13A and 13B are diagrams illustrating the configuration of an interlocking mechanism and a pallet guide according to a seventh embodiment of the present disclosure. [Figure 21] 13A and 13B are diagrams for explaining the operation of the interlocking mechanism and the pallet guide according to the seventh embodiment of the present disclosure. [Figure 22] 13A and 13B are diagrams illustrating the configuration of an interlocking mechanism and a pallet guide according to an eighth embodiment of the present disclosure. [Figure 23] 13A and 13B are diagrams for explaining the operation of the interlocking mechanism and the pallet guide according to the eighth embodiment of the present disclosure. [Figure 24] 13A and 13B are diagrams illustrating the configuration of an interlocking mechanism and a pallet guide according to a ninth embodiment of the present disclosure. [Figure 25] 13A and 13B are diagrams for explaining the operation of the interlocking mechanism and the pallet guide according to the ninth embodiment of the present disclosure. [Figure 26] FIG. 1 is a hardware configuration diagram illustrating a configuration of a computer according to an embodiment of the present disclosure. [Figure 27] FIG. 10 is a rear view of a fork pocket in a pallet according to another embodiment of the present disclosure. [Figure 28] 10A-10D illustrate straddle leg configurations according to other embodiments of the present disclosure. [Figure 29] 10A and 10B are diagrams illustrating the configuration of a fork claw according to another embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a cargo handling system according to an embodiment of the present disclosure will be described with reference to the drawings.

[0013] First Embodiment (Cargo handling system) The cargo handling system in this embodiment is a system for performing cargo handling operations such as loading, unloading, and transporting cargo at logistics facilities such as logistics centers and warehouses. As shown in Fig. 1, the cargo handling system 1 includes a forklift 10, a pallet 70, and a host device 3.

[0014] (forklift) The forklift 10 is an industrial vehicle that moves cargo 2 placed on a pallet 70 within a logistics facility Lf. The forklift 10 in this embodiment is a vehicle that travels autonomously in accordance with commands received from a higher-level device 3, and is, for example, a reach-type unmanned forklift.

[0015] 2, the pallet 70 is a loading platform on which the cargo 2 is placed. The pallet 70 in this embodiment is a flat pallet formed of a material such as plastic in the shape of a rectangular parallelepiped.

[0016] The pallet 70 has a loading surface 71 on which the cargo 2 is placed from above, a non-loading surface 72 facing the opposite side to the loading surface 71, and a pair of fork pockets 73 arranged between the loading surface 71 and the non-loading surface 72.

[0017] The loading surface 71 and the non-loading surface 72 are square surfaces that are spaced apart from each other in the vertical direction and extend horizontally. The fork pockets 73 are insertion openings into which the forks of the forklift 10 can be inserted. The fork pockets 73 are holes that extend horizontally between the loading surface 71 and the non-loading surface 72.

[0018] The inner surface 74 of the fork pocket 73 is composed of an upper surface 73a facing downward, a lower surface 73b facing upward and opposite to the upper surface 73a, and a side surface 73c connecting the upper surface 73a and the lower surface 73b.

[0019] 1 outputs commands such as travel and cargo handling to the forklift 10. The host device 3 sequentially receives various information from the forklift 10 and aggregates the positions of the packages 2 and the forklift 10 within the logistics facility Lf.

[0020] 3 and 4, the forklift 10 includes a vehicle 11, a cargo handling device 20, a self-position sensor 40, a control device 50, and a battery 60. The forklift 10 also includes a forward / backward movement device 30 shown in FIGS. 5 and 6.

[0021] (vehicle) The vehicle 11 is the main body of the forklift 10 and is capable of traveling on a road surface R within the logistics facility Lf. The vehicle 11 has a vehicle main body 12, straddle legs 13, a traveling mechanism 14, and a hydraulic device 15.

[0022] In this embodiment, for the sake of convenience, the direction in which the vehicle 11 can travel straight (the direction in which the vehicle 11 moves forward and backward) is simply referred to as the "straight direction Ds." Furthermore, of both sides of this straight direction Ds, the forward side is referred to as the "forward side Dsf," and the opposite backward side is referred to as the "rear side Dsb."

[0023] (Vehicle body) The vehicle body 12 has an outer mast 120 , a beam portion 123 , a counterweight 124 , and a cover 125 .

[0024] The outer mast 120 has a pair of outer guides 121 that are columnar and have their longitudinal direction in the vertical direction, and a connection portion 122 that connects the pair of outer guides 121 on the upper side in the vehicle width direction.

[0025] For convenience of explanation, in this embodiment, the up-down direction is referred to as the "up-down direction Dv." Furthermore, of both sides of this up-down direction Dv, the upper side is simply referred to as the "upper side Dvu," and the opposite lower side is simply referred to as the "lower side Dvd."

[0026] The pair of outer guides 121 are spaced apart from each other in the horizontal direction. The connecting portion 122 is a plate-like member that fixes the relative positions of the pair of outer guides 121. The connecting portion 122 has a U-shape that is recessed toward the rear side Dsb when viewed from the upper side Dvu. The outer guides 121 and the connecting portion 122 are formed from, for example, metal.

[0027] For ease of explanation, in this embodiment, the direction in which the pair of outer guides 121 are adjacent to each other is referred to as the "vehicle width direction Dw." Furthermore, of both sides of this vehicle width direction Dw, when the forward side Dsf in the straight-ahead direction Ds is facing forward, the right side is referred to as the "one side Dwr," and the opposite side is referred to as the "other side Dwl." In this embodiment, the horizontal direction is defined by the vehicle width direction Dw and the straight-ahead direction Ds.

[0028] The beam portion 123 is provided on the pair of outer guides 121 so as to fix the positions of the outer guides 121 relative to each other, thereby increasing the mechanical strength of the entire outer mast 120 against external forces. The beam portion 123 is a plate-shaped member.

[0029] A plurality of beam portions 123 are provided on the pair of outer guides 121 so as to connect the pair of outer guides 121 to each other in the vehicle width direction Dw. The plurality of beam portions 123 are arranged at intervals from one another in the up-down direction Dv. In this embodiment, four beam portions 123 are arranged at intervals from one another in the up-down direction Dv.

[0030] The beam portion 123 is formed of, for example, metal. The beam portion 123 has a U-shape that is recessed toward the rear side Dsb when viewed from the upper side Dvu. In this embodiment, the beam portion 123 has the same shape as the connection portion 122.

[0031] An end portion of the beam portion 123 on one side Dwr is fixed integrally to the outer guide 121 located on one side Dwr of the pair of outer guides 121 by welding or a fastening member such as a bolt. An end portion of the beam portion 123 on the other side Dwl is fixed integrally to the outer guide 121 located on the other side Dwl of the pair of outer guides 121 by welding or a fastening member such as a bolt.

[0032] The counterweight 124 is a counterweight (weight) for balancing the center of gravity of the entire forklift 10. In this embodiment, multiple counterweights 124 are placed on the surface facing the upper side Dvu of the beam portion 123 that is located on the lowest side Dvd of the multiple beam portions 123, and on the surface facing the upper side Dvu of the beam portion 123 that is located second from the lower side Dvd. The counterweight 124 is made of metal such as iron.

[0033] The cover 125 is a member that abuts against the pair of outer guides 121, each beam 123, and the counterweight 124 from the rear side Dsb so as to cover and conceal the beam 123 and the counterweight 124 from the rear side Dsb. In this embodiment, the cover 125 is detachably fixed to the outer mast 120 by fastening members such as bolts. The cover 125 is formed of, for example, metal.

[0034] (Straddle leg) The straddle legs 13 support the vehicle body 12 and also support the loading / unloading device 20 so that it can move forward and backward in the straight-line direction Ds. The straddle legs 13 have a main body portion 130 that extends from an end of the lower side Dvu of the outer guide 121 of the outer mast 120 of the vehicle body 12 toward the front side Dsf, and a guide rail 131 that is fixed to the main body portion 130 from the vehicle width direction Dw.

[0035] Therefore, the pair of straddle legs 13 are arranged at a distance from each other in the vehicle width direction Dw. The main body portions 130 are columnar. Of the pair of main body portions 130, a guide rail 131 is fixed from the other side Dwl to the main body portion 130 on one side Dwr, and a guide rail 131 is fixed from the one side Dwr to the main body portion 130 on the other side Dwl.

[0036] The main body 130 has a receiving surface 130a that faces the upward side Dvu and extends horizontally. The receiving surface 130a is located at the uppermost side Dvu of the straddle leg 13. The dimension of the receiving surface 130a in the straight-line direction Ds is larger than the dimension of the pallet 70 in the straight-line direction Ds.

[0037] In this embodiment, the distance between a pair of adjacent receiving surfaces 130a in the vehicle width direction Dw is equal to or smaller than the dimension in the vehicle width direction Dw of the pallet 70. The distance here means the distance from the edge of the receiving surface 130a on one side Dwr to the edge of the receiving surface 130a on the other side Dwl.

[0038] The separation distance may be greater than the dimension of the pallet 70 in the vehicle width direction Dw. In this case, the distance from the edge of the receiving surface 130a of the one side Dwr on the other side Dwl to the edge of the receiving surface 130a of the other side Dwl on the one side Dwr is smaller than the dimension of the pallet 70.

[0039] The guide rails 131 of the pair of straddle legs 13 face each other in the vehicle width direction Dw. The guide rails 131 have guide grooves 131a that are recessed in the vehicle width direction Dw and extend along the main body 130 in the straight-line direction Ds.

[0040] Of the pair of guide rails 131, the guide groove 131a formed in the guide rail 131 on one side Dwr is recessed toward the one side Dwr and extends along the main body 130 on the one side Dwr, and the groove formed in the guide rail 131 on the other side Dwl is recessed toward the other side Dwl and extends along the main body 130 on the other side Dwl. The main body 130 and guide rail 131 are formed of, for example, metal.

[0041] (Traveling mechanism) The traveling mechanism 14 is a mechanism that supports the vehicle body 12 and the straddle legs 13 from the lower side Dvd and enables them to move on the road surface R. The traveling mechanism 14 in this embodiment has a first drive wheel 140, a second drive wheel 141, and a caster wheel 142.

[0042] The first drive wheel 140 is provided on the vehicle body 12 on the lower side Dvd of the vehicle body 12. Although a detailed description will be omitted, the first drive wheel 140 is composed of, for example, a first drive wheel body 140a that is rotatable while contacting the road surface R, and a first wheel holding mechanism (not shown) that has a bearing or the like that holds the first drive wheel body 140a relative to the vehicle body 12 so that the first drive wheel body 140a can rotate within a predetermined range.

[0043] The first drive wheel body 140a corresponds to the tire portion of the first drive wheel 140. The first wheel holding mechanism can adjust the steering angle and the like of the first drive wheel body 140a based on instructions indicated by a signal received from the control device 50. The first drive wheel 140 is, for example, an in-wheel motor type wheel in which a motor is built into the first drive wheel body 140a.

[0044] The second drive wheel 141 is provided on the lower side Dvd of the main body 130 of the straddle leg 13. Although a detailed description will be omitted, the second drive wheel 141 is made up of a second drive wheel main body 141a that can rotate while contacting the road surface R, and a second wheel holding mechanism (not shown) that has a bearing or the like that holds the second drive wheel main body 141a relative to the straddle leg 13 so that it can rotate within a predetermined range.

[0045] The second drive wheel body 141a corresponds to the tire portion of the second drive wheel 141. The second wheel holding mechanism adjusts the steering angle and the like of the second drive wheel body 141a based on instructions indicated by a signal received from the control device 50. Note that, like the first drive wheel 140, the second drive wheel 141 is, for example, an in-wheel motor type wheel in which a motor is built into the second drive wheel body 141a.

[0046] The caster wheels 142 are provided on the vehicle body 12 on the lower side Dvd of the vehicle body 12 so as to sandwich the first drive wheel 140 in the vehicle width direction Dw. The caster wheels 142 in this embodiment are auxiliary wheels for the first drive wheel 140 and the second drive wheel 141.

[0047] Although detailed explanation will be omitted, the caster wheel 142 is composed of a caster wheel main body 142a that can rotate while in contact with the road surface R, and a caster wheel holding mechanism (not shown) that has bearings, etc. that hold this caster wheel main body 142a rotatably relative to the vehicle body 12.

[0048] (Hydraulic system) The hydraulic device 15 is a device that supplies hydraulic oil to various devices such as the cargo handling device 20 and the advancing / retreating device 30. The hydraulic device 15 has an oil tank 150, a hydraulic pump 151, and a hydraulic control valve 152.

[0049] The oil tank 150 stores hydraulic oil therein. The oil tank 150 is provided in the vehicle body 12. In this embodiment, the oil tank 150 is placed, for example, on a surface facing the upper side Dvu of the second beam portion 123 counting from the lower side Dvd of the vehicle body 12.

[0050] The hydraulic pump 151 compresses hydraulic oil stored in the oil tank 150. The hydraulic pump 151 is provided in the vehicle body 12. In this embodiment, the hydraulic pump 151 is mounted, for example, from the upper side Dvu on a counterweight 124 that is mounted on the second beam portion 123 counting from the lower side Dvd of the vehicle body 12. A motor (not shown) serving as a drive source for the hydraulic pump 151 is connected to the hydraulic pump 151, for example.

[0051] The hydraulic control valve 152 adjusts the hydraulic pressure (discharge pressure) of the hydraulic oil compressed by the hydraulic pump 151, and supplies the hydraulic oil with the adjusted hydraulic pressure to various devices outside the hydraulic device 15.

[0052] The hydraulic control valve 152 is provided in the vehicle body 12. In this embodiment, the hydraulic control valve 152 is mounted on the hydraulic pump 151 from the upper side Dvu. The oil tank 150, the hydraulic pump 151, and the hydraulic control valve 152 are connected to one another by piping (not shown) through which hydraulic oil can flow.

[0053] The hydraulic control valve 152 has a discharge port 153 that discharges the hydraulic oil compressed by the hydraulic pump 151 to the outside, and a valve control unit 154 that adjusts the flow rate of the hydraulic oil passing through the discharge port 153 based on instructions indicated by a signal received from the control device 50.

[0054] The hydraulic pressure of the hydraulic oil discharged from the discharge port 153 is controlled by a valve control unit 154. The discharge port 153 is composed of a first discharge port 153a that discharges the hydraulic oil to the cargo handling device 20 and a second discharge port 153b that discharges the hydraulic oil to the advance / retract device 30. The valve control unit 154 is capable of independently controlling each of the first discharge port 153a and the second discharge port 153b.

[0055] (Load handling equipment) The cargo handling device 20 is a device for loading and unloading cargo 2 on the vehicle 11. The cargo handling device 20 has an inner mast 21 (mast), a lift bracket 22, a fork 23, a backrest 24, a lift cylinder 25, a lift chain 26, and a first hydraulic hose 27.

[0056] (inner mast) The inner mast 21 is a device that can move forward and backward in the straight-line direction Ds by being supported and guided by the straddle legs 13. The inner mast 21 extends in the vertical direction Dv from the front of the vehicle 11. That is, the inner mast 21 extends from the straddle legs 13, which are located on the front side Dsf of the vehicle 11, to the upward side Dvu.

[0057] The inner mast 21 is disposed between a pair of outer guides 121 of the outer mast 120 when viewed from the straight-ahead direction Ds. The inner mast 21 has an inner guide 210, a chain support 211, a chain wheel 212, and a pulley 213.

[0058] The inner guide 210 has a columnar shape with its longitudinal direction in the vertical direction Dv. The inner guide 210 is extendable and contractible in the vertical direction. The inner guide 210 has an inner guide 210a and an outer guide 210b.

[0059] The inner guide 210a and the outer guide 210b are arranged to overlap in the vehicle width direction Dw. Although detailed configuration is not shown, the inner guide 210a is provided slidable in the up-down direction Dv relative to the outer guide 210b, so that only the inner guide 210a can advance and retreat in the up-down direction Dv.

[0060] The outer guides 210b extend upward Dvu from the straddle legs 13 while being supported by the straddle legs 13 so as to follow the respective outer masts 120 of the vehicle body 12. That is, the pair of inner guides 210 are disposed spaced apart from each other in the vehicle width direction Dw.

[0061] A pair of outer guides are provided on the straddle legs 13 so as to be slidable in the straight-line direction Ds on the straddle legs 13 while being spaced apart from each other in the vehicle width direction Dw. Specifically, for example, the outer guide 210b further has a guide wheel (not shown) provided on the lower side Dvd, and this guide wheel is rotatably provided in the guide groove 131a formed in the guide rail 131 of the straddle legs 13.

[0062] The chain support 211 transmits the power directed toward the upper side Dvu, which is received from the lift cylinder 25 located on the lower side Dvd of the chain support 211, to the pair of inner guides 210.

[0063] The chain support 211 has a first plate 211a that connects the ends of the upper side Dvu of the inner guides 210a of a pair of inner guides 210, a second plate 211b that is located on the lower side Dvd of the first plate 211a, and a pair of connecting pillars 211c that connect the first plate 211a and the second plate 211b in the vertical direction Dv.

[0064] The first plate 211a and the second plate 211b are shaped like plates extending horizontally. The pair of connecting posts 211c are arranged at an interval in the vehicle width direction Dw. The first plate 211a, the second plate 211b, and the connecting posts 211c are formed of, for example, metal.

[0065] The chain wheel 212 is a member made of metal or the like that can support and guide the lift chain 26. A pair of chain wheels 212 is provided on the second plate 211b of the chain support 211 from the lower side Dvd. The pair of chain wheels 212 are arranged at an interval from each other in the vehicle width direction Dw.

[0066] The pulley 213 is a pulley around which the first hydraulic hose 27 is wound. The pulley 213 is provided on the second plate 211b of the chain support 211 from the lower side Dvd. In this embodiment, the pulley 213 is disposed adjacent to the chain wheel 212 located on the other side Dwl of the pair of chain wheels 212 from one side Dwr.

[0067] (Lift bracket) The lift bracket 22 is provided on the inner mast 21 so as to be able to move up and down. The lift bracket 22 is made of metal or the like. The lift bracket 22 has a fork fixing portion 220 and a fork rail 221.

[0068] The fork fixing part 220 is a plate-shaped member whose longitudinal direction is the vehicle width direction Dw. The fork fixing part 220 abuts against the pair of inner guides 210 of the inner mast 21 from the front side Dsf. One end of a pair of lift chains 26, which is looped around each of the pair of chain wheels 212, is fixed to the fork fixing part 220.

[0069] The fork rails 221 are columnar members extending in the vehicle width direction Dw. The fork rails 221 are integrally fixed to the lift bracket 22 from a lower side Dvd by fastening members such as bolts.

[0070] (fork) The forks 23 are members that are inserted into fork pockets 73 of the pallet 70 to move the cargo 2 placed on the pallet 70 together with the pallet 70. A pair of forks 23 are provided on the lift bracket 22. The pair of forks 23 are arranged at a distance from each other in the vehicle width direction Dw. The forks 23 are formed from, for example, metal. The forks 23 have a base end 230 and a claw portion 231.

[0071] The base end 230 is provided on the fork rail 221 of the lift bracket 22. Specifically, the end of the upper side Dvu of the base end 230 is sandwiched between the fork rail 221 and the fork fixing part 220, and is fixed integrally with the fork fixing part 220 and the fork rail 221 by the fastening member. The base end 230 extends further toward the lower side Dvd than the fork rail 221.

[0072] The claw portion 231 extends from the lower end of the base end portion 230 toward the forward side Dsf integrally with the base end portion 230. The dimension of the claw portion 231 in the straight-line direction Ds is longer than the dimension of the base end portion 230 in the vertical direction Dv. The claw portion 231 has a clamping surface 231a that faces the downward side Dvd and extends horizontally, a pallet support surface 231b that faces the upward side Dvu and extends horizontally, and a claw portion side surface 231c that connects the clamping surface 231a and the pallet support surface 231b in the vertical direction Dv.

[0073] (backrest) The backrest 24 is a load-receiving frame that prevents the load 2 from falling between the pair of inner guides 210 of the inner mast 21 when the forks 23 lift the pallet 70 on which the load 2 is placed. The backrest 24 has a pair of fixing parts 240 that are fixed to the fork rails 221 of the lift bracket 22 from the vehicle width direction Dw, and a fence part 241 that is formed integrally with the fixing parts 240 and is arranged on the upper side Dvu of the lift bracket 22.

[0074] (Lift cylinder) The lift cylinder 25 is a hydraulic mechanism provided on the straddle leg 13. The lift cylinder 25 has a first cylinder portion 250 and a first rod portion 251.

[0075] The first cylinder portion 250 has a cylindrical shape. The first cylinder portion 250 extends in the up-down direction Dv along the outer guide 121 and the inner guide 210. The caster wheel 142 is provided at the lower end of the first cylinder portion 250. The other end of the lift chain 26 is fixed to the first cylinder portion 250. In other words, the first cylinder portion 250 and the lift bracket 22 are connected by the lift chain 26.

[0076] A pair of first cylinder portions 250 are provided on the straddle legs 13 so as to be slidable in the rectilinear direction Ds on the straddle legs 13 while being spaced apart from each other in the vehicle width direction Dw. Specifically, for example, the lift cylinder 25 further has a guide wheel (not shown) provided on the lower side Dvd of the first cylinder portion 250, and this guide wheel is rotatably provided in a guide groove 131a formed in the guide rail 131 of the straddle legs 13.

[0077] As this guide wheel rotates within the guide groove 131a, the caster wheel 142 also rotates while contacting the road surface R, and the entire lift cylinder 25 can move together with the inner mast 21 on the straddle leg 13 in the straight direction Ds.

[0078] The first rod portion 251 can advance from the inside of the first cylinder portion 250 to the upper side Dvu depending on the level of hydraulic pressure of the hydraulic oil supplied from the outside. The first rod portion 251 has a cylindrical shape extending in the up-down direction Dv. The outer diameter of the first rod portion 251 is smaller than the inner diameter of the first cylinder portion 250. In other words, the first rod portion 251 and the first cylinder portion 250 have a nested relationship.

[0079] An end of the upper side Dvu of the first rod portion 251 is fixed from the lower side Dvd to the second plate 211b of the chain support 211. As a result, when the first rod portion 251 advances from the first cylinder portion 250 toward the upper side Dvu, the inner guide 210a of the inner mast 21 connected to the chain support 211 advances (is pushed out) toward the upper side Dvu.

[0080] The first hydraulic hose 27 supplies hydraulic oil to the inside of the lift cylinder 25. One end of the first hydraulic hose 27 is connected to a first discharge port 153a of a hydraulic control valve 152 in the hydraulic device 15.

[0081] The other end of the first hydraulic hose 27 is connected to the first cylinder portion 250 of the lift cylinder 25. Therefore, the hydraulic oil discharged from the first discharge port 153a of the hydraulic control valve 152 is supplied to the inside of the first cylinder portion 250 through this first hydraulic hose 27.

[0082] Here, the lifting and lowering operation of the cargo handling apparatus 20 will be described with reference to Fig. 5. In the initial state, most of the first rod portion 251 of the lift cylinder 25 is housed in the first cylinder portion 250. As a result, the inner mast 21 is positioned at the lowest side Dvd.

[0083] That is, the cargo handling apparatus 20 is positioned at the lowest position Dvd on the vehicle 11. For convenience of explanation in this embodiment, the position of the cargo handling apparatus 20 in the up-down direction Dv in this state is referred to as the "lowered position Pd."

[0084] When the cargo handling device 20 is in the lowered position Pd and hydraulic oil is supplied to the first cylinder portion 250, the first rod portion 251 advances to the upper side Dvu. Accordingly, the chain support 211 is lifted, and the inner guide 210a of the inner mast 21 connected to the chain support 211 advances (rises) to the upper side Dvu.

[0085] When the first rod is pushed all the way to the upper side Dvu by the hydraulic oil, the cargo handling apparatus 20 is positioned at the uppermost position Dvu on the vehicle 11. For convenience of explanation in this embodiment, the position of the cargo handling apparatus 20 in the vertical direction Dv in this state is referred to as the "raised position Pu," and the action of the cargo handling apparatus 20 transitioning in position toward the upper side Dvu is referred to as "lift up." In this embodiment, this raised position Pu is a position where the claws 231 of the pair of forks 23 can be inserted into the fork pockets 73 of the pallet 70.

[0086] When the loading / unloading device 20 is in the raised position Pu and the hydraulic pressure of the hydraulic oil supplied from the hydraulic control valve 152 is reduced, the first rod portion 251 moves to the lower side Dvd and is buried in the first cylinder portion 250.

[0087] That is, the cargo handling apparatus 20 transitions (descends) from the raised position Pu toward the lowered position Pd. For convenience of explanation, in this embodiment, the operation of the cargo handling apparatus 20 transitioning toward the lower side Dvd is referred to as "lift down."

[0088] When the inner mast 21 moves from the lowered position Pd to the raised position Pu, the direction of the lift chain 26 from one end to the other changes from the upper side Dvu to the lower side Dvd. At this time, the lift bracket 22 and the first cylinder part 250 are connected by the lift chain 26 of a certain length.

[0089] As a result, one end of the lift chain 26 is pulled toward the upper side Dvu as the inner mast 21 rises. When the lift chain 26 is pulled, the chain wheel 212 of the inner mast 21 rotates. In other words, the chain wheel 212 functions as a movable pulley.

[0090] (Advancing / retracting device) The advancing / retracting device 30 is a device that moves the inner mast 21 of the cargo handling device 20 forward and backward in the straight-line direction Ds on the straddle legs 13. The advancing / retracting device 30 is a hydraulic mechanism provided in the vehicle body 12. Due to space limitations, in this embodiment, the advancing / retracting device 30 is shown by dashed lines only in Figures 5 and 6, and detailed illustrations are omitted.

[0091] The advance / retract device 30 in this embodiment has a pair of reach cylinders 31 that extend and retract in the straight-line direction Ds to advance and retract the inner mast 21 in the straight-line direction Ds, and a second hydraulic hose (not shown) that supplies hydraulic oil to the pair of reach cylinders 31.

[0092] The pair of reach cylinders 31 are spaced apart in the vehicle width direction Dw. The reach cylinder 31 has a second cylinder portion 310 provided on the beam portion 123 located at the lowermost side Dvd, and a second rod portion 311 that can advance from the second cylinder portion 310 to the front side Dsf depending on the hydraulic pressure of the hydraulic oil supplied from the outside.

[0093] The second cylinder portion 310 and the second rod portion 311 are cylindrical and extend in the linear direction Ds. The outer diameter of the second rod portion 311 is smaller than the inner diameter of the second cylinder portion 310. In other words, the second rod portion 311 and the second cylinder portion 310 are nested within each other.

[0094] An end of the front side Dsf of the second rod portion 311 is connected from the rear side Dsb to the first cylinder portion 250 of the lift cylinder 25 of the cargo handling device 20. As a result, when the second rod portion 311 advances toward the front side Dsf, the inner mast 21 connected to the first cylinder portion 250 via the first rod portion 251 also advances (moves forward) toward the front side Dsf.

[0095] The second hydraulic hose (not shown) is a hose for supplying hydraulic oil into the reach cylinder 31. One end of the second hydraulic hose is connected to the second discharge port 153b of the hydraulic control valve 152 in the hydraulic device 15. The other end of the second hydraulic hose is connected to the second cylinder portion 310.

[0096] Here, the advancing and retreating operation of the cargo handling apparatus 20 by the advancing and retreating device 30 will be described with reference to Figure 6. In the initial state, the second rod portion 311 of the reach cylinder 31 is housed in the second cylinder portion 310.

[0097] As a result, the inner mast 21 is positioned at the rearmost position Dsb. That is, the cargo handling apparatus 20 is positioned at the rearmost position Dsb on the vehicle 11. For ease of explanation, in this embodiment, the position of the cargo handling apparatus 20 in the straight-ahead direction Ds in this state is referred to as the "rear position Pb."

[0098] Here, the front end of the claw portion 231 of the fork 23 of the loading device 20 is located rearward of the front end of the straddle leg 13 of the vehicle 11 when the loading device 20 is positioned at the rearmost side Dsb, i.e., when the loading device 20 is positioned at the backward position Pb.

[0099] When hydraulic oil is supplied to the second cylinder portion 310 while the cargo handling device 20 is in the retracted position Pb, the second rod portion 311 is advanced to the front side Dsf. Accordingly, the first cylinder portion 250 is pushed to the front side Dsf, so that the inner mast 21 connected to the first cylinder portion 250 via the first rod advances (moves forward) to the front side Dsf.

[0100] When the second rod is pushed fully forward by the hydraulic oil to the front side Dsf, the cargo handling apparatus 20 is positioned at the frontmost side Dsf on the vehicle 11. For ease of explanation in this embodiment, the position of the cargo handling apparatus 20 in the straight-line direction Ds in this state is referred to as the "forward position Pf," and the action of the cargo handling apparatus 20 transitioning to the front side Dsf is referred to as "reach-out." In this embodiment, this forward position Pf is the position where the claws 231 of the pair of forks 23 are inserted into the fork pockets 73 of the pallet 70 so as to be supportable.

[0101] When the loading device 20 is positioned in the forward position Pf and the hydraulic pressure of the hydraulic oil supplied from the hydraulic control valve 152 is reduced, the second rod portion 311 moves to the rear side Dsb and is buried in the second cylinder portion 310.

[0102] That is, the cargo handling apparatus 20 transitions (retracts) from the forward position Pf toward the reverse position Pb. For convenience of explanation, in this embodiment, the operation of transitioning the position of the cargo handling apparatus 20 to the rear side Dsb is referred to as "reach-in."

[0103] (Self-position sensor) 3 and 4, the self-position sensor 40 acquires data that is used as input when calculating the self-position of the forklift 10. Examples of the self-position sensor 40 include a laser scanner such as a 2D-LiDAR, a camera, etc. In this embodiment, the self-position sensor 40 is provided on the upper side Dvu of the connection portion 122 of the outer mast 120.

[0104] (Control device) The control device 50 is a device that controls the vehicle 11, the loading / unloading device 20, and the advancing / retreating device 30. As shown in Fig. 7 , the control device 50 includes a travel instruction unit 51, a lift-up instruction unit 52, a reach-out instruction unit 53, a reach-in instruction unit 54, a lift-down instruction unit 55, and a memory unit 56.

[0105] (Driving instruction unit) The travel instruction unit 51 moves the vehicle 11 to a destination position by traveling along a predetermined route. For example, as shown in Fig. 8, the destination position X means a position within the logistics facility Lf where the forklift 10 can perform loading or unloading operations.

[0106] In this embodiment, the destination position X refers to a position where the forklift 10 is headed to perform a loading / unloading operation. In other words, the destination position X refers to a position where the claws 231 of the pair of forks 23 can be inserted into the fork pockets 73 of the pallet 70 when the loading / unloading mechanism is lifted up and reached out.

[0107] The coordinates of the destination position X within the logistics facility Lf and the like are stored in advance in the storage unit 56 and can be referenced by the travel instruction unit 51. Note that the destination position X may be stored in advance in, for example, the higher-level device 3, and the travel instruction unit 51 may acquire data indicating the destination position X from the higher-level device 3 via wireless communication.

[0108] The driving instruction unit 51 includes a self-position acquisition unit 51a that acquires sensor data from the self-position sensor 40 possessed by the vehicle body and acquires the self-position based on the sensor data, and a steering unit 51b that causes the driving mechanism 14 to drive to the target position X based on the acquired self-position.

[0109] If the self-location sensor 40 is, for example, the laser scanner, the sensor data may be point cloud data. If the self-location sensor 40 is, for example, the camera, the sensor data may be image data.

[0110] Although detailed description will be omitted, the self-position acquisition unit 51a acquires its own position by performing a predetermined self-position calculation based on the acquired sensor data. The steering unit 51b causes the vehicle body to travel along a predetermined route to a destination position X based on the self-position acquired by the self-position acquisition unit 51a. The steering unit 51b causes the vehicle body to travel to the destination position X by transmitting a signal indicating a steering instruction to the first drive wheel 140 and the second drive wheel 141 of the traveling mechanism 14.

[0111] (Lift-up instruction section) The lift-up instruction unit 52 causes the cargo handling device 20 to perform the lift-up operation after the forklift 10 has moved to the destination position X. Specifically, the lift-up instruction unit 52 transmits a signal to the valve control unit 154 of the hydraulic control valve 152, instructing it to increase the hydraulic pressure of the hydraulic oil discharged from the first discharge port 153a. The lift-up instruction unit 52 includes a first rise instruction unit 52a and a second rise instruction unit 52b.

[0112] The first ascent instruction unit 52a sends the signal to the hydraulic control valve 152, thereby causing the cargo handling device 20 to lift up. In other words, the first ascent instruction unit 52a raises the pair of claws 231 to a height at which the pair of claws 231 can be inserted into the fork pockets 73 of the pallet 70.

[0113] When the pair of claws 231 are inserted into the fork pockets 73, the second lift-up instruction unit 52b sends the signal to the hydraulic control valve 152, thereby causing the cargo handling device 20 to lift up. In other words, the second lift-up instruction unit 52b causes the pallet 70 to be supported on the pallet support surfaces 231b of the claws 231.

[0114] (Reach-out instruction section) The reach-out instruction unit 53 causes the cargo handling apparatus 20 to perform the reach-out operation after the first lift-up instruction unit 52a has lifted up the cargo handling apparatus 20. That is, the reach-out instruction unit 53 causes the cargo handling apparatus 20 to perform the reach-out operation after the pair of claws 231 has risen to a height at which they can be inserted into the fork pockets 73.

[0115] Specifically, the reach-out instruction unit 53 transmits a signal to the valve control unit 154 of the hydraulic control valve 152, instructing it to increase the hydraulic pressure of the hydraulic oil discharged from the second discharge port 153b.

[0116] (Reach-in indicator) The reach-in instruction unit 54 causes the cargo handling apparatus 20 to perform the reach-in operation after the second lifting instruction unit 52b has lifted up the cargo handling apparatus 20. That is, the reach-in instruction unit 54 causes the cargo handling apparatus 20 to perform the reach-in operation after the pair of claws 231 have lifted up the pallet 70.

[0117] Specifically, the reach-in instruction unit 54 transmits a signal to the valve control unit 154 of the hydraulic control valve 152, instructing it to reduce the hydraulic pressure of the hydraulic oil discharged from the second discharge port 153b.

[0118] (Lift down instruction section) The lift-down instruction unit 55 causes the cargo handling apparatus 20 to reach in using the reach-in instruction unit 54. In other words, the lift-down instruction unit 55 causes the cargo handling apparatus 20 to perform the lift-down operation.

[0119] Specifically, the lift-down instruction unit 55 transmits a signal indicating an instruction to reduce the hydraulic pressure of the hydraulic oil discharged from the first discharge port 153a to the valve control unit 154 of the hydraulic control valve 152. The lift-down instruction unit 55 includes a first descent instruction unit 55a and a second descent instruction unit 55b.

[0120] The first lowering instruction unit 55a sends the signal to the hydraulic control valve 152, thereby causing the cargo handling device 20 to lift down. That is, the first lowering instruction unit 55a causes the pallet 70 to be placed on the straddle leg 13. That is, the first lowering instruction unit 55a causes the placement surface 71 of the pallet 70 to abut against the receiving surface 130a of the main body 130 of the straddle leg 13.

[0121] Following the operation of the first lowering instruction unit 55a, the second lowering instruction unit 55b sends the above signal to the hydraulic control valve 152 to cause the cargo handling device 20 to further lift down. In other words, the second lowering instruction unit 55b causes the pallet 70 to be pressed against the straddle legs 13. In other words, the first lowering instruction unit 55a causes the clamping surfaces 231a of the pair of claws 231 to be pressed against the inner surfaces 74 of the fork pockets 73 from the upper side Dvu.

[0122] (battery) 3 and 4, the battery 60 supplies power to the first drive wheel 140 and the second drive wheel 141 of the traveling mechanism 14, a motor (not shown) connected to the hydraulic pump 151 of the hydraulic device 15, the control device 50, etc. In this embodiment, the battery 60 is detachably provided at the end of the rear side Dsb of the main body 130 of the straddle leg 13.

[0123] A lithium ion battery, for example, can be used as the battery 60. The battery 60, the first drive wheel 140 and the second drive wheel 141 of the traveling mechanism 14, the motor, and the control device 50 are electrically connected by cables or the like (not shown).

[0124] (Control device operation) Next, the operation of the control device 50 will be described with reference to Fig. 9. The flowchart of the control device 50 shown in Fig. 9 is repeatedly executed while the forklift 10 is in operation, with travel operations and loading / unloading operations and the like being performed in between.

[0125] The driving instruction unit 51 acquires sensor data from the self-position sensor 40, acquires the self-position based on the sensor data, and moves the vehicle 11 to the destination position X based on the acquired self-position (step S1).

[0126] After the forklift 10 has moved to the target position X, the first lift-up instruction unit 52a of the lift-up instruction unit 52 sends a signal to the valve control unit 154 of the hydraulic control valve 152 indicating an instruction to increase the hydraulic pressure of the hydraulic oil discharged from the first discharge port 153a (step S2).

[0127] After the pair of claws 231 have risen to a height that allows them to be inserted into the fork pocket 73, the reach-out instruction unit 53 sends a signal to the valve control unit 154 of the hydraulic control valve 152 instructing it to increase the hydraulic pressure of the hydraulic oil discharged from the second discharge port 153b (step S3).

[0128] When the pair of claws 231 are inserted into the fork pocket 73, the second lift-up instruction unit 52b of the lift-up instruction unit 52 sends a signal to the valve control unit 154 of the hydraulic control valve 152 indicating an instruction to increase the hydraulic pressure of the hydraulic oil discharged from the first discharge port 153a (step S4).

[0129] After the pair of claws 231 lift the pallet 70, the reach-in instruction unit 54 sends a signal to the valve control unit 154 of the hydraulic control valve 152 instructing it to reduce the hydraulic pressure of the hydraulic oil discharged from the second discharge port 153b (step S5).

[0130] The first lowering instruction unit 55a of the lift-down instruction unit 55 transmits a signal indicating an instruction to reduce the hydraulic pressure of the hydraulic oil discharged from the first discharge port 153a to the valve control unit 154 of the hydraulic control valve 152 (step S6).

[0131] When the pallet 70 is placed on the straddle leg 13, the second descent instruction unit 55b of the lift-down instruction unit 55 sends a signal to the valve control unit 154 of the hydraulic control valve 152 indicating an instruction to further reduce the hydraulic pressure of the hydraulic oil discharged from the first discharge port 153a (step S7).

[0132] (Loading method) Next, a loading method for loading the cargo 2 onto the forklift 10 will be described with reference to Figures 10 to 13. As shown in Figure 10, the loading method includes a first step S11, a second step S12, a third step S13, a fourth step S14, a fifth step S15, and a sixth step S16.

[0133] (First step) The first step S11 is a step in which the cargo handling apparatus 20 is lifted up. In the first step S1, the cargo handling apparatus 20 transitions (rises) from the lowered position Pd to the raised position Pu. That is, in the first step S11, the claws 231 of the pair of forks 23 of the cargo handling apparatus 20 rise to a height at which they can be inserted into the fork pockets 73 of the pallet 70.

[0134] (Second step) The second step S12 is a step in which the cargo handling apparatus 20 reaches out following the first step S11. In the second step S12, the cargo handling apparatus 20 transitions (moves forward) from the retracted position Pb to the forward position Pf. That is, in the second step S12, the claws 231 of the pair of forks 23 of the cargo handling apparatus 20 are inserted into the fork pockets 73 of the pallet 70 to a depth sufficient to support the pallet 70.

[0135] (Third step) The third step S13 is a step following the second step S12 in which the cargo handling apparatus 20 is lifted up. In the third step S13, the position of the cargo handling apparatus 20 transitions (rises) to the upper side Dvu.

[0136] That is, as shown in Figure 11, in the third step S13, the pallet support surfaces 231b of the claw portions 231 of a pair of forks 23 in the loading and unloading device 20 abut against the upper surface 73a of the inner surface 74 of the fork pocket 73, and then the pair of forks 23 lift the pallet 70 from the place where the pallet 70 is placed (shelf, etc.) to the upper side Dvu.

[0137] (Fourth step) The fourth step S14 is a step in which the cargo handling apparatus 20 reaches in following the third step S13. In the fourth step S14, the cargo handling apparatus 20 transitions (retracts) from the forward position Pf to the rearward position Pb. That is, in the fourth step S14, the claws 231 of the pair of forks 23 of the cargo handling apparatus 20 move to the rearward position Pb while supporting the pallet 70.

[0138] (Fifth step) The fifth step S15 is a step following the fourth step S14 in which the cargo handling apparatus 20 is lifted down. In the fifth step S15, the cargo handling apparatus 20 transitions (descends) from the raised position Pu to the lowered position Pd.

[0139] 12 , in a fifth step S15, with the claws 231 of the pair of forks 23 of the cargo handling device 20 supporting the pallet 70, the placement surface 71 of the pallet 70 is brought into contact with the receiving surface 130a of the main body 130 of the straddle leg 13. In other words, the pallet 70 is placed on the receiving surface 130a of the straddle leg 13.

[0140] (Sixth step) In the sixth step S16, following the fifth step S15, the cargo handling apparatus 20 is further lifted down. In the sixth step S16, the position of the cargo handling apparatus 20 transitions (descends) to the lower side Dvd.

[0141] 13 , in a sixth step S16, the clamping surfaces 231a of the claws 231 of the pair of forks 23 of the cargo handling device 20 are pressed from above Dvu against the inner surfaces 74 of the fork pockets 73, thereby pressing the pallet 70 against the main body 130 of the straddle legs 13. As a result, the pallet 70 is fixed to the receiving surfaces 130a of the straddle legs 13.

[0142] By going through the above series of steps, the cargo 2 is loaded onto the forklift 10.

[0143] (Action and effect) According to the forklift 10 of the above embodiment, when the cargo handling apparatus 20 is in the retracted position Pb, the front ends of the claws 231 are located at a position Dsb rearward of the front ends of the straddle legs 13. As a result, when the cargo handling apparatus 20 is in the retracted position Pb, the center of gravity of the entire forklift 10 is located further rearward Dsb than in a configuration in which the front ends of the claws 231 are located at a position Dsf forward of the front ends of the straddle legs 13. Therefore, when the cargo handling apparatus 20 is in the retracted position Pb with the forks 23 supporting the pallet 70, the center of gravity of the entire forklift 10 can be more stabilized.

[0144] Furthermore, according to the cargo handling system 1 of the above embodiment, the receiving surfaces 130a of the straddle legs 13 face upward Dvu. Furthermore, when the cargo handling device 20 is in the retracted position Pb with the pair of forks 23 supporting the pallet 70, the receiving surfaces 130a face the non-loading surface 72 at a position closest to the non-loading surface 72. This allows the pair of forks 23 to lower the pallet 70 and place the pallet 70 on the receiving surfaces 130a of the straddle legs 13. In other words, compared to a forklift 10 configured so that the pallet 70 is not placed on the straddle legs 13, the center of gravity of the entire forklift 10 can be positioned further downward Dvd.

[0145] Furthermore, when the pair of forks 23 further descends, the forks 23 can press the pallet 70 onto the receiving surface 130a from the upper side Dvu. This allows the pallet 70 to be fixed onto the receiving surface 130a. In other words, the center of gravity of the pallet 70 placed on the receiving surface 130a and the load 2 placed on the pallet 70 can be stabilized. As a result, the center of gravity of the entire forklift 10 can be further stabilized.

[0146] Second Embodiment A forklift 10 according to a second embodiment of the present disclosure will be described below with reference to Figure 14. The forklift 10 described in the second embodiment further includes a guide unit 80 that is not included in the forklift 10 of the first embodiment. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0147] (Guide part) The guide section 80 is a member that corrects the misalignment and places the pallet 70 on the receiving surface 130a when the pallet 70 descends from the upper side Dvu toward the receiving surface 130a while being misaligned in the vehicle width direction Dw relative to the receiving surface 130a on the straddle leg 13.

[0148] The guide portion 80 has a triangular prism shape extending in the straight-travel direction Ds. The guide portion 80 is fixed to the main body portion 130 of the straddle leg 13. In this embodiment, the guide portion 80 has a right-angled isosceles triangle shape when viewed from the straight-travel direction Ds, and the surface corresponding to the hypotenuse of this right-angled isosceles triangle has a rectangular shape when viewed from the straight-travel direction Ds. The surface corresponding to this hypotenuse faces diagonally upward. The guide portion 80 is formed from, for example, metal or wood.

[0149] The rectangular surface serves as a guide surface 80a that guides the pallet 70. Therefore, the guide unit 80 has the guide surface 80a. The guide surface 80a extends above the receiving surface 130a at a position Dvu above the receiving surface 130a in a direction intersecting the receiving surface 130a.

[0150] Of the pair of straddle legs 13, the guide surface 80a of the guide portion 80 provided on one side Dwr and the guide surface 80a of the guide portion 80 provided on the other side Dwl are inclined with respect to the horizontal plane so as to face each other in the vehicle width direction Dw.

[0151] (Action and effect) When the pair of forks 23 of the forklift 10 lowers the pallet 70 toward the receiving surface 130a of the straddle leg 13, the pallet 70 may shift in the vehicle width direction Dw from an appropriate position relative to the receiving surface 130a.

[0152] According to the cargo handling system 1 of the above embodiment, even if the pallet 70 is misaligned in the vehicle width direction Dw relative to the receiving surface 130a, the guide surface 80a corrects the misalignment and places the pallet 70 on the receiving surface 130a. This stabilizes the center of gravity of the pallet 70 placed on the receiving surface 130a and the cargo 2 placed on the pallet 70. As a result, the center of gravity of the entire forklift 10 can be further stabilized.

[0153] Third Embodiment A forklift 10 according to a third embodiment of the present disclosure will be described below with reference to Figure 15. The forklift 10 described in the third embodiment further includes a stopper portion 90 that is not included in the forklift 10 of the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0154] (Stopper part) The stopper portion 90 is a member that prevents the pallet 70 from shifting (displacing) on ​​the receiving surface 130a in the straight-line direction Ds and the vehicle width direction Dw when the pallet 70 is placed on the receiving surface 130a of the straddle leg 13.

[0155] The stopper portion 90 has a flat plate shape. In this embodiment, a plurality of stopper portions 90 are fixed to the main body portion 130 of the straddle leg 13. One stopper portion 90 is fixed from one side Dwr to the main body portion 130 of the straddle leg 13 located on one side Dwr of the pair of straddle legs 13, and one stopper portion 90 is fixed from the front side Dsf to the front end of this main body portion 130.

[0156] One stopper portion 90 is fixed to the main body portion 130 of the straddle leg 13 located on the other side Dwl of the pair of straddle legs 13 from the other side Dwl, and one stopper portion 90 is fixed to the front end of this main body portion 130 from the front side Dsf.

[0157] Each stopper portion 90 has a restricting surface 90a that extends in a direction perpendicular to the receiving surface 130a at a position Dvu above the receiving surface 130a. When the pallet 70 is placed on the receiving surface 130a, the restricting surface 90a abuts against the pallet 70 from the outside, thereby restricting the pallet 70 from being displaced forward Dsf and in the vehicle width direction Dw. The stopper portion 90 is formed from, for example, metal, wood, etc.

[0158] (Action and effect) During operation of the forklift 10, the pallet 70 placed on the receiving surface 130a may deviate (be displaced) from an appropriate position relative to the receiving surface 130a in the straight-ahead direction Ds and the vehicle width direction Dw.

[0159] According to the cargo handling system 1 of the above embodiment, the pallet 70 placed on the receiving surface 130a abuts against the regulating surface 90a of the stopper portion 90, thereby preventing the pallet 70 from shifting outward beyond the stopper portion 90. This stabilizes the center of gravity of the pallet 70 placed on the receiving surface 130a and the cargo 2 placed on the pallet 70. As a result, the center of gravity of the entire forklift 10 can be further stabilized.

[0160] <Fourth embodiment> A forklift 10 according to a fourth embodiment of the present disclosure will be described below with reference to Figures 16 and 17. The forklift 10 described in the fourth embodiment further includes a centering mechanism 100 that is not included in the forklift 10 of the first embodiment. Also, the configuration of the claws of the forks 23 is partially different from the configuration of the claws 231 of the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0161] (fork) The fork 23 has a base end portion 230 and a claw portion 231iv. The base end portion 230 has the same configuration as in the above embodiment. The claw portion 231iv has a claw body 232 and a guide hole 233.

[0162] In this embodiment, the claw body 232 has a clamping surface 231aiv that faces downward Dvd and extends horizontally, a pallet support surface 231biv that faces upward Dvu and extends horizontally, and a claw side surface 231civ that connects these clamping surface 231aiv and pallet support surface 231biv in the vertical direction Dv and faces the vehicle width direction Dw.

[0163] The guide hole 233 is a hole formed in the claw body 232. The guide hole 233 extends from the claw side surface 231civ to the clamping surface 231aiv of the claw body 232, and is open on the claw side surface 231civ and the clamping surface 231aiv.

[0164] The guide hole 233 has an upper opening 233a that opens to the claw side surface 231civ, a lower opening 233b that opens to the clamping surface 231aiv, and a hole inner surface 233c that connects the upper opening 233a and the lower opening 233b.

[0165] For convenience of explanation, the claw portion 231iv on one side Dwr (the right side in FIGS. 16 and 17) of the pair of claw portions 231iv of the fork 23 will be described below.

[0166] The upper opening 233a has a rectangular shape when viewed from one side Dwr. The lower opening 233b has a rectangular shape when viewed from the lower side Dvd. The hole inner surface 233c has a first guide surface 233d and a second guide surface 233e.

[0167] The first guide surface 233d connects the side located on the upper side Dvu of the upper opening 233a and the side located on the other side Dwl of the lower opening 233b, and extends in a state of being inclined with respect to the horizontal plane.

[0168] The second guide surface 233e connects the side of the upper opening 233a located on the lower side Dvd with the side of the lower opening 233b located on one side Dwr, and extends in a state of being inclined with respect to the horizontal plane. The first guide surface 233d and the second guide surface 233e face each other and are parallel to each other.

[0169] (Centering mechanism) The centering mechanism 100 positions the claw portion 231iv within the fork pocket 73. The centering mechanism 100 is provided on the claw body 232. The centering mechanism 100 has a fork insertion portion 101, a bottom surface holding portion 102, and a side surface holding portion 103.

[0170] The fork insertion portion 101 is a plate-shaped member inserted into a guide hole 233 formed in the claw body 232. The fork insertion portion 101 has a first surface 101a facing the first guide surface 233d and a second surface 101b facing the second guide surface 233e.

[0171] The lower surface pressing portion 102 is fixed integrally with the fork insertion portion 101 to an end portion of the lower side Dvd of the fork insertion portion 101. The lower surface pressing portion 102 is formed in a plate shape that extends along the pressing surface 231aiv of the claw body 232.

[0172] The dimension of the lower surface holding portion 102 in the vehicle width direction Dw is larger than the dimension of the lower opening 233b in the vehicle width direction Dw. The lower surface holding portion 102 has a lower surface holding surface 102a facing the downward side Dvd and facing the lower surface 73b of the inner surface 74 of the pallet 70, and a lower locking surface 102b facing the upward side Dvu and connected to the second surface 101b of the fork insertion portion 101 from one side Dwr.

[0173] The side surface pressing portion 103 is fixed integrally with the fork insertion portion 101 at the end of the upper side Dvu of the fork insertion portion 101. The side surface pressing portion 103 is in the form of a plate that extends along the claw side surface 231civ of the claw body 232.

[0174] The dimension of the side surface pressing portion 103 in the vertical direction Dv is larger than the dimension of the upper opening 233a in the vertical direction Dv. The side surface pressing portion 103 has a side surface pressing surface 103a facing one side Dwr and facing the side surface 73c on the inner surface 74 of the fork pocket 73, and an upper locking surface 103b facing the upper side Dvu and connected to the second surface 101b of the fork insertion portion 101 from the lower side Dvd.

[0175] When the pallet support surface 231biv of the claw body 232 abuts against the upper surface 73a of the inner surface 74 of the fork pocket 73, the fork insertion portion 101 protrudes downward Dvd beyond the claw body 232. At this time, the second surface 101b abuts against the second guide surface 233e.

[0176] Additionally, the upper end of the side surface pressing portion 103 is located on the lower side Dvd below the pallet support surface 231biv of the claw body 232. This prevents the side surface pressing portion 103 from interfering when the pallet support surface 231biv abuts against the upper surface 73a.

[0177] Here, we will explain the state of the centering mechanism 100 when the claw portion 231iv descends toward the lower surface 73b of the inner surface 74 of the fork pocket 73. When the claw portion 231iv descends toward the lower surface 73b, the lower surface pressing surface 102a of the lower surface pressing portion 102 first comes into contact with the lower surface 73b.

[0178] When the claw portion 231iv further descends, the first surface 101a of the fork insertion portion 101 connected to the lower surface holding portion 102 comes into contact with the first guide surface 233d while the lower surface holding surface 102a comes into contact with the lower surface 73b.

[0179] When the claw portion 231iv further descends, the first surface 101a is pressed downward Dvd by the first guide surface 233d. At this time, the first surface 101a slides in the vehicle width direction Dw while abutting against the first guide surface 233d.

[0180] That is, the entire centering mechanism 100 slides in the vehicle width direction Dw. When the claw portion 231iv descends until the clamping surface 231aiv of the claw main body 232 abuts against the lower locking surface 102b of the lower surface clamping portion 102, the side surface clamping surface 103a of the side surface clamping portion 103 abuts against the side surface 73c and presses against the side surface 73c.

[0181] That is, as the claw portions 231iv descend, the side surface pressing portions 103 of the centering mechanism 100 press the side surfaces 73c, displacing the pallet 70 in the vehicle width direction Dw. In other words, the claw portions 231iv are positioned within the fork pockets 73 by the centering mechanism 100 provided on the pair of claw bodies 232.

[0182] The above has described the claw body 232 on one side Dwr of the claw portions 231iv of the pair of forks 23 and the centering mechanism 100 provided on this claw body 232. The claw body 232 on the other side Dwl of the claw portions 231iv of the pair of forks 23 (left side in FIGS. 16 and 17) and the centering mechanism 100 provided on this claw body 232 are configured symmetrically in the vehicle width direction Dw with respect to the claw body 232 on one side Dwr and the centering mechanism 100 provided on this claw body 232, so description thereof will be omitted.

[0183] (Action and effect) According to the cargo handling system 1 of the above embodiment, when the claws 231iv are lowered within the fork pocket 73, the centering mechanisms 100 provided on the pair of claw bodies 232 position each of the claws 231iv so that it cannot move within the fork pocket 73. In other words, as the pair of claws 231iv are lowered, the centering mechanisms 100 position the pallet 70 at a predetermined position relative to the claws 231iv.

[0184] This makes it possible to further stabilize the center of gravity of the pallet 70 placed on the receiving surface 130a and the cargo 2 placed on the pallet 70. As a result, it is possible to further stabilize the center of gravity of the entire forklift 10.

[0185] Fifth Embodiment A forklift 10 according to a fifth embodiment of the present disclosure will be described below with reference to Fig. 18. The forklift 10 described in the fifth embodiment further includes a centering mechanism 100v that is not included in the forklift 10 of the first embodiment.

[0186] This centering mechanism 100v is partially different in configuration from the centering mechanism 100 of the fourth embodiment. Also, the configuration of the claw portions 231v of the fork 23 is partially different from the configuration of the claw portions 231 of the first embodiment. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0187] (fork) The claw portion 231v has a claw main body 232v and a shaft support portion 234. The claw main body 232v in this embodiment has a clamping surface 231av facing the downward side Dvd and extending horizontally, a pallet support surface 231bv facing the upward side Dvu and extending horizontally, and a claw side surface 231cv connecting the clamping surface 231av and the pallet support surface 231bv in the up-down direction Dv and facing the vehicle width direction Dw.

[0188] The shaft support portion 234 is integrally formed with the claw body 232v so as to protrude from an intersection 232i where the clamping surface 231av of the claw body 232v intersects with the claw side surface 231cv. The shaft support portion 234 has a cylindrical shape extending in the linear direction Ds. The shaft support portion 234 is formed with a bearing hole 234a extending in the linear direction Ds.

[0189] In this embodiment, a plurality of shaft support portions 234 are provided on the claw body 232v. Detailed illustrations are omitted in this embodiment. In this embodiment, a case where four shaft support portions 234 are provided on the claw body 232v will be described as an example.

[0190] Specifically, of the two intersections 232i in the claw body 232v, two bearing portions are arranged at intervals from each other in the straight-line direction Ds at the intersection 232i on one side Dwr, and two bearing portions are arranged at intervals from each other in the straight-line direction Ds at the intersection 232i on the other side Dwl.

[0191] (Centering mechanism) A pair of centering mechanisms 100v are provided on the claw body 232v. The centering mechanism 100v has a shaft portion 104, a lower surface pressing portion 102v, and a side surface pressing portion 103v.

[0192] The shaft portion 104 is a columnar member. The shaft portion 104 is inserted into the bearing holes 234a of two shaft support portions 234 adjacent to each other in the linear direction Ds, and is rotatably supported by these bearing holes 234a.

[0193] The shaft portion 104 is rotatably supported by these bearing holes 234a and rotates about a rotation axis O extending in the linear direction Ds. The rotation axis O is an imaginary axis that passes through the centers of the bearing holes 234a that are adjacent in the linear direction Ds.

[0194] The lower surface holding portions 102v are plate-shaped members provided on the outer peripheral surface of the shaft portion 104 that is not inserted into the bearing holes 234a. The pair of lower surface holding portions 102v are integrally provided on each shaft portion 104 so as to approach each other in the vehicle width direction Dw.

[0195] The lower surface holding portion 102v has a first abutment surface 102c that faces the holding surface 231av of the claw body 232v in a state inclined relative to the horizontal plane when the claw portion 231v is inserted into the fork pocket 73 and the pallet support surface 231bv is abutting against the upper surface 73a of the inner surface 74 of the fork pocket 73, and a second abutment surface 102d that faces the opposite side to the first abutment surface 102c.

[0196] The side surface pressing portion 103v is a plate-shaped member provided on the outer peripheral surface of the shaft portion 104, on a portion that is not inserted into the bearing hole 234a. The side surface pressing portion 103v is provided integrally with the shaft portion 104.

[0197] The side holding portion 103v has a claw abutment surface 103c that abuts against the claw side surface 231cv when the claw portion 231v is inserted into the fork pocket 73 and the pallet support surface 231bv is abutting against the upper surface 73a on the inner surface 74 of the fork pocket 73, and an opposing surface 103d that faces opposite to the claw abutment surface 103c and faces the side surface 73c on the inner surface 74 of the fork pocket 73.

[0198] In this case, the end face of the side surface pressing portion 103v facing the upper side Dvu is located on the lower side Dvd of the pallet support surface 231bv of the claw body 232v, so that the side surface pressing portion 103v does not interfere when the pallet support surface 231bv abuts against the upper surface 73a.

[0199] Here, we will explain the state of the centering mechanism 100v when the claw portion 231v descends toward the lower surface 73b of the inner surface 74 of the fork pocket 73. When the claw portion 231v descends toward the lower surface 73b, the edge located on the lowermost side Dvd of the second abutment surface 102d of the lower surface pressing portion 102v first abuts against the lower surface 73b. When the claw portion 231v descends further, the lower surface pressing portion 102v rotates about the rotation axis O, and the side surface pressing portion 103v also rotates about the rotation axis O.

[0200] This rotation causes the second abutment surface 102d of the lower surface holding portion 102v to abut against and face the lower surface 73b, and the edge of the opposing surface 103d of the side surface holding portion 103v abuts against the side surface 73c on the inner surface 74 of the fork pocket 73 and presses this side surface 73c in the vehicle width direction Dw.

[0201] That is, as the claw portions 231v descend, the side surface pressing portions 103v of the centering mechanism 100v press the side surfaces 73c, displacing the pallet 70 in the vehicle width direction Dw. In other words, the claw portions 231v are positioned within the fork pockets 73 by the centering mechanism 100v provided on the pair of claw bodies 232v.

[0202] (Action and effect) The configuration of the cargo handling system 1 according to the above embodiment can also achieve the effects described in the fourth embodiment.

[0203] Sixth Embodiment A forklift 10 according to a sixth embodiment of the present disclosure will be described below with reference to Fig. 19. The forklift 10 described in the sixth embodiment further includes a centering mechanism 100vi that is not included in the forklift 10 of the first embodiment.

[0204] The centering mechanism 100vi is partially different in configuration from the centering mechanism 100 of the fourth embodiment. Also, the configuration of the claw portions 231vi of the fork 23 is partially different from the configuration of the claw portions 231 of the first embodiment. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

[0205] (fork) The claw portion 231vi has a claw body 232vi and a countersink portion 235. In this embodiment, the claw body 232vi has a clamping surface 231avi that faces the downward side Dvd and extends horizontally, a pallet support surface 231bvi that faces the upward side Dvu and extends horizontally, and a claw side surface 231cvi that connects the clamping surface 231avi and the pallet support surface 231bvi in ​​the vertical direction Dv and faces the vehicle width direction Dw.

[0206] The countersink portion 235 is a hole that penetrates the claw body 232vi in ​​the up-down direction Dv. That is, the countersink portion 235 is open to both the pallet support surface 231bvi and the clamping surface 231avi of the claw body 232vi. The countersink portion 235 is composed of a countersink portion 235a and a hole portion 235b.

[0207] The countersunk portion 235a opens to the pallet support surface 231bvi, and its diameter decreases from the opening toward the lower side Dvd. The hole 235b is connected to the countersunk portion 235a from the lower side Dvd. The hole 235b opens to the holding surface 231avi.

[0208] (Centering mechanism) The centering mechanism 100vi has a countersunk hole insertion portion 105, a bottom surface holding portion 102vi, a side surface holding portion 103vi, a link portion 108, a first rotating shaft 109, a second rotating shaft 110, and a third rotating shaft 111.

[0209] The countersunk hole insertion portion 105 is a member inserted into the countersunk hole portion 235. The countersunk hole insertion portion 105 has a head portion 106 that can be accommodated in the countersunk hole portion 235, and a support pillar 107 that is integrally connected to the head portion 106 from the lower side Dvd and extends in the up-down direction Dv.

[0210] The head 106 is formed in a truncated cone shape. The head 106 has an upper end surface 106a facing the upward side Dvu. The head 106 is received in the countersunk hole portion 235 when the claw portion 231vi is inserted into the fork pocket 73 and the pallet support surface 231bvi abuts against the upper surface 73a of the inner surface 74 of the fork pocket 73. When the head 106 is received in the countersunk hole portion 235, the upper end surface 106a is flush with the pallet support surface 231bvi.

[0211] The support pillar 107 has a columnar shape. The support pillar 107 is inserted through the hole 235b. When the claw portion 231vi is inserted into the fork pocket 73 and the pallet support surface 231bvi abuts against the upper surface 73a of the inner surface 74 of the fork pocket 73, the support pillar 107 protrudes downward Dvd beyond the claw body 232vi.

[0212] The lower surface holding portion 102vi is a member having a flat plate shape extending horizontally. The lower surface holding portion 102vi is integrally connected to the support column 107 from a lower side Dvd, and is supported by the support column 107 from an upper side Dvu.

[0213] The lower surface pressing portion 102vi has a first opposing surface 102e facing the upper side Dvu and facing the pressing surface 231avi, and a second opposing surface 102f facing the opposite side from the first opposing surface 102e and facing the lower surface 73b of the inner surface 74 of the fork pocket 73. The support pillar 107 is fixed to the center of this first opposing surface 102e.

[0214] The side surface holding portion 103vi is a flat plate-shaped member. A pair of the side surface holding portion 103vi is connected to both ends of the lower surface holding portion 102vi in ​​the vehicle width direction Dw via first rotating shafts 109. Here, the first rotating shafts 109 are cylindrical and extend in the straight-ahead direction Ds, and are rotatably provided at both ends of the lower surface holding portion 102vi in ​​the vehicle width direction Dw.

[0215] The first rotation shaft 109 is rotatable about a first rotation axis O1 extending in the linear direction Ds. The side surface pressing portion 103vi is integrally connected to the first rotation shaft 109. When connected to the first rotation shaft 109, the side surface pressing portion 103vi is disposed between the claw body 232vi and the side surface 73c.

[0216] Therefore, the side surface holding portion 103vi is rotatable relative to the bottom surface holding portion 102vi about a first rotation axis O1 that passes through the center of the first rotation shaft 109 in conjunction with the rotation of the first rotation shaft 109. The first rotation axis O1 is a virtual axis that passes through the center of the first rotation shaft 109 in the straight-travel direction Ds.

[0217] The side surface holding portion 103vi has a claw-facing surface 103e facing the claw portion 231vi when the claw portion 231vi is inserted into the fork pocket 73 and the pallet support surface 231bvi is abutting against the upper surface 73a on the inner surface 74 of the fork pocket 73, and a pocket-facing surface 103f facing the opposite side from the claw-facing surface 103e and facing the side surface 73c on the inner surface 74 of the fork pocket 73.

[0218] In this case, the end face of the side surface pressing portion 103vi facing the upper side Dvu is located on the lower side Dvd of the pallet support surface 231bvi of the claw body 232vi, so that the side surface pressing portion 103vi does not interfere when the pallet support surface 231bvi abuts against the upper surface 73a.

[0219] The link portion 108 is a flat plate-shaped member. The link portion 108 is connected to the side surface holding portion 103vi via a second rotation shaft 110. Here, the second rotation shaft 110 is cylindrical and extends in the linear direction Ds, and is rotatably provided on the side surface holding portion 103vi.

[0220] The second rotation shaft 110 is rotatable about a second rotation axis O2 extending in the rectilinear direction Ds. The link portion 108 is integrally connected to the second rotation shaft 110. When connected to the second rotation shaft 110, the link portion 108 is disposed between the claw portion 231vi and the side surface pressing portion 103vi.

[0221] Therefore, in accordance with the rotation of the second rotating shaft 110, the link portion 108 is rotatable about a second rotation axis O2 passing through the center of the second rotating shaft 110 relative to the side surface pressing portion 103vi. The second rotation axis O2 is a virtual axis passing through the center of the second rotating shaft in the straight-ahead direction Ds.

[0222] The link portion 108 is connected to the claw body 232vi via a third rotation shaft 111. The third rotation shaft 111 is cylindrical and extends in the linear direction Ds, and is rotatably provided at an intersection 232i where the clamping surface 231avi of the claw body 232vi and the claw side surface 231cvi intersect.

[0223] The third rotation shaft 111 is rotatable about a third rotation axis O3 extending in the linear direction Ds. The link portion 108 is integrally connected to the third rotation shaft 111. Therefore, as the third rotation shaft 111 rotates, the link portion 108 is rotatable about the third rotation axis O3 passing through the center of the third rotation shaft 111 relative to the claw body 232vi. The third rotation axis O3 is an imaginary axis passing through the center of the third rotation shaft 111 in the linear direction Ds.

[0224] Here, we will explain the state of the centering mechanism 100vi when the claw portion 231vi descends toward the lower surface 73b of the inner surface 74 of the fork pocket 73. When the claw portion 231vi descends toward the lower surface 73b, the second opposing surface 102f of the lower surface holding portion 102vi abuts against the lower surface 73b.

[0225] As the claw portion 231vi descends further, the head portion 106 of the countersunk hole insertion portion 105 and the support column 107 protrude upward Dvu from the pallet support surface 231bvi of the claw body 232vi in ​​this order.

[0226] At the same time, the side surface holding portion 103vi connected to the bottom surface holding portion 102vi is pressed by the link portion 108 connected to the claw body 232vi, causing the side surface holding portion 103vi and the link portion 108 to rotate around their respective rotation axes (first rotation axis O1, second rotation axis O2, and third rotation axis O3).

[0227] By these rotations, the edge of the pocket-facing surface 103f of the side surface holding portion 103vi comes into contact with the side surface 73c of the inner surface 74 of the fork pocket 73 and presses this side surface 73c in the vehicle width direction Dw.

[0228] That is, as the claw portions 231vi descend, the side surface pressing portions 103vi of the centering mechanism 100vi press the side surfaces 73c, displacing the pallet 70 in the vehicle width direction Dw. In other words, the claw portions 231vi are positioned within the fork pockets 73 by the centering mechanisms 100vi provided on the pair of claw bodies 232vi.

[0229] (Action and effect) The configuration of the cargo handling system 1 according to the above embodiment can also achieve the effects described in the fourth embodiment.

[0230] Seventh Embodiment A forklift 10 according to a seventh embodiment of the present disclosure will be described below with reference to Figures 20 and 21. The forklift 10 described in the seventh embodiment includes a linkage mechanism 300 and a pallet guide 400.

[0231] (Interlocking mechanism) The interlocking mechanism 300 is provided on each of the pair of straddle legs 13 and is interlocked with the lowering movement of the pair of forks 23 supporting the pallet 70. As shown in FIG. 20, the interlocking mechanism 300 in this embodiment includes a pinion 301, a rack 302, and a rotary shaft 303.

[0232] The pinion 301 is a gear housed in the main body 130 of the straddle leg 13 and rotatably held by the main body 130. Specifically, the pinion 301 is held rotatably about an axis Ar extending in the linear direction Ds.

[0233] The rack 302 extends in the vertical direction while meshing with the pinion 301. The rack 302 meshes with the pinion 301 housed in the main body 130 arranged on one side Dwr from the other side Dwl. On the other hand, the rack 302 meshes with the pinion 301 housed in the main body 130 arranged on the other side Dwl from the one side Dwr. A portion of the rack 302 protrudes toward the upper side Dvu beyond the receiving surface 130a of the main body 130. An edge 302a of the upper side Dvu of the rack 302 faces the upper side Dvu.

[0234] The rotating shaft 303 is a columnar member extending about the axis Ar. The rotating shaft 303 extends integrally with the pinion 301 from the pinion 301 in the linear direction Ds. In this embodiment, the rotating shaft 303 extends from the pinion 301 toward the front side Dsf, for example. The rotating shaft 303 is housed in the main body 130.

[0235] (Pallet guide) In this embodiment, the pallet guide 400 is a plate member held by the interlocking mechanism 300 so as to be rotatable around the axis Ar. The pallet guide 400 is provided on the rotation shaft 303 and housed in the main body 130. When viewed from the front side Dsf, the pallet guide 400 extends from the side surface of the rotation shaft 303 towards the downward side Dvd. Hereinafter, the position where the pallet guide 400 is housed in the main body 130 will be referred to as the "retracted position" of the pallet guide 400. The pallet guide 400 has a pallet guide surface 400a. When the pallet guide 400 is positioned in the retracted position, the pallet guide surface 400a faces the vehicle width direction Dw. Specifically, when the pallet guide 400 is positioned in the retracted position, the pallet guide surface 400a of the pallet guide 400 arranged on one side Dwr faces one side Dwr, and the pallet guide surface 400a of the pallet guide 400 arranged on the other side Dwl faces the other side Dwl.

[0236] Here, the operation of the interlocking mechanism 300 will be described. As shown in FIG. 21 , when the pair of forks 23 supporting the pallet 70 are lowered (lifted down), the non-loading surface 72 of the pallet 70 is moved to the lower side Dvd and comes into contact with the edge 302a of the rack 302. As the pair of forks 23 further descend, the non-loading surface 72 of the pallet 70 presses the edge 302a of the rack 302 toward the lower side Dvd, pushing the rack 302 down toward the lower side Dvd. As the rack 302 moves toward the lower side Dvd, the pinion 301 meshing with the rack 302 rotates about the axis Ar, and the rotary shaft 303 integral with the pinion 301 rotates about the axis Ar. Accordingly, the pallet guide 400 rotates together with the rotary shaft 303 about the axis Ar. The pallet guide 400 is rotated by the interlocking mechanism 300 to move to a position where it clamps the pallet 70 in the vehicle width direction Dw on the upper side Dvu of the receiving surface 130a of the main body 130. Hereinafter, the position where the pallet guide 400 clamps the pallet 70 in the vehicle width direction Dw on the upper side Dvu of the receiving surface 130a will be referred to as the "guiding position" of the pallet guide 400.

[0237] When the pallet guide 400 is positioned in the guiding position, the pallet guide surface 400a of the pallet guide 400 abuts against the pallet 70 from the vehicle width direction Dw while inclined relative to the receiving surface 130a of the main body 130, and presses it in the vehicle width direction Dw. Specifically, the pallet guide surface 400a of the pallet guide 400 arranged on one side Dwr presses the pallet 70 toward the other side Dwl. Meanwhile, the pallet guide surface 400a of the pallet guide 400 arranged on the other side Dwl presses the pallet 70 toward the one side Dwr. In other words, the position of the pallet 70 in the vehicle width direction Dw is adjusted by the pallet guide surface 400a of the pallet guide 400 as the pallet 70 moves toward the downward side Dvd. After the position of the pallet 70 in the vehicle width direction Dw is adjusted by the pallet guide 400, the non-loading surface 72 of the pallet 70 abuts against the receiving surface 130a of the main body 130, causing the edge 302a of the rack 302 to become flush with the receiving surface 130a and stopping the interlocking of the interlocking mechanism 300. At this time, the pallet guide surface 400a of the pallet guide 400 is held by the rotary shaft 303 in a state inclined with respect to the receiving surface 130a.

[0238] (Action and effect) In the above configuration, the interlocking mechanism 300 is interlocked with the lowering movement of the forks 23 supporting the pallet 70, and the pallet guide 400 guides the pallet 70 in accordance with this interlocking movement, thereby adjusting the position of the pallet 70 in the vehicle width direction Dw. In other words, when the pallet 70 is lowered, it is centered by the pallet guide surface 403a of the pallet guide 400. As a result, even if the pallet 70 supported by the pair of forks 23 is lowered while being misaligned in the vehicle width direction Dw, the pallet 70 is centered by the pallet guide 400 as it moves from the upper side Dvu toward the receiving surface 130a. As a result, the center of gravity of the pallet 70 on which the load 2 is placed is more centrally located. This makes it possible to further stabilize the center of gravity of the entire forklift 10.

[0239] Furthermore, the interlocking mechanism 300 positions the pallet guide 400 in the guide position when the pallet 70 is placed on the receiving surface 130a, and positions the pallet guide 400 in the retracted position at other times. In other words, when the forklift 10 is not supporting the pallet 70, the pallet guide 400 is housed in the straddle legs 13. This makes it possible to prevent an increase in the overall dimension of the forklift 10 in the vehicle width direction Dw when the forklift 10 is not supporting the pallet 70. This makes it possible to prevent the forklift 10 from interfering with walls (racks) and the like arranged within the logistics facility Lf.

[0240] Furthermore, the interlocking mechanism 300 rotates the pallet guide 400 using the weight of the pallet 70 on which the cargo 2 is placed. This reduces the frictional force that occurs within the fork pockets 73 of the pallet 70 between the upper surface 73a of the inner surface 74 and the pallet support surfaces 231b of the claws 231 of the forks 23. As a result, the pallet 70 can be moved more smoothly to the center compared to, for example, a case in which the weight of the pallet 70 is not used to interlock the interlocking mechanism 300.

[0241] Eighth Embodiment Hereinafter, a forklift 10 according to an eighth embodiment of the present disclosure will be described with reference to Figures 22 and 23. The forklift 10 described in the eighth embodiment includes a linkage mechanism 300 and a pallet guide 400.

[0242] (Interlocking mechanism) As shown in FIG. 22, the interlocking mechanism 300 in this embodiment has a piston portion 304 , a hydraulic motor 305 , and an output shaft 306 .

[0243] The piston portion 304 is provided in the main body portion 130 of the straddle leg 13. The piston portion 304 has a cylinder 304a and a rod 304b. The cylinder 304a is housed in the main body portion 130 while extending in the vertical direction Dv and is fixed to the main body portion 130. The rod 304b is provided in the cylinder 304a. The rod 304b protrudes from the inside of the cylinder 304a to the upper side Dvu by the hydraulic pressure of hydraulic oil supplied from the outside into the cylinder 304a. The rod 304b has a columnar shape extending in the vertical direction Dv. The outer diameter of the rod 304b is smaller than the inner diameter of the cylinder 304a. The rod 304b and the cylinder 304a are nested within each other. An end face 304e on the upper side Dvu of the rod 304b faces the upper side Dvu.

[0244] The hydraulic motor 305 is provided in the main body 130 of the straddle leg 13. The hydraulic motor 305 is housed in the main body 130. The hydraulic motor 305 is connected to the cylinder 304a of the piston portion 304 by a hydraulic hose or the like, and the hydraulic oil can be exchanged between the hydraulic motor 305 and the piston portion 304 through this hydraulic hose. The hydraulic motor 305 in this embodiment receives the hydraulic oil extruded from between the cylinder 304a and the rod 304b of the piston portion 304, and rotates the output shaft 306 by an amount corresponding to the amount of hydraulic oil received. The output shaft 306 is rotatably provided to the hydraulic motor 305. The output shaft 306 is a columnar member extending about an axis Ar. The output shaft 306 extends from the hydraulic motor 305 in the straight-ahead direction Ds. The rotation shaft 303 in this embodiment extends from the hydraulic motor 305, for example, toward the front side Dsf.

[0245] (Pallet guide) The pallet guide 400 is a plate member held by the interlocking mechanism 300 so as to be rotatable about the axis Ar. The pallet guide 400 is provided on the output shaft 306 and housed in the main body 130. When viewed from the front side Dsf, the pallet guide 400 extends from the side surface of the output shaft 306 towards the downward side Dvd. Hereinafter, the position where the pallet guide 400 is housed in the main body 130 will be referred to as the "retracted position" of the pallet guide 400. The pallet guide 400 has a pallet guide surface 400a. When the pallet guide 400 is positioned in the retracted position, the pallet guide surface 400a faces the vehicle width direction Dw. Specifically, when the pallet guide 400 is positioned in the retracted position, the pallet guide surface 400a of the pallet guide 400 arranged on one side Dwr faces one side Dwr, and the pallet guide surface 400a of the pallet guide 400 arranged on the other side Dwl faces the other side Dwl.

[0246] Here, the operation of the interlocking mechanism 300 will be described. As shown in FIG. 23, when the pair of forks 23 supporting the pallet 70 are lowered (lifted down), the non-loading surface 72 of the pallet 70 is moved to the downward side Dvd and comes into contact with the end face 304e of the rod 304b. As the pair of forks 23 further descends, the non-loading surface 72 of the pallet 70 presses the end face 304e of the rod 304b toward the downward side Dvd, pushing the rod 304b down toward the downward side Dvd. As the rod 304b moves toward the downward side Dvd, hydraulic oil in the cylinder 304a is sent to the hydraulic motor 305. As a result, the hydraulic motor 305 rotates the output shaft 306 about the axis Ar, and the pallet guide 400 rotates together with the output shaft 306 about the axis Ar. The pallet guide 400 is rotated by the interlocking mechanism 300 to move to a position where it clamps the pallet 70 in the vehicle width direction Dw on the upper side Dvu of the receiving surface 130a of the main body 130. Hereinafter, the position where the pallet guide 400 clamps the pallet 70 in the vehicle width direction Dw will be referred to as the "guiding position."

[0247] When the pallet guide 400 is positioned in the guiding position, the pallet guide surface 400a of the pallet guide 400 abuts against the pallet 70 from the vehicle width direction Dw while inclined relative to the receiving surface 130a of the main body 130, and presses it in the vehicle width direction Dw. Specifically, the pallet guide surface 400a of the pallet guide 400 arranged on one side Dwr presses the pallet 70 toward the other side Dwl. Meanwhile, the pallet guide surface 400a of the pallet guide 400 arranged on the other side Dwl presses the pallet 70 toward the one side Dwr. In other words, the position of the pallet 70 in the vehicle width direction Dw is adjusted by the pallet guide surface 400a of the pallet guide 400 as it moves downward to the lower side Dvd. After the position of the pallet 70 in the vehicle width direction Dw has been adjusted by the pallet guide 400, the non-placement surface 72 of the pallet 70 comes into contact with the receiving surface 130a of the main body 130, causing the end surface 304e of the rod 304b to become flush with the receiving surface 130a and stopping the interlocking of the interlocking mechanism 300. At this time, the pallet guide surface 400a of the pallet guide 400 is held by the output shaft 306 in a state inclined with respect to the receiving surface 130a.

[0248] The above configuration can also achieve the same effects as those described in the seventh embodiment.

[0249] Ninth Embodiment A forklift 10 according to a ninth embodiment of the present disclosure will be described below with reference to Figures 24 and 25. The forklift 10 described in the ninth embodiment includes a linkage mechanism 300 and a pallet guide 400.

[0250] (Interlocking mechanism) The interlocking mechanism 300 is provided on each of the pair of straddle legs 13 and is interlocked with the backward movement of the cargo handling device 20. The following describes the interlocking mechanism 300 and pallet guide 400 provided on the straddle leg 13 arranged on the other side Dwl of the pair of straddle legs 13. The interlocking mechanism 300 and pallet guide 400 provided on the straddle leg 13 arranged on one side Dwr of the pair of straddle legs 13 are arranged symmetrically in the vehicle width direction Dw with the interlocking mechanism 300 and pallet guide 400 provided on the straddle leg 13 arranged on the other side Dwl, and therefore a description thereof will be omitted. As shown in FIG. 24, the interlocking mechanism 300 in this embodiment has a lever portion 307 and a cam plate 308.

[0251] The lever portion 307 is provided on the main body 130 of the straddle leg 13. When the inner mast 21 of the cargo handling device 20 moves backward, the lever portion 307 is pushed rearward Dsb by the inner mast 21, thereby rotating. The lever portion 307 has a lever base 307a, a first portion 307b, a second portion 307c, and a roller portion 307d.

[0252] The lever base 307a has a columnar shape extending in the up-down direction Dv and is provided on the main body 130. The lever base 307a is rotatably held by the main body 130. The lever base 307a protrudes upward Dvu beyond the receiving surface 130a of the main body 130. The first portion 307b is a rod-shaped member integrally connected to the lever base 307a. The first portion 307b extends from a side surface of the lever base 307a in the vehicle width direction Dw, and its end is located on one side Dwr of the straddle leg 13. The second portion 307c is a rod-shaped member integrally connected to the lever base 307a. The second portion 307c extends from a side surface of the lever base 307a toward the opposite side to the first portion 307b. The roller portion 307d is provided at an end of the second portion 307c. The roller portion 307d has a columnar shape extending in the vertical direction Dv and is rotatably held by the second portion 307c.

[0253] The cam plate 308 is a flat member and is fixed to the receiving surface 130a of the main body 130. The cam plate 308 has a main surface 308a facing the upward side Dvu and a back surface 308b facing the opposite side (downward side Dvd) from the main surface 308a and fixed to the receiving surface 130a. The cam plate 308 is formed with a plurality of plate guide holes 308h penetrating from the main surface 308a to the back surface 308b. In this embodiment, the cam plate 308 has three plate guide holes 308h arranged at equal intervals in the linear direction Ds. More specifically, the inner surface of each plate guide hole 308h is configured with a first guide portion 308h1 extending in the linear direction Ds and a second guide portion 308h2 connected to the first guide portion 308h1 and extending in the vehicle width direction Dw. Specifically, the second guide portion 308h2 extends from the end of the first guide portion 308h1 on the front side Dsf to the other side Dwl. Therefore, the plate guide hole 308h formed by the first guide portion 308h1 and the second guide portion 308h2 is L-shaped when viewed from the upper side Dvu. In addition, the connection portion between the first guide portion 308h1 and the second guide portion 308h2 is curved.

[0254] (Pallet guide) The pallet guide 400 in this embodiment has a plate portion 401 , a guide roller 402 , and a guide portion 403 .

[0255] Plate portion 401 is a flat member and is disposed on main surface 308a of cam plate 308. In this embodiment, plate portion 401 is disposed directly above main body portion 130. Hereinafter, the position of pallet guide 400 when plate portion 401 is disposed directly above main body portion 130 will be referred to as the "retracted position." Plate portion 401 has an abutment surface 401a that faces downward side Dvd and abuts against main surface 308a of cam plate 308 while facing opposite in the up-down direction Dv, a pallet mounting surface 401b that faces the opposite side (upper side Dvu) to abutment surface 401a, and four plate portion side surfaces 401c that connect abutment surface 401a and pallet mounting surface 401b in the up-down direction Dv. Here, the side surface of the roller portion 307d of the lever portion 307 abuts against the plate portion side surface 401c facing the rear side Dsb, among the four plate portion side surfaces 401c of the plate portion 401, from the rear side Dsb.

[0256] The guide rollers 402 are provided on the plate portion 401. The guide rollers 402 protrude downward from the opposing surface of the plate portion 401 Dvd and are rotatably held by the plate portion 401. In this embodiment, the same number of guide rollers 402 are provided on the plate portion 401 as the number of plate guide holes 308h formed in the cam plate 308. Each of the plurality of guide rollers 402 is arranged so as to correspond to each of the plate guide holes 308h. The plurality of guide rollers 402 are arranged at equal intervals in the rectilinear direction Ds. When the plate portion 401 is arranged on the main surface 308a of the cam plate 308, each guide roller 402 is accommodated in the plate guide hole 308h. The guide rollers 402 are rotatable while abutting against the inner surface of the plate guide hole 308h.

[0257] The guide portion 403 is a triangular prism-shaped member and is fixed integrally to the pallet mounting surface 401b of the plate portion 401. When viewed from the straight-ahead direction Ds, the guide portion 403 in this embodiment has a right-angled triangular shape. The surface corresponding to the hypotenuse when the guide portion 403 is viewed from the straight-ahead direction Ds is inclined with respect to the pallet mounting surface 401b of the plate portion 401. Hereinafter, this surface of the guide portion 403 will be referred to as the "pallet guide surface 403a." The pallet guide surface 403a is inclined with respect to the pallet mounting surface 401b so as to face one side Dwr. One of the two surfaces of the guide portion 403 arranged on the opposite side to the pallet guide surface 403a is fixed to the pallet mounting surface 401b. The other of the two surfaces of the guide portion 403 arranged on the opposite side to the pallet guide surface 403a is flush with the plate portion side surface 401c facing the other side Dwl.

[0258] Here, the operation of the interlocking mechanism 300 will be described. As shown in FIG. 25, when the cargo handling apparatus 20 moves backward (reach-in), the inner mast 21 of the cargo handling apparatus 20 moves rearward (Dsb) and abuts against the first portion 307b of the lever portion 307. As the inner mast 21 moves further backward, the first portion 307b is pushed toward the rearward (Dsb), causing the second portion 307c to rotate around the lever base 307a of the lever portion 307 as a base point, and the roller portion 307d provided at the end of the second portion 307c rotates and pushes the plate portion side surface 401c toward the forward (Dsf) side. As a result, the guide roller 402 provided on the plate portion 401 moves in the direction of extension of the plate guide hole 308h, and the plate portion 401 moves. In other words, the entire pallet guide 400 moves along the plate guide hole 308h. Specifically, the rotation of the guide rollers 402 within the first guide section 308h1 causes the entire pallet guide 400 to move to the forward side Dsf, and the rotation of the guide rollers 402 within the second guide section 308h2 causes the entire pallet guide 400 to move to the other side Dwl. Hereinafter, the position of the pair of pallet guides 400 when they move away from each other in the vehicle width direction Dw from the retracted position will be referred to as the "guide position."

[0259] The interlocking mechanism 300 may have a spring mechanism (not shown) that is provided on the cam plate 308, for example, and that applies a biasing force to the guide roller 402 to return the pallet guide 400 to its original position when the pallet guide 400 moves (displaces). As a result, when the inner mast 21 moves to the forward side Dsf and is no longer in contact with the lever portion 307, the pallet guide 400 is returned to its original position.

[0260] (Action and effect) In the above configuration, the interlocking mechanism 300 is interlocked with the backward movement of the load handling device 20, so that the pair of pallet guides 400 are moved to guide positions spaced apart from each other in the vehicle width direction Dw. This allows the pallet guide surface 403a of the pallet guide 400 to adjust the position of the pallet 70 in the vehicle width direction Dw. That is, when the pallet 70 is lowered, it is centered by the pallet guide 400. Therefore, for example, if the pallet 70 supported by the pair of forks 23 is lowered while the load handling device 20 is in a backward position and shifted in the vehicle width direction Dw, the pallet 70 is centered by the pallet guide 400 as it moves from the upper side Dvu toward the receiving surface 130a. As a result, the center of gravity of the pallet 70 on which the load 2 is placed is more centralized. This allows the center of gravity of the entire forklift 10 to be more stabilized.

[0261] (Other embodiments) The above describes in detail the embodiments of the present disclosure with reference to the drawings, but the specific configuration is not limited to the configuration of the embodiment, and additions, omissions, substitutions, and other modifications to the configuration are possible within the scope that does not deviate from the gist of the present disclosure.

[0262] FIG. 26 is a hardware configuration diagram showing the configuration of a computer 1100 according to this embodiment. The computer 1100 includes a processor 1110 , a main memory 1120 , storage 1130 , and an interface 1140 .

[0263] The above-described control device 50 is implemented in a computer 1100. The operations of the above-described processing units are stored in the form of a program in a storage 1130. The processor 1110 reads the program from the storage 1130, loads it into the main memory 1120, and executes the above-described processing in accordance with the program. The processor 1110 also allocates storage areas in the main memory 1120 corresponding to the above-described storage units 56 in accordance with the program.

[0264] The program may be for realizing part of the functions to be performed by the computer 1100. For example, the program may be for performing the functions by combining with another program already stored in the storage 1130 or by combining with another program installed in another device.

[0265] Furthermore, the computer 1100 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions implemented by the processor 1110 may be implemented by the integrated circuit.

[0266] Examples of storage 1130 include a magnetic disk, a magneto-optical disk, a semiconductor memory, etc. Storage 1130 may be an internal medium directly connected to the bus of computer 1100, or an external medium connected to computer 1100 via interface 1140 or a communication line.

[0267] Furthermore, when this program is distributed to the computer 1100 via a communication line, the computer 1100 that receives the program may load the program into the main memory 1120 and execute the above processing. In the above embodiment, the storage 1130 is a non-transitory tangible storage medium.

[0268] The program may also be a program for realizing part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that realizes the above-described functions in combination with another program already stored in storage 1130.

[0269] Also, as shown in Figure 27, the side surface 73c on the inner surface 74 of the fork pocket 73 in the pallet 70 may have a pair of first side surfaces 73d connected to the upper surface 73a, extending in a direction perpendicular to the horizontal plane and facing the vehicle width direction Dw when the pallet 70 is supported by the claw portions 231 of the forks 23, and a pair of second side surfaces 73e connected to the first side surfaces 73d from the lower side Dvd and connected to the lower surface 73b in a state inclined relative to the horizontal plane.

[0270] In this case, the pair of first side surfaces 73d face each other in the vehicle width direction Dw. The pair of second side surfaces 73e are inclined with respect to the horizontal plane so as to approach each other. The dimension of the lower surface 73b of the inner surface 74 in the vehicle width direction Dw is smaller than the dimension of the pressing surface 231a of the claw portion 231.

[0271] According to the above configuration, when the claw portion 231 descends toward the lower surface 73b of the inner surface 74 of the fork pocket 73, the intersection portion 232i, which is the portion where the claw portion side surface 231c and the pressing surface 231a intersect, comes into contact with the second side surface 73e. As a result, the intersection portion 232i comes into contact with the second side surface 73e and presses the second side surface 73e in the vehicle width direction Dw.

[0272] That is, as the claws 231 descend, the intersecting portions 232i of the claws 231 press against the second side surfaces 73e, displacing the pallet 70 in the vehicle width direction Dw. That is, the pallet 70 is positioned by the pair of claws 231. Therefore, this configuration can also achieve the effects described in the fourth embodiment.

[0273] 28, the main body 130 of the straddle leg 13 may have a support portion 132 and a first vibration-isolating portion 133 that is fixed to the support portion 132 from the upper side Dvu and has a receiving surface 130a. The first vibration-isolating portion 133 is a vibration-isolating member made of a material such as rubber, silicone, or urethane.

[0274] According to the above configuration, when the forklift 10 travels on the road surface R with the pallet 70 fixed to the receiving surface 130a, it is possible to suppress transmission of vibrations from the straddle legs 13 to the pallet 70.

[0275] Therefore, it is possible to prevent the pallet 70 from shifting relative to the receiving surface 130a due to vibrations, and as a result, it is possible to stabilize the center of gravity of the pallet 70 placed on the receiving surface 130a and the cargo 2 placed on the pallet 70.

[0276] 29, the claws 231 of the pair of forks 23 may have a base 236 and a second vibration-isolating part 237 that is fixed to the base 236 from the lower side Dvd and has a holding surface 231a. The second vibration-isolating part 237 is a vibration-isolating member made of a material such as rubber, silicone, or urethane.

[0277] According to the above configuration, when the forklift 10 travels on the road surface R with the pallet 70 fixed to the receiving surface 130a, it is possible to suppress transmission of vibrations from the claws 231 of the forks 23 to the pallet 70.

[0278] Therefore, it is possible to prevent the pallet 70 from shifting due to vibration relative to the clamping surfaces 231a of the claw portions 231. As a result, it is possible to stabilize the center of gravity of the pallet 70 placed on the receiving surfaces 130a and the cargo 2 placed on the pallet 70.

[0279] In addition, in the embodiment, the position of the loading and unloading device 20 when it is positioned at the uppermost position Dvu on the vehicle 11 is referred to as the "raised position Pu," but the raised position Pu may be set to an appropriate position depending on the position (height) of the fork pocket 73 of the pallet 70.

[0280] Furthermore, the configurations of the cargo handling system 1 described in each of the above embodiments are not limited to independent configurations, and the cargo handling system 1 may be configured by appropriately combining the components described in each embodiment.

[0281] <Additional Notes> The forklift, the cargo handling system, the loading method, and the forklift control device described in the embodiments can be understood, for example, as follows.

[0282] (1) A forklift 10 according to a first aspect includes a vehicle 11 capable of traveling on a road surface R, and a loading device 20 provided on the vehicle 11. The loading device 20 includes a mast extending in a vertical direction Dv at the front of the vehicle 11, a lift bracket 22 provided on the mast so as to be able to ascend and descend, and a pair of forks 23 having claw portions 231, 231iv, 231v, 231vi extending forward from the lift bracket 22 and spaced apart in a vehicle width direction Dw. The vehicle 11 includes: The vehicle has a vehicle body 12, and a pair of straddle legs 13 extending forward from the lower part of the vehicle body 12 and sandwiching the loading device 20 in the vehicle width direction Dw, supporting the mast so that the loading device 20 can move forward and backward between a forward position Pf and a backward position Pb, and when the loading device 20 is positioned in the backward position Pb, the front ends of the claw portions 231, 231iv, 231v, 231vi are positioned rearward of the front ends of the straddle legs 13.

[0283] As a result, when the loading device 20 is positioned in the rearward position Pb, the center of gravity of the entire forklift 10 is positioned further rearward Dsb compared to a configuration in which the front ends of the claws 231, 231iv, 231v, and 231vi are positioned further forward Dsf than the front ends of the straddle legs 13.

[0284] (2) A cargo handling system 1 according to a second aspect includes the forklift 10 of (1), and a pallet 70 having a loading surface 71 on which cargo 2 is loaded from the upper side Dvu, a non-loading surface 72 facing the opposite side to the loading surface 71, and a fork pocket 73 arranged between the loading surface 71 and the non-loading surface 72 and into which a pair of forks 23 can be inserted, and the claws 231, 231iv, 231v, 231vi face the downward side Dvd, and the pair of forks 23 face forward. When inserted into the fork pocket 73, the straddle leg 13 has clamping surfaces 231a, 231aiv, 231av, 231avi that face the inner surface 74 of the fork pocket 73, and the straddle leg 13 has a receiving surface 130a that faces the upward side Dvu, and the receiving surface 130a faces the non-loading surface 72 at a position closest to the non-loading surface 72 when the pair of forks 23 support the pallet 70 and the loading device 20 is positioned in the retracted position Pb.

[0285] As a result, the forks 23 can lower the pallet 70 and place it on the receiving surface 130a of the straddle leg 13. In other words, the center of gravity of the entire forklift 10 can be positioned further downward Dvd. Furthermore, when the forks 23 move further downward, the forks 23 can press the pallet 70 from the upper side Dvu onto the receiving surface 130a.

[0286] (3) In a third aspect, the loading system 1 is the loading system 1 of (2), wherein the forklift 10 further includes a guide portion 80 provided on the straddle leg 13, and the guide portion 80 has a guide surface 80a extending in a direction intersecting the receiving surface 130a above the receiving surface 130a at Dvu, and the guide surface 80a of the guide portion 80 provided on one of the pair of straddle legs 13 and the guide surface 80a of the guide portion 80 provided on the other may be inclined so as to face each other in the vehicle width direction Dw.

[0287] As a result, even if the pallet 70 is displaced in the vehicle width direction Dw relative to the receiving surface 130a, the guide surface 80a can correct the displacement and allow the pallet 70 to be placed on the receiving surface 130a.

[0288] (4) A fourth aspect of the loading and unloading system 1 is the loading and unloading system 1 of (2), wherein the forklift 10 further includes a stopper portion 90 provided on the straddle leg 13, and the stopper portion 90 has a regulating surface 90a extending in a direction perpendicular to the receiving surface 130a at a position Dvu above the receiving surface 130a, and when the pallet 70 is placed on the receiving surface 130a, the regulating surface 90a abuts against the pallet 70 to regulate the pallet 70 from being displaced forward and in the vehicle width direction Dw.

[0289] As a result, the pallet 70 placed on the receiving surface 130a comes into contact with the restricting surface 90a of the stopper portion 90, and therefore, the pallet 70 can be prevented from shifting outward from the stopper portion 90.

[0290] (5) The cargo handling system 1 according to the fifth aspect is any of the cargo handling systems 1 of (2) to (4), wherein the inner surface 74 of the fork pocket 73 is composed of an upper surface 73a facing the downward side Dvd, a lower surface 73b facing the upward side Dvu and facing the upper surface 73a, and a side surface 73c connecting the upper surface 73a and the lower surface 73b, and the forklift 10 may further include a centering mechanism 100, 100v, 100vi provided on the claw portions 231, 231iv, 231v, 231vi, which positions the claw portions 231, 231iv, 231v, 231vi within the fork pocket 73 by pressing the side surface 73c when the claw portions 231, 231iv, 231v, 231vi are pressed against the lower surface 73b within the fork pocket 73.

[0291] As a result, when the claws 231, 231iv, 231v, 231vi are lowered within the fork pocket 73, the centering mechanisms 100, 100v, 100vi can position the claws 231, 231v, 231vi within the fork pocket 73. In other words, by lowering the claws 231, 231iv, 231v, 231vi, the centering mechanisms 100, 100v, 100vi can position the pallet 70 at a predetermined position relative to the claws 231, 231iv, 231v, 231vi.

[0292] (6) A loading and unloading system 1 according to a sixth aspect is a loading and unloading system 1 according to any one of (2) to (5), wherein the forklift 10 further comprises a linkage mechanism 300 provided on each of the pair of straddle legs 13 and linked to the lowering movement of the pair of forks 23 supporting the pallet 70, and a pallet guide 400 rotatably held by the linkage mechanism 300, and the linkage mechanism 300 may be linked to the lowering movement to rotate the pair of pallet guides 400 from a retracted position in which the pallet guides 400 are housed in the straddle legs 13 to a guiding position Dvu above the straddle legs 13 in which the pair of pallet guides 400 clamp the pallet 70 in the vehicle width direction Dw.

[0293] As a result, even if the pallet 70 supported by the pair of forks 23 descends in a state of being shifted in the vehicle width direction Dw, the pallet 70 is moved to the center by the pallet guide 400 as it moves from the upper side Dvu toward the receiving surface 130a.

[0294] (7) A loading system 1 according to a seventh aspect is a loading system 1 according to any one of (2) to (5), wherein the forklift 10 further comprises a linkage mechanism 300 provided on each of the pair of straddle legs 13 and linked to the backward movement of the loading device 20, and a pallet guide 400 provided on each of the pair of straddle legs 13 and held by the linkage mechanism 300 so as to be movable in the vehicle width direction Dw, and the linkage mechanism 300 may be linked to the backward movement to move the pair of pallet guides 400 from a retracted position where the pallet guides 400 are located directly above the straddle legs 13 to a guide position where the pair of pallet guides 400 are spaced apart from each other in the vehicle width direction Dw further than the retracted position.

[0295] As a result, even if the loading device 20 moves backward and the pallet 70 supported by the pair of forks 23 moves down while being shifted in the vehicle width direction Dw, the pallet 70 is moved to the center by the pallet guide 400 as it moves from the upper side Dvu toward the receiving surface 130a.

[0296] (8) A forklift 10 according to an eighth aspect of the present invention includes a vehicle 11 capable of traveling on a road surface R, and a loading device 20 provided on the vehicle 11. The loading device 20 includes a mast extending in a vertical direction Dv at the front of the vehicle 11, a lift bracket 22 provided on the mast so as to be able to ascend and descend, and a pair of forks 23 having claw portions 231, 231iv, 231v, 231vi extending forward from the lift bracket 22 and spaced apart in a vehicle width direction Dw. The vehicle 11 includes a vehicle body 12 and a pair of forks 23 extending forward from a lower portion of the vehicle body 12 and sandwiching the loading device 20 in the vehicle width direction Dw. The loading device 20 is provided at a forward position Pf. and a retracted position Pb, and further comprises a linkage mechanism 300 provided on each of the pair of straddle legs 13 and linked to the lowering movement of the pair of forks 23 supporting the pallet 70, and a pallet guide 400 rotatably held by the linkage mechanism 300, and the linkage mechanism 300 links with the lowering movement to rotate the pair of pallet guides 400 from a retracted position in which the pallet guides 400 are housed in the straddle legs 13 to a guiding position Dvu above the straddle legs 13 where the pair of pallet guides 400 clamp the pallet 70 in the vehicle width direction Dw.

[0297] (9) A forklift 10 according to a ninth aspect of the present invention includes a vehicle 11 capable of traveling on a road surface R, and a loading device 20 provided on the vehicle 11. The loading device 20 includes a mast extending in a vertical direction Dv at the front of the vehicle 11, a lift bracket 22 provided on the mast so as to be able to ascend and descend, and a pair of forks 23 having claw portions 231, 231iv, 231v, 231vi extending forward from the lift bracket 22 and spaced apart in a vehicle width direction Dw. The vehicle 11 includes a vehicle body 12 and a pair of forks 23 extending forward from a lower portion of the vehicle body 12 and sandwiching the loading device 20 in the vehicle width direction Dw. The loading device 20 has a forward position Pf and a rear position Pf. The device further comprises straddle legs 13 that support the mast so that it can be advanced and retreated between a retracted position Pb, a linkage mechanism 300 that is provided on each of the pair of straddle legs 13 and linked to the retraction movement of the loading device 20, and a pallet guide 400 that is provided on each of the pair of straddle legs 13 and held by the linkage mechanism 300 so that it can move in the vehicle width direction Dw, and the linkage mechanism 300 moves the pair of pallet guides 400 from a retracted position where the pallet guides 400 are located directly above the straddle legs 13 to a guide position where the pair of pallet guides 400 are spaced apart from each other in the vehicle width direction Dw further than the retracted position by linkage with the retraction movement.

[0298] (10) The loading method according to the tenth aspect is a loading method for loading the pallet 70 onto the forklift 10 in any of the cargo handling systems 1 (2) to (7), and includes the steps of: pulling the pallet 70 backward when the pair of forks 23 are inserted into the fork pockets 73 and the pair of forks 23 lift up the pallet 70; moving the pair of forks 23 downward Dvd to place the pallet 70 on the receiving surface 130a; and when the pallet 70 is placed on the receiving surface 130a, moving the pair of forks 23 further downward Dvd so that the clamping surfaces 231a, 231aiv, 231av, 231avi fix the pallet 70 on the receiving surface 130a.

[0299] (11) The control device 50 of the forklift 10 according to the eleventh aspect is a control device 50 of the forklift 10 in any one of the cargo handling systems 1 (2) to (7) that loads the pallet 70 onto the forklift 10, and includes a reach-in instruction unit 54 that causes the pair of forks 23 to retract the pallet 70 rearward when the pair of forks 23 are inserted into the fork pockets 73 and lift up the pallet 70, and a lift-down instruction unit 55 that lowers the pair of forks 23, and the lift-down instruction unit 55 includes a first lowering instruction unit 55a that lowers the pair of forks 23 when the pallet 70 is retracted rearward, and a second lowering instruction unit 55b that further lowers the pair of forks 23 when the pallet 70 is placed on the receiving surface 130a. [Explanation of symbols]

[0300] 1...Load handling system 2...Load 3...Host device 10...Forklift 11...Vehicle 12...Vehicle body 13...Straddle leg 14...Travel mechanism 15...Hydraulic device 20...Load handling device 21...Inner mast 22...Lift bracket 23...Fork 24...Backrest 25...Lift cylinder 26...Lift chain 27...First hydraulic hose 30...Advance and retreat device 31...Reach cylinder 32...Second hydraulic hose 40...Self-position sensor 50...Control device 51...Travel instruction unit 51a...Self-position acquisition unit 51b...Steering unit 52...Lift-up instruction unit 52a...First ascent instruction unit 52b...Second ascent instruction unit 53...Reach-out instruction unit 54...Reach-in instruction unit 55...Lift-down instruction unit 55a...First descent instruction unit 55b...Second descent instruction unit 56...Memory unit 60...Battery 70... Pallet 71... Loading surface 72... Non-loading surface 73... Fork pocket 73a... Upper surface 73b... Lower surface 73c... Side surface 73d... First side surface 73e... Second side surface 74... Inner surface 80... Guide portion 80a... Guide surface 90... Stopper portion 90a... Regulating surface 100, 100v... Centering mechanism 101... Fork insertion portion 101a... First surface 101b... Second surface 102, 102v, 102vi... Lower surface holding portion 102a... Lower surface holding surface 102b... Lower locking surface 102c... First abutting surface 102d... Second abutting surface 102e... First opposing surface 102f... Second opposing surface 103, 103v,103vi...Side clamping portion 103a...Side clamping surface 103b...Upper engaging surface 103c...Claw contact surface 103d...Opposite surface 103e...Claw opposing surface 103f...Pocket opposing surface 104...Shaft portion 105...Countersink insertion portion 106...Head portion 106a...Upper end surface 107...Support column 108...Link portion 109...First rotating shaft 110...Second rotating shaft 111...Third rotating shaft 120...Outer mast 121...Outer guide 122...Connection portion 123...Beam portion 124...Counterweight 125...Cover 130...Main body portion 130a...Receiving surface 131...Guide rail 131a...Guide groove 132...Support portion 133...First vibration isolation portion 140...First driving wheel 140a...First driving wheel main body 141...second drive wheel 141a...second drive wheel body 142...caster wheel 142a...caster wheel body 150...oil tank 151...hydraulic pump 152...hydraulic control valve 153...discharge port 153a...first discharge port 153b...second discharge port 154...valve control section 210...inner guide 210a...inner guide 210b...outer guide 211...chain support 211a...first plate 211b...second plate 211c...connecting column 212...chain wheel 213...pulley 220...fork fixing section 221...fork rail 230...base end portion 231,231iv,231v,231vi...claw portion 231a,231aiv,231av,231avi...holding surface 231b, 231biv, 231bv, 231bvi... Pallet support surface 231c... Claw side surface 231civ, 231cv, 231cvi... Claw side surface 232, 232iv, 232v,232vi...claw body 232i...intersection portion 233...guide hole 233a...upper opening 233b...lower opening 233c...hole inner surface 233d...first guide surface 233e...second guide surface 234...shaft support portion 234a...bearing hole 235...countersink portion 235a...countersink portion 235b...hole portion 236...base portion 237...second vibration-isolating portion 240...fixing portion 241...barrier portion 250...first cylinder portion 251...first rod portion 300...interlocking mechanism 301...pinion 302...rack 302a...edge 303...rotating shaft 304...piston portion 304a...cylinder 304b...rod 304e...end surface 305...hydraulic motor 306...output shaft 307...lever portion 307a...lever base 307b...first portion 307c...second portion 307d...roller portion 308...cam plate 308a...main surface 308b...back surface 308h...plate guide hole 308h1...first guide portion 308h2...second guide portion 310...second cylinder portion 311...second rod portion 400...pallet guide 400a, 403a...pallet guide surface 401...plate portion 401a...contact surface 401b...pallet placing surface 401c...plate portion side surface 402...guide roller 403...guide portion 1100...computer 1110...processor 1120...main memory 1130...storage 1140...interface Ar...axis Ds...straight direction Dsb...rear side Dsf...front side Dv...vertical direction Dvd...lower side Dvu...upper side Dw...vehicle width direction Dwr...one side Dwl...other side Lf...logistics facility O...rotation axis O1...first rotation axis O2...second rotation axis O3...third rotation axis Pb...reverse position Pd...lower position Pf...forward position Pu...upward position R...road surface S11...first step S12...second step S13...third step S14...fourth step S15...fifth step S16...sixth step X...destination position

Claims

1. a vehicle capable of traveling on a road surface; A cargo handling device provided on the vehicle; Equipped with The cargo handling device is a mast extending in a vertical direction at the front of the vehicle; a lift bracket provided on the mast so as to be able to rise and fall; a pair of forks each having a claw portion extending forward from the lift bracket and spaced apart in the vehicle width direction; and The vehicle is The vehicle body, a pair of straddle legs extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, supporting the mast so that the loading device can move forward and backward between a forward position and a backward position; and a forklift in which, when the cargo handling device is located in the retreat position, a front end of the claw portion is located rearward of a front end of the straddle leg; a pallet having a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and fork pockets arranged between the loading surface and the non-loading surface and into which the pair of forks can be inserted; The claw portion is a pressing surface facing downward and facing the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket; the straddle legs have upwardly facing bearing surfaces; the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the loading device is located at the retreated position; The inner surface of the fork pocket is composed of an upper surface facing downward, a lower surface facing upward and facing the upper surface, and a side surface connecting the upper surface and the lower surface, The forklift further includes a centering mechanism that is provided on the claw portion and that positions the claw portion in the fork pocket by pressing the side surface when the claw portion is pressed toward the lower surface in the fork pocket. Load handling system.

2. The forklift further includes a guide portion provided on the straddle leg, the guide portion has a guide surface that extends above the receiving surface in a direction intersecting the receiving surface, The guide surface of the guide portion provided on one of the pair of straddle legs and the guide surface of the guide portion provided on the other of the pair of straddle legs are inclined so as to face each other in the vehicle width direction. The cargo handling system according to claim 1.

3. The forklift further includes a stopper portion provided on the straddle leg, the stopper portion has a restricting surface that extends above the receiving surface in a direction perpendicular to the receiving surface, When the pallet is placed on the receiving surface, the restricting surface abuts against the pallet to restrict the pallet from being displaced forward and in the vehicle width direction. The cargo handling system according to claim 1.

4. A vehicle capable of traveling on a road surface; A cargo handling device provided on the vehicle; Equipped with The cargo handling device is a mast extending in a vertical direction at the front of the vehicle; a lift bracket provided on the mast so as to be able to rise and fall; a pair of forks each having a claw portion extending forward from the lift bracket and spaced apart in the vehicle width direction; and The vehicle is The vehicle body, a pair of straddle legs extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, supporting the mast so that the loading device can move forward and backward between a forward position and a backward position; and a forklift in which, when the cargo handling device is located in the retreat position, a front end of the claw portion is located rearward of a front end of the straddle leg; a pallet having a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and fork pockets arranged between the loading surface and the non-loading surface and into which the pair of forks can be inserted; The claw portion is a pressing surface facing downward and facing the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket; the straddle legs have upwardly facing bearing surfaces; the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the loading device is located at the retreated position; The forklift a linkage mechanism provided on each of the pair of straddle legs and linked to the lowering operation of the pair of forks supporting the pallet; a pallet guide rotatably held by the interlocking mechanism; Further provided with The interlocking mechanism, in conjunction with the lowering operation, rotates the pair of pallet guides from a retracted position where the pallet guides are housed in the straddle legs to a guide position where the pair of pallet guides sandwich the pallet in the vehicle width direction above the straddle legs. Load handling system.

5. A vehicle capable of traveling on a road surface; A cargo handling device provided on the vehicle; Equipped with The cargo handling device is a mast extending in a vertical direction at the front of the vehicle; a lift bracket provided on the mast so as to be able to rise and fall; a pair of forks each having a claw portion extending forward from the lift bracket and spaced apart in the vehicle width direction; and The vehicle is The vehicle body, a pair of straddle legs extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, supporting the mast so that the loading device can move forward and backward between a forward position and a backward position; and a forklift in which, when the cargo handling device is located in the retreat position, a front end of the claw portion is located rearward of a front end of the straddle leg; a pallet having a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and fork pockets arranged between the loading surface and the non-loading surface and into which the pair of forks can be inserted; The claw portion is a pressing surface facing downward and facing the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket; the straddle legs have upwardly facing bearing surfaces; the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the pair of forks support the pallet and the loading device is located at the retreated position; The forklift a linkage mechanism provided on each of the pair of straddle legs and linked to a backward movement of the cargo handling device; a pallet guide provided on each of the pair of straddle legs and held by the interlocking mechanism so as to be movable in the vehicle width direction; Further provided with The interlocking mechanism, in conjunction with the rearward movement, moves the pair of pallet guides from a retracted position where the pallet guides are positioned directly above the straddle legs to a guide position where the pair of pallet guides are spaced apart from each other in the vehicle width direction relative to the retracted position. Load handling system.

6. a vehicle capable of traveling on a road surface; A cargo handling device provided on the vehicle; Equipped with The cargo handling device is a mast extending in a vertical direction at the front of the vehicle; a lift bracket provided on the mast so as to be able to rise and fall; a pair of forks each having a claw portion extending forward from the lift bracket and spaced apart in the vehicle width direction; and The vehicle is The vehicle body, a pair of straddle legs extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, supporting the mast so that the loading device can move forward and backward between a forward position and a backward position; and a linkage mechanism provided on each of the pair of straddle legs and linked to the lowering operation of the pair of forks supporting a pallet; a pallet guide rotatably held by the interlocking mechanism; Further provided with The interlocking mechanism, in conjunction with the lowering operation, rotates the pair of pallet guides from a retracted position where the pallet guides are housed in the straddle legs to a guide position where the pair of pallet guides sandwich the pallet in the vehicle width direction above the straddle legs. forklift.

7. a vehicle capable of traveling on a road surface; A cargo handling device provided on the vehicle; Equipped with The cargo handling device is a mast extending in a vertical direction at the front of the vehicle; a lift bracket provided on the mast so as to be able to rise and fall; a pair of forks each having a claw portion extending forward from the lift bracket and spaced apart in the vehicle width direction; and The vehicle is The vehicle body, a pair of straddle legs extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, supporting the mast so that the loading device can move forward and backward between a forward position and a backward position; and a linkage mechanism provided on each of the pair of straddle legs and linked to a backward movement of the cargo handling device; a pallet guide provided on each of the pair of straddle legs and held by the interlocking mechanism so as to be movable in the vehicle width direction; Further provided with The interlocking mechanism, in conjunction with the rearward movement, moves the pair of pallet guides from a retracted position where the pallet guides are positioned directly above the straddle legs to a guide position where the pair of pallet guides are spaced apart from each other in the vehicle width direction relative to the retracted position. forklift.

8. A vehicle capable of traveling on a road surface; A cargo handling device provided on the vehicle; Equipped with The cargo handling device is a mast extending in a vertical direction at the front of the vehicle; a lift bracket provided on the mast so as to be able to rise and fall; a pair of forks each having a claw portion extending forward from the lift bracket and spaced apart in the vehicle width direction; and The vehicle is The vehicle body, a pair of straddle legs extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, supporting the mast so that the loading device can move forward and backward between a forward position and a backward position; and a forklift in which, when the cargo handling device is located in the retreat position, a front end of the claw portion is located rearward of a front end of the straddle leg; a pallet having a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and fork pockets arranged between the loading surface and the non-loading surface and into which the pair of forks can be inserted; The claw portion is a pressing surface facing downward and facing the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket; the straddle legs have upwardly facing bearing surfaces; a pair of forks supporting the pallet, and the receiving surface facing the non-loading surface at a position closest to the non-loading surface when the loading device is positioned at the retreated position, When the pair of forks are inserted into the fork pockets and the pair of forks lift up the pallet, pulling the pallet backward; moving the pair of forks downward to place the pallet on the receiving surface; When the pallet is placed on the receiving surface, the pair of forks are further moved downward so that the holding surface fixes the pallet on the receiving surface; Loading methods including.

9. A vehicle capable of traveling on a road surface; A cargo handling device provided on the vehicle; Equipped with The cargo handling device is a mast extending in a vertical direction at the front of the vehicle; a lift bracket provided on the mast so as to be able to rise and fall; a pair of forks each having a claw portion extending forward from the lift bracket and spaced apart in the vehicle width direction; and The vehicle is The vehicle body, a pair of straddle legs extending forward from a lower portion of the vehicle body and sandwiching the loading device in the vehicle width direction, supporting the mast so that the loading device can move forward and backward between a forward position and a backward position; and a forklift in which, when the cargo handling device is located in the retreat position, a front end of the claw portion is located rearward of a front end of the straddle leg; a pallet having a loading surface on which cargo is placed from above, a non-loading surface facing the opposite side to the loading surface, and fork pockets arranged between the loading surface and the non-loading surface and into which the pair of forks can be inserted; The claw portion is a pressing surface facing downward and facing the inner surface of the fork pocket when the pair of forks are inserted into the fork pocket; the straddle legs have upwardly facing bearing surfaces; a control device for a forklift in a cargo handling system, in which a pair of forks support the pallet, and the receiving surface faces the non-loading surface at a position closest to the non-loading surface when the cargo handling device is positioned at the retreated position, and causes the forklift to load the pallet; a reach-in instruction unit that causes the pair of forks to pull the pallet backward when the pair of forks are inserted into the fork pockets and lift up the pallet; a lift-down instruction unit that lowers the pair of forks; Equipped with The lift-down instruction unit a first lowering instruction unit that lowers the pair of forks when the pallet is pulled rearward; a second lowering instruction unit that further lowers the pair of forks when the pallet is placed on the receiving surface; A forklift control device comprising:

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