JP3403673B2 - Side fork type transfer vehicle - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a side fork-type transfer vehicle used for transferring heavy objects, for example. 2. Description of the Related Art Conventionally, as this kind of side fork type transporting vehicle, for example, the configuration shown in FIGS. 4, 12 and 13 has been provided. That is, the vehicle body 1 can travel on the floor via the drive wheel (rear wheel) 2 and the turning wheel (front wheel) 3, and at this time, the vehicle is driven by the driving force of the engine 4 mounted on the vehicle body 1. This is performed by forcibly rotating the drive wheel 2. The vehicle body 1 is provided with a pair of front and rear guide rails 5 in the front and rear direction. A movable body 6 is provided between the guide rails 5, and a pair of front and rear masts 7 is provided from an end of the movable body 6. Is erected. A pair of left and right guide rollers 8 are provided before and after the movable body 6 and the mast 7, respectively. The guide rollers 8 are fitted to and guided by the guide rails 5, so that the movable body 6 and the mast 7 It is configured to be able to reciprocate in the left-right direction. An elevating body 9 guided by both masts 7 is provided, and the elevating body 9 is provided with a fork 10 facing in the left-right direction. The elevating body 9 is moved up and down by a lift cylinder 11. [0006] Reach means 13 for protruding the fork 10 in the left-right direction is provided. The reach means 13 includes a pair of support rods 14 erected from the vehicle body 1 side,
A support pin 15 provided between the upper ends of the support rods 14 in the front-rear direction, an operating cylinder 17 having a main body connected to the support pin 15 and a piston rod connected to the mast 7 via a connection pin 16, etc. It consists of. An operating unit 20 is provided at the front of the vehicle body 1 and on one upper side, and the operating unit 20 is equipped with a driver's seat 21, an operating handle 22, a group of operating levers 23, and the like. [0005] According to such a conventional configuration, as shown by a virtual line in FIG.
By extending the movable member 7, the movable body 6 and the mast 7 can be laterally moved via the guide roller 8, so that the fork 10 can be protruded in the lateral direction. Further, as shown by the solid line in FIG. 13, by contracting the working cylinder 17, the movable body 6 and the mast 7 can be laterally moved in the reverse direction via the guide rollers 8, and the fork 10 can be moved in and out. . [0006] By appropriately incorporating the elevating movement of the elevating body 9 by the lift cylinder 11, that is, the elevating movement of the fork 10, it is possible to load and unload the intended goods.
It should be noted that the above-described operations, transportation and the like are performed by the driver on the driving unit 20 by the operation handle 22 or the operation lever 23.
It is performed by manipulating a group or the like. [0007] According to the side fork-type transfer vehicle of the conventional configuration described above, it is impossible to perform various traveling modes such as traversing and turning in place. this is,
In the battery format there is some (possible), but
In the above-described conventional engine type, the driving force is mainly connected mechanically such as a manual transmission, a torque transmission, and a differential, so that it is difficult to turn the driving wheels. Fixed direction and turning wheel 3
Is a configuration in which the turning control is performed one wheel at a time. The turning is performed by turning the turning wheel 3 in response to the operation of the operation handle 22. At this time, the turning center is on the extension of the drive shaft (fixed shaft). Field turning becomes impossible, and the turning radius also becomes large. Accordingly, an object of the present invention is to provide a side fork-type transfer vehicle capable of continuously performing straight running, turning, and turning in place in this order, and also enabling traversing. It is what it was. In order to achieve the above object, a side fork-type transfer vehicle according to a first aspect of the present invention is provided with a pair of left and right wheels at the front and rear of the vehicle body. The vehicle body is provided with a mast capable of reciprocating in the left-right direction, a fork movable up and down on the mast side, and a side fork type provided with reach means for moving the fork in and out in the left-right direction. In a transport vehicle, a pair of left and right wheels in one of the front and rear are drive wheels, each of which is interlockingly connected to a drive shaft on the traveling drive means side,
Both traveling drive means are provided so as to be rotatable around the longitudinal axis with respect to the vehicle body side, and a rotation means for performing rotation is provided, and of the pair of left and right wheels at the other front and rear,
One side the steering wheel is steered by operating handle, also the other side is rotatable caster wheel relative to the vehicle body side, the steering wheel
Is rotatable around the vertical axis through the vertical axis relative to the vehicle body side
To the turning member provided on the
The steering wheel is turned around the vertical axis.
Steering wheel turning means for moving the steering wheel.
Is fixed to the body side with the cylinder body as the left and right direction
Conversion cylinder and arm connected from the vertical axis
Body and this arm body are connected to be rotatable
Rotation relative to piston rod of conversion cylinder
A linking cylinder composed of a link and a link
Is a power steering operated by turning the operation handle.
Structured to be actuated left and right by a ring system
Detecting means for detecting a turning angle when the steered wheels are steered by the operating handle , and a controller for receiving a signal from the detecting means. By controlling the number of rotations and the driving direction of the driving means, straight running, turning, and on-the-spot turning are performed continuously in this order. Therefore, according to the first aspect of the present invention, normal straight running can be performed by directing the pair of left and right drive wheels and the steering wheels and caster wheels distributed to the left and right in the front-rear direction. In this state, it is possible to turn by steering the steered wheels with the operation handle. At this time, the steering angle is detected by the detecting means, and the signals from the detecting means are input by the controller to each of the two traveling drive means. Control the rotation speed and drive direction of the
Switching via the power steering system according to the turning angle
Move the cylinder for expansion and contraction, and
To rotate the vertical axis so that the steered wheels are
, It is possible to continuously perform a straight turn, a turn, and a turn in place in this order based on the detection of the turning angle. For example, when the traverse mode switch is selected, the turning means is operated to turn the traveling drive means about the vertical axis, and both drive wheels are turned 90 degrees with respect to the vehicle body (to the sideways direction). (Turn), and the steered wheels can be turned at 90 degrees with respect to the vehicle body. Here, since the drive wheels are each integrated with the traveling drive means, the turning can be easily and smoothly performed. Then, by driving the drive wheels in the forward and reverse directions via the traveling drive means, the side fork-type transport vehicle can travel sideways on the left and right. Embodiments of the present invention will be described below.
This will be described with reference to FIGS. FIG. 4 is also used as a conventional example, and a conventional example (FIGS. 4, 12, and 1) is used.
The same or substantially the same components as those in 3) are denoted by the same reference numerals, and the details are omitted. That is, 1 is the body, 2
Is a drive wheel, 4 is an engine, 5 is a guide rail, 6 is a movable body, 7 is a mast, 8 is a guide roller, 9 is an elevating body, 10
Is a fork, 11 is a lift cylinder, 13 is a reach means, 14 is a support rod, 15 is a support pin, 16 is a connection pin,
17 is an operation cylinder, 20 is a driving unit, 21 is a driver's seat,
Reference numeral 22 denotes an operation handle, and 23 denotes an operation lever. 1 to 8, a pair of right and left rear wheels are drive wheels 2, which are provided so as to be able to turn to a 90-degree shape with respect to the vehicle body 1 (to be able to turn right and left).
In other words, the drive wheels 2 are attached directly to the rotary flanges (an example of the drive shaft) 31 of the hydraulic motors (an example of the driving means) 31 via the couplings 32 so that the rims 2a are respectively provided on the hydraulic motor 30 side. Linked and linked. The mounting of the hydraulic motor 30 is reverse L
The horizontal plate portion of the turning member 33 is attached to the vertical plate portion of the
4 and the vertical axis 35, the vertical axis center 36 with respect to the vehicle body 1 side.
Are provided so as to be rotatable around. At that time, the vertical axis 3
6 is configured to be located directly above the drive wheel 2. The hydraulic motor 30, that is, the swing member 3
3 is provided with a driving wheel rotating means 40 for rotating the driving wheel 3.
The drive wheel rotating means 40 has a traversing cylinder 41. The traversing cylinder 41 has a cylinder body 42 swingably mounted on the vehicle body 2 side via a vertical pin 44, and a pinton rod 43, The pivot member 33 on one side is connected to a link 45 that is continuously provided via a connecting pin 46 in a vertical direction so as to be relatively rotatable. An arm 47 fixed to the left and right vertical axes 35 is connected to each other via a link 48 and a connecting pin 49 so as to be relatively rotatable. At that time, the link body 48
When both drive wheels 2 are oriented in the straight traveling direction, they are arranged so as to form a cross with respect to the left-right direction line connecting the left and right longitudinal axes 36. Therefore, by turning the turning member 33 via the link 45 by the operation of the traversing cylinder 41, the driving wheel 2 on one side is turned around the longitudinal axis 36 via the hydraulic motor 30 or the like, and The drive wheels 2 on the other side can be turned around the longitudinal axis 36 and turned sideways via the arm 47 and the link body 48 and the like. That is, according to the drive wheel rotating means 40, the left and right drive wheels 2 are turned in opposite directions by the operation of the common traversing cylinder 41, and are turned right and left. An example of the driving wheel rotating means 40 is constituted by the above 41 to 49 and the like. The traversing cylinder 41 of the driving wheel rotating means 40 is configured to be able to stop and control during operation. A pair of hydraulic pumps 25 driven by the engine 4 are provided on the vehicle body 2 side. Then, so that the hydraulic pumps 25 correspond to one hydraulic motor 30, that is, a two-pump two-motor type hydraulic drive system (HST system) is provided.
The corresponding hydraulic pump 25 and hydraulic motor 30 are connected via a pipe (eg, a hydraulic hose) 26. Therefore, by supplying the hydraulic pressure from the pair of hydraulic pumps 25 driven by the engine 4 to the corresponding hydraulic motor 30 through the pipe 26 by the forward / reverse control in the driver's seat 21, the drive wheels 2 are forward / reversely driven. Can be driven. Of the pair of left and right front wheels, one side is configured as a steering wheel 50 steered by the operation handle 22, and the other side is configured as a caster wheel 70 that is rotatable with respect to the vehicle body 1 side. . Here, the steering wheel 50 and the caster wheel 70
Are provided so as to be able to turn to the vehicle body 1 by 180 degrees or more. That is, the steered wheels 50 are
A portion 0a is freely rotatably attached to a vertical plate portion of the turning member 51 via a horizontal axle 52 or the like.
The horizontal plate portion of the turning member 51 is provided rotatably around a vertical axis 55 with respect to the vehicle body 1 via a bearing 53 and a vertical axis 54. At that time, the vertical axis 55
Are configured to be located directly above the steered wheels 50. A steering wheel turning means 56 for turning the steering wheel 50 around a vertical axis 55 is provided. The steering wheel turning means 56 has a turning cylinder 57 which is electrically controlled. That is, the turning cylinder 57 is fixed to the vehicle body 1 with the cylinder body 58 oriented in the left-right direction, and the piston rod 59 connected to the piston protrudes outward in the vehicle width direction. The arm body 60 connected from the longitudinal axis 54 and the protruding end of the piston rod 59 are relatively rotatably connected via a link 61 and vertical connecting pins 62 and 63. . The turning cylinder 57 is controlled by an orbit roll (fully hydraulic power steering system) 64 directly operated by turning the operation handle 22, or a semi-integral power steering system (not shown). ) Is operated in the left-right direction. Therefore, in a state where the steering wheel 50 is oriented in the front-rear direction when the turning cylinder 57 is in the intermediate operation, the turning cylinder 57 is extended and moved in accordance with the turning angle of the operation handle 22, and the link is extended. Vertical axis 5 through 61 or arm body 60
4 is rotated, so that the steered wheels 5
Zero may be turned around the vertical axis 55 and pointed sideways. An example of the steering wheel rotating means 56 for rotating the steering wheel 50 around the longitudinal axis 55 is constituted by the above 57 to 64 and the like. The caster wheels 70 are freely rotatably mounted on a swing bracket 71 via a lateral axle 72 or the like. The swing bracket 71 is provided with a bearing 73.
And the vertical axis 75 with respect to the vehicle body 1 via the vertical axis 74 and the like.
Are provided so as to be rotatable around. At that time, the vertical axis 7
5 is displaced in the front-rear direction with respect to the position of the axle 72, and is of a caster type. In the side fork-type transfer vehicle having the above-described structure, the straight traveling A, the turning B, and the on-the-spot turning C are performed in this order based on the detection of the turning angle when the steering wheel 50 is steered by the operation handle 22. Is performed continuously. Further, by selecting the traversing mode, the traversing D is performed. For this purpose, for example, a detecting means (a sensor or the like) 28 for detecting the turning angle of the operating handle 22 is provided, and a controller 29 for receiving a signal from the detecting means 28 is provided, and further connected to the controller 29 and traversed. The control valve 27 for operating the operating cylinder 41 is provided. The operation of the above embodiment will be described below. FIGS. 1 to 4, solid lines in FIGS. 6 and 7, FIG. 8 and FIG. 9A show a pair of left and right drive wheels 2, and all of the steered wheels 50 and caster wheels 70 distributed to the left and right. In the direction A, indicating the state of straight traveling A in normal traveling. At this time, the driving wheel rotating means 40
In this example, the traversing cylinder 41 is positioned in the middle, and the link body 48 is positioned so as to cross the line in the left-right direction. In the steering wheel turning means 56, the turning cylinder 57 is positioned at an intermediate position.
Such a side fork-type transfer vehicle includes a driving unit 20.
An operator sitting in the driver's seat 21 can operate the operation handle 22 or the like to run. For example, when the side fork type transfer vehicle is stopped, the operating cylinder 17 of the reach means 13 is contracted and moved as shown by the solid line in FIG. In addition, the mast 7 can be laterally moved toward the reach means 13 so that the fork 10 can be retreated. The operating cylinder 17 of the reach means 13
, The movable body 6 and the mast 7 are laterally moved to a side away from the reach device 13 via the guide rollers 8, and as shown in a virtual line in FIG.
0 can be moved laterally. By appropriately incorporating the elevating movement of the elevating body 9 by the lift cylinder 11, that is, the elevating movement of the fork 10, it is possible to load and unload the intended conveyed object. The traveling motion of the side fork type transfer vehicle is as follows:
By controlling the driving wheel turning means 40 and the steering wheel turning means 56 based on the detection of the turning angle when the steering wheel 50 is steered by the operation handle 22, and controlling the driving of the driving wheel 2,
The straight running A, the turnings B1 to B3, and the on-the-spot turning C are configured to be continuously performed in this order. At that time, the caster wheel 70 performs the following rotation while automatically changing its direction to the turning direction by the caster function. That is, in FIG. 5 and FIG. 9 (a), when everything is facing in the front-back direction, the operation handle 22
From the detecting means 28 for detecting the turning angle of the
The forward turning angle signal F is input. Then, the forward control signal f from the controller 29 is input to the control valve 27, whereby the traversing cylinder 41 is set to the intermediate operation, and the front and rear posture of both drive wheels 2 is maintained. Further, by the control of the orbit roll 64 directly connected to the operation handle 22, the turning cylinder 57 is set to the intermediate operation, and the front-rear posture of the steered wheels 50 is maintained. Further, both hydraulic pumps 25 are driven by the same amount by the forward control signal f, whereby both drive wheels 2 are rotated at the same rotation speed 80A, and straight traveling A in normal traveling is performed. When the operating handle 22 is turned to the right, for example, the turning mode is entered. In FIG. 5 and FIG. 9B, the first turning angle signal G is sent from the detecting means 28 to the controller 29. Then, the first turning control signal g from the controller 29 is input to the control valve 27, but the front-rear posture of the two drive wheels 2 in which the traversing cylinder 41 is in the intermediate operation is maintained. Further, by the control of the orbit roll 64 based on the rotation operation of the operation handle 22, the turning cylinder 57 is slightly extended to turn the steered wheels 50 rightward. Further, the two hydraulic pumps 25 are driven by different amounts by the first turning control signal g, so that the rotation speed 80C of the right driving wheel 2 is made lower than the rotation speed 80B of the left driving wheel 2, and the rotation speed difference As a result, the side fork-type transfer vehicle is turned B1 to the right by a large radius. When the operation handle 22 is subsequently turned rightward, in FIG. 5 and FIG.
The second turning angle signal H is input from the detection means 28 to the controller 29. And the second from the controller 29
The turning control signal h is input to the control valve 27, but the front-rear posture of the two drive wheels 2 in which the traversing cylinder 41 is operated intermediately is maintained. The operation handle 22
By the control of the orbit roll 64 based on the rotation operation, the turning cylinder 57 is further extended, and the steered wheels 50 are turned to the sideways direction. Further, the right hydraulic pump 25 is stopped and the left hydraulic pump 25 is driven by the second turning control signal h, so that only the left driving wheel 2 is driven at the intermediate rotation speed 80D, and the side fork type transfer is performed. The vehicle is turned B2 rightward with a middle radius. When the operating handle 22 is subsequently turned rightward, in FIG. 5 and FIG.
The third turning angle signal I is input from the detection means 28 to the controller 29. And the third from the controller 29
The turning control signal i is input to the control valve 27, but the front-rear posture of the two drive wheels 2 in which the traversing cylinder 41 is operated intermediately is maintained. The operation handle 22
The turning cylinder 57 is further extended by the control of the orbit roll 64 based on the turning operation of the steering wheel 50, and the steered wheels 50 are turned obliquely backward. Further, by the third turning control signal i, the left hydraulic pump 25 is driven forward at the intermediate rotation speed 80D, and the right hydraulic pump 2 is driven.
5 is driven backward at an intermediate rotation speed of 80E, and together with the drive rotations in the opposite directions, the side fork-type transfer vehicle is turned B3 to the right with a small radius. When the operation handle 22 is continuously turned rightward, a turn-in-place mode is entered, and FIG.
In FIG. 11A, the in-situ turning angle signal J is input from the detection means 28 to the controller 29. Then, by the control of the orbit roll 64 based on the rotation operation of the operation handle 22, the turning cylinder 57 is extended to near the limit and the steered wheels 50 are turned obliquely backward. Further, when the field turning control signal j from the controller 29 is input to the control valve 27, the traversing cylinder 41 of the driving wheel rotating means 40 is contracted by a predetermined amount (stopped halfway). As a result, the left and right driving wheels 2 are rotated in a V-shape (a predetermined angle), the left driving wheel 2 is driven forward at an intermediate rotation speed 80D, and the right driving wheel 2 is rotated at an intermediate rotation speed. The reverse drive at 80E is continued, so that the side fork-type transfer vehicle makes a turn C in place. At this time, the turning center O is located in the vehicle body 1, and the turning C can be performed on the spot with a small turning radius. The side fork-type transfer vehicle running as described above stops its normal running including turning, and then operates, for example, by operating a lever-type traversing mode switch (not shown). By operating the wheel turning means 40, the traveling can be switched to the traverse D. That is, in the driving wheel rotating means 40, by inclining the lever,
A transverse mode signal K similar to the second turning angle signal H is input to the controller 29. When the traversing control signal k from the controller 29 is input to the control valve 27, the traversing cylinder 41 is extended, and one of the turning members 33 is moved through the link 45 to the vertical axis 3.
6 and the vertical axis 35, the arm 4
7. By rotating the turning member 33 on the other side around the longitudinal axis 36 via the link body 48 and the like, as shown in the phantom line in FIG. 6 and FIG. 2 is turned 90 degrees relative to the vehicle body 1 (turns straight sideways). Here, the drive wheels 2 are each connected to a hydraulic motor 3
0, the turning can be easily and smoothly performed, and since the longitudinal axis 36 is located directly above the driving wheel 2, the driving wheel 2 is compact and has a 90-degree turning. Direction. Further, in FIG. 5, the turning cylinder 57 is extended by the control of the orbit roll 64 based on the rotation operation of the operation handle 22, and the steered wheels 50 are turned to the sideways direction. Thus, the driving wheel 2 and the steering wheel 50 9
The fact that the 0-degree turning has been performed, that is, the fact that the driving wheels 2 and the steered wheels 50 have turned right and left is detected by a sensor or the like, and the indicator lamp is turned on, thereby enabling the traversing mode. Therefore, by driving the drive wheels 2 in the forward and reverse directions via the hydraulic motor 30, the transport vehicle can be traversed D in the left and right directions. At that time, the caster wheel 70 automatically changes its direction to 90 degrees as shown by the imaginary line in FIG. 7 and FIG. 11B, and performs the following rotation. During such traversing, as shown in FIG. 11B, the contraction action chambers of the traversing cylinder 41 and the turning cylinder 57 have a small width. Thus, the position, turning, and correction at the time of traversing D can be performed by using this allowance. That is, by moving the piston rod 43 right and left within the range of the allowance width (about 30 ° left and right at the maximum), the position, the turning, the correction, and the like in the traverse D can be performed. In the above embodiment, the operation handle 2
When the steered wheels 50 are steered at 2, the detection angle at the portion of the operation handle 22 is detected by the detection means 28,
This may be a form in which the detection angle at the steering wheel 50 is detected by the detecting means 28. In the above-described embodiment, the side fork type transfer vehicle capable of turning to the right is shown. However, this is a side fork capable of turning to the left by disposing the steering wheel 50 to the left. It may be a type transport vehicle. In the above-described embodiment, the traversing cylinder 41 acting on (combined with) both drive wheels 2 as the driving source of the rotating means 40 is shown. It may be a motor, a hydraulic motor, or the like. In this case, the driving mode can be freely switched by controlling the independent driving sources individually. In the above-described embodiment, a free-running side fork-type transfer vehicle used for transferring heavy objects, for example, is shown. This is, for example, a pickup coil provided on the vehicle body side. A side fork-type transfer vehicle that can travel on a given automated transfer line or the like by catching electromagnetic waves on the floor-side guide line may be used. In the above embodiment, the turning is performed in three stages B
1 to B3, but this can be done in one step,
It may be a form that is performed in a plurality of stages other than the three stages. According to the first aspect of the present invention, normal straight running is achieved by directing all of the pair of left and right drive wheels and the steering wheels and caster wheels distributed to the left and right in the front-rear direction. It can be performed. In this state, the steering wheel can be turned by steering the steering wheel with the operation handle. At this time, the steering angle is detected by the detecting means, and the signals from the detecting means are input by the controller to each of the two traveling drive means. While controlling the number of rotations and the driving direction ,
Power steering system according to the steering angle
The diversion cylinder is extended and retracted via the
The vertical axis is rotated via the arm
By turning the steering wheel around the vertical axis, it is a four-wheel type that can always perform the fork work stably, but based on the detection of the turning angle, from straight running, turning, spot turning, It can be performed continuously in this order,
Traversing can also be possible.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows a first embodiment of the present invention, and is a partially cutaway side view of a side fork-type transfer vehicle. FIG. 2 is a vertical sectional front view of the side fork-type transfer vehicle. FIG. 3 is a partially cutaway plan view of the side fork-type transfer vehicle. FIG. 4 is a schematic perspective view of the side fork-type transfer vehicle. FIG. 5 is an explanatory diagram of the operation of the side fork-type transfer vehicle. FIG. 6 is a partially cutaway rear view of a drive wheel portion of the side fork-type transfer vehicle. FIG. 7 is a partially cutaway front view of the steering wheel and caster wheel portions of the side fork-type transfer vehicle. FIG. 8 is a partially cutaway plan view of the steering wheel and caster wheel portions of the side fork-type transfer vehicle. 9A and 9B are schematic plan views of the side fork-type transfer vehicle, in which FIG. 9A shows a straight running state and FIG. 9B shows a large radius turning state. FIGS. 10A and 10B are schematic plan views of the side fork-type transfer vehicle, in which FIG. 10A shows a middle radius turning and FIG. 10B shows a small radius turning. 11A and 11B are schematic plan views of the side fork-type transfer vehicle, in which FIG. 11A is a turn at the spot and FIG. FIG. 12 is a longitudinal sectional front view of a side fork-type transfer vehicle, showing a conventional example. FIG. 13 is a partially cutaway side view of the side fork-type transfer vehicle. [Description of Signs] 1 Body 2 Drive wheels (rear wheels) 4 Engine 7 Mast 10 Fork 11 Lift cylinder 13 Reach means 17 Working cylinder 20 Operating unit 22 Operating handle 23 Operating lever 25 Hydraulic pump 28 Detecting means 29 Controller 30 Hydraulic motor ( Running drive means 31 rotating flange (drive shaft) 33 revolving member 35 longitudinal axis 36 longitudinal axis 40 drive wheel rotating means 41 traversing cylinder 45 link 47 arm 48 link body 50 steering wheel 51 revolving member 54 longitudinal axis 55 longitudinal axis center 56 steering wheel rotating means 57 turning cylinder 60 arm body 61 link 64 orbit roll 70 caster wheel 71 turning bracket 75 longitudinal axis A straight ahead B1 to B3 turning C in-situ turning D traverse F forward turning angle signal f forward control signal G First turning angle signal g First turning control signal H Second Turning angle signal h Second turning control signal I Third turning angle signal i Third turning control signal J In-situ turning angle signal j In-situ turning control signal K Crossing mode signal k Crossing control signal

Claims (1)

(57) [Claims 1] A pair of left and right wheels are provided on the front and rear sides of a vehicle body, respectively, and a mast is provided on the vehicle body so as to be reciprocally movable in the left and right directions. A side fork-type transfer vehicle provided with a free fork and a reach means for moving the fork in and out of the vehicle. The two traveling driving means are provided so as to be rotatable around the longitudinal axis with respect to the vehicle body side, and are provided with rotating means for performing rotation. in pair of left and right wheels, on one side the steering wheel is steered by operating handle, also the other side is rotatable caster wheel relative to the vehicle body side, Misao
The steering wheel rotates around the vertical axis with respect to the vehicle body via the vertical axis
Swiveling members are provided freely through a horizontal axle.
The steering wheel is turned around the vertical axis.
Steering wheel rotating means for moving the steering wheel;
The steps are fixed to the vehicle body with the cylinder body as the left and right direction.
Fixed turning cylinder and an arc connected from the vertical axis
When it is connected to the arm body and this arm body so as to be relatively rotatable,
Relative to the piston rod of the turning cylinder
And a link that is connected to the turning cylinder.
The power stage is operated by turning the operation handle.
Activated left and right by the ringing system
Configured, detecting means for detecting the steering angle at the time of steering the steered wheels by the operation handle, the controller and is provided to which a signal from the detection means are placed, based on the detection of the steering angle, both the running by the controller By controlling the rotation speed and the driving direction of each of the driving means, it is possible to go straight, turn,
A side fork-type transfer vehicle, wherein the in-place turning is performed continuously in this order.