JP5067261B2 - Operating device - Google Patents

Description

  The present invention relates to an operation device including a joystick and an operation switch.

  As a cargo handling operation device for industrial vehicles such as forklifts, a lift lever and a tilt lever that can be operated in one direction (vehicle longitudinal direction) are provided, and the fork is moved up and down in accordance with the operation of the lift lever. Depending on the situation, there are those that cause the fork and mast or only the fork to tilt forward and backward. As a device of this type, the tilt control device for a forklift described in Patent Document 1 includes a tilt lever having a button switch attached to a knob. When the button switch is pressed, the fork reaches a horizontal posture. In addition, tilt control is performed to stop the fork in this posture.

There is also an operating device having a lever configured to be operable in two orthogonal directions, and instructing the fork to move up and down and tilt forward and backward by operating the lever in either direction. As this type of device, in the vehicle operation device described in Patent Document 2, an operation knob that can be gripped by an operator, a support portion fixed to the vehicle side, and swinging at the support portion while extending from the operation knob. An operation lever supported so as to perform a predetermined operation according to a swing angle around the support portion of the operation lever, and allow rotation around the axis of the operation lever by the rotation restricting means. The rotation angle is regulated within a predetermined range. Further, by pressing a push button provided on the upper part of the operation knob, the vehicle is caused to perform an operation different from the operation by the swing operation of the operation lever.
JP-A-9-295800 JP 2007-316963 A

  However, in order to perform multiple types of operations in addition to the operation according to the amount of lever operation, it is necessary to install as many push button switches as operation switches. In this case, the number of push button switches is limited. The more complicated the structure.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an operation device capable of performing a plurality of types of operations when operating an operation switch and a lever with a simple configuration. .

In order to achieve the above object, the invention described in claim 1 is a joystick having a lever having degrees of freedom in first and second directions orthogonal to each other, and one operation installed in or near the lever of the joystick. The switch, the operation amount detection signal in the first direction from the joystick, the operation amount detection signal in the second direction, and the operation signal from the operation switch are input to the target device in the first direction and the first direction. An arithmetic unit that performs an operation according to the operation amount in two directions and performs a plurality of types of operations different from the operation according to the operation amount in the first direction and the second direction based on the operation of the operation switch. The calculation unit has storage means, and the storage means defines a plurality of types of operation execution areas in relation to the operation amount in the first direction and the operation amount in the second direction. When the operation switch is operated, the calculation unit performs an operation on the target device based on the amount of operation in the first direction and the second direction on the joystick and the map. The target device is a lift cylinder that moves up and down a fork of a forklift, and a tilt cylinder that tilts and moves the fork of the forklift, and the calculation unit is operated in the first direction. The fork is moved up and down at a speed corresponding to the operation amount, and the fork is tilted at a speed corresponding to the operation amount in the second direction. Automatic lifting operation to stop at the lifting position and horizontal automatic stopping operation to stop the fork in a horizontal position. Map the is summarized in that the fork height execution area and an execution area of the horizontal automatic stop operation of the automatic stop operation is specified in the first direction of an operation amount and the second direction of the operation amount of the relations.

  In the present invention, when the operation switch is operated, the calculation unit causes the target device to perform an operation based on the operation amount and the map in the first direction and the second direction on the joystick. Therefore, even if there is only one operation switch, a corresponding operation can be performed from among a plurality of types of operation execution areas according to the operation amount in the first direction and the operation amount in the second direction. In addition, although there are a plurality of operations that can be performed on the target device, the number of operation switches is one, compared to the case where a plurality of operation switches having the same number as the type of operation are provided. A simple configuration can be achieved.

In the present invention, the fork can be moved up and down and the fork can be tilted by operating the lever of the joystick. In addition, when the operation amount of the lever of the joystick in the first direction and the second direction corresponds to the execution area of the automatic lift stop operation with the operation switch operated, the fork is set to the predetermined target lift position. Once reached, the fork can be stopped. Further, when the operation amount of the joystick lever in the first direction and the second direction corresponds to the execution area of the horizontal automatic stop operation with the operation switch being operated, when the fork is in the horizontal posture, it is stopped in that posture. be able to.
According to a second aspect of the present invention, in the first aspect of the present invention, a plurality of maps corresponding to the operation time of the operation switch is prepared as the map, and the calculation unit is configured to The gist is to use a map corresponding to the operation time of the operation switch.

  According to the present invention, it is possible to perform a plurality of types of operations when operating the operation switch and the lever with a simple configuration.

(First embodiment)
Hereinafter, an embodiment in which the present invention is embodied in an operating device mounted on a forklift will be described with reference to FIGS. In the following description, “front”, “rear”, “left”, “right”, “upper”, and “lower” refer to “front” when the forklift driver is facing forward (forward direction) of the forklift. ”,“ Back ”,“ left ”,“ right ”,“ upper ”, and“ lower ”.

  As shown in FIG. 1, the forklift 11 is provided with an inner mast 13 that can move up and down between a pair of left and right outer masts 12 erected at the front of the machine base of the forklift 11. A fork 14 is attached to the inner mast 13. It is suspended through a lift bracket 15 and a chain (not shown) so as to be movable up and down.

  The outer mast 12 is supported so as to be tiltable with respect to the vehicle body 11a, and is tilted when the piston rod 16a of the tilt cylinder 16 as a target device connected between the outer mast 12 and the vehicle body 11a is driven to extend and contract. It has become. A piston rod 17a of a lift cylinder 17 as a target device disposed on the back surface of the outer mast 12 is connected to an upper end portion of the inner mast 13, and the piston rod 17a of the lift cylinder 17 is driven to extend and contract, thereby forking. 14 moves up and down. The tilt cylinder 16 and the lift cylinder 17 operate by pumping up and supplying hydraulic oil stored in a hydraulic tank 19 (see FIG. 3) by a hydraulic pump 18 (see FIG. 3). The hydraulic tank 19 and the hydraulic pump 18 are mounted in the vehicle main body 11a, and the flow path from the hydraulic pump 18 to the tilt cylinder 16 and the lift cylinder 17 is switched by an electromagnetic proportional valve 20 (see FIG. 3). The electromagnetic proportional valve 20 is connected to the tilt cylinder 16, the lift cylinder 17, the hydraulic tank 19, and the hydraulic pump 18 through a pipeline that forms a flow path for hydraulic oil.

  On the other hand, driving wheels (front wheels) 21 are provided at the front lower portion of the vehicle main body 11a, and steering wheels (rear wheels) 22 are provided at the rear lower portion of the vehicle main body 11a. The drive wheel 21 is driven by a travel motor 24 via a differential (not shown) and a gear (not shown) provided on the axle 23. The traveling motor 24 is operated by electric power supplied from the battery 25. The steered wheel 22 is steered according to the operation amount of the handle H.

  In addition, four support posts 26 are erected on the vehicle body 11 a, and the front support posts 26 are formed integrally with the head guard 27. A driver's seat 28 is configured by a space surrounded by the columns 26 and the head guard 27. A vehicle control device 29 (see FIG. 3) that performs various controls including traveling control and cargo handling control of the forklift 11 is mounted in the vehicle main body 11a behind the driver seat 28. The driver seat 28 is provided with a driver seat 30 on which a driver can be seated. The driving seat 30 is provided with an armrest 31 on the right side for placing the operator's arm.

  The armrest 31 includes an attachment tool 32 attached to the right side portion of the operation seat 30 and an armrest body 33 attached to the front end portion of the attachment tool 32. The armrest main body 33 is disposed so as to extend in the front-rear direction, and a joystick 34 for operating a cargo handling actuator such as the lift cylinder 17 and the tilt cylinder 16 is disposed at a front portion thereof.

  As shown in FIG. 2, the joystick 34 has a lever 35 having a degree of freedom in the X axis direction and the Y axis direction orthogonal to each other. Here, the X-axis direction as the first direction is a direction that is operated when a fork lift instruction is given, and the Y-axis direction as the second direction is an operation for giving a fork and mast tilting instruction. Direction.

  The lever 35 is formed in a bar shape that can be gripped by the driver. The lower end of the lever 35 extends to the inside of the armrest body 33 and is supported by a support portion (not shown) in the armrest body 33 so as to be tiltable in all directions. The lower end of the lever 35 is covered with a bellows-like cover 39. The lever 35 is in the neutral position when the lever 35 stands up and down, and corresponds to the origin in the X-axis direction and the Y-axis direction when the lever 35 is in the neutral position.

  The joystick 34 has a first potentiometer 36 and a second potentiometer 37. The first potentiometer 36 is connected to the lower end of the lever 35 and outputs an operation amount detection signal in the X-axis direction of the lever 35 according to the tilt angle of the lever 35. The first potentiometer 36 outputs a positive operation amount detection signal when the lever 35 is tilted in the positive direction (upward instruction direction) in the X-axis direction, and the lever 35 is negative in the X-axis direction (downward instruction direction). ), A negative operation amount detection signal is output.

  The second potentiometer 37 is connected to the lower end of the lever 35 and is configured to input an operation amount detection signal in the Y-axis direction corresponding to the tilt angle of the lever 35 around the X-axis direction. The second potentiometer 37 outputs a positive operation amount detection signal when the lever 35 is tilted in the positive direction (forward tilt instruction direction) in the Y-axis direction, and the lever 35 is negative in the Y-axis direction (backward tilt). When the tilt operation is performed in the designated direction, a negative operation amount detection signal is output.

  One push button switch 38 is provided at the upper end 35 a of the lever 35 of the joystick 34. The push button switch 38 is provided at a position where the driver can perform a pressing operation with a hand holding the lever 35 and outputs a pressing signal when pressed by the driver.

  As shown in FIG. 3, the vehicle control device 29 includes a CPU (central processing unit) 44 as a calculation unit and a memory 45 as a storage unit as main components. The CPU 44 is configured to execute a predetermined calculation by a program stored in the memory 45.

  First and second potentiometers 36 and 37, a push button switch 38, an electromagnetic proportional valve 20, a lift sensor 40, and a horizontal detection switch 41 are electrically connected to the vehicle control device 29.

  The vehicle control device 29 detects that the fork 14 has reached a preset target lift position based on a signal from the lift sensor 40. The vehicle control device 29 detects that the fork 14 is horizontal based on a signal from the horizontal detection switch 41. The horizontal detection switch 41 is mounted in a state in which a detection terminal (not shown) is fitted in a groove (not shown) provided at the upper end of the fork 14 so as to detect the horizontal posture of the fork 14 that rotates with the tilting operation. It is configured.

  The vehicle control device 29 changes the opening state of the electromagnetic proportional valve 20 according to the operation direction and the operation amount of the lever 35. Specifically, when the lever 35 is operated and a positive operation amount detection signal is input from the first potentiometer 36, the vehicle control device 29 controls the electromagnetic proportional valve 20 to extend the lift cylinder 17, When a negative operation amount detection signal is input from the first potentiometer 36, the electromagnetic proportional valve 20 is controlled to contract the lift cylinder 17. At this time, the vehicle control device 29 controls the electromagnetic proportional valve 20 so that the ascending / descending speed of the fork 14 increases as the absolute value of the operation amount detection signal from the first potentiometer 36 increases. Further, when the lever 35 is operated and a positive operation amount detection signal is input from the second potentiometer 37, the vehicle control device 29 controls the electromagnetic proportional valve 20 to extend the tilt cylinder 16 and the second potentiometer 37. When a negative operation amount detection signal is input from, the electromagnetic proportional valve 20 is controlled to contract the tilt cylinder 16. At this time, the vehicle control device 29 controls the electromagnetic proportional valve 20 so that the tilting speed of the fork 14 increases as the absolute value of the operation amount detection signal from the second potentiometer 37 increases. In addition, the vehicle control device 29 controls the display unit 43 so as to display predetermined contents.

  The memory 45 of the vehicle control device 29 stores a control program for controlling the travel and cargo handling of the forklift 11. In addition, the memory 45 stores in advance a control program for performing a lifting automatic stop operation for stopping the fork 14 at the target lifting position and a horizontal automatic stopping operation for stopping the fork 14 in a horizontal posture. The automatic lifting height stopping operation is such that when the CPU 44 detects that the fork 14 reaches the target lifting position, the electromagnetic proportional valve 20 is controlled to be closed even if the lever 35 is operated in the positive direction in the X-axis direction. The fork 14 is stopped at the target lift position. Further, the horizontal automatic stop operation means that when the CPU 44 detects the horizontal posture of the fork 14, even if the lever 35 is operated in the Y-axis direction, the electromagnetic proportional valve 20 is controlled to close, and the fork 14 is tilted forward and backward. This is an operation to stop the operation. The memory 45 has an area for temporarily storing the operation amount detected by the first potentiometer 36 as an X value and the operation amount detected by the second potentiometer 37 as a Y value. In addition, the memory 45 stores a map 100 that defines an area for causing the CPU 44 to execute an automatic elevation stop operation and a horizontal automatic stop operation.

  As shown in FIG. 4, the map 100 defines four areas Z1, Z2, Z3, and Z4 in relation to the operation amount in the X-axis direction and the operation amount in the Y-axis direction. In the area Z1, the boundary condition in the Y axis direction is −Y2 or more and Y1 or less, and the boundary condition in the X axis direction is less than −X1. The area Z2 is a range in which the boundary condition in the Y-axis direction is −Y2 or more and Y1 or less, and the boundary condition in the X-axis direction is −X1 or more. In the area Z3, the boundary condition in the Y-axis direction is larger than Y1, the boundary condition in the X-axis direction is a range below the origin O, and the boundary condition in the Y-axis direction is smaller than −Y2. In the area Z4, the boundary condition in the Y-axis direction is larger than Y1, and the boundary condition in the X-axis direction is larger than the origin O. The area Z1 is an area where the CPU 44 turns off both the lifting height automatic stop operation and the horizontal automatic stop operation. The area Z2 is an area in which the CPU 44 turns on the automatic lifting height stop operation and turns off the horizontal automatic stop operation. The area Z3 is an area in which the CPU 44 turns off the automatic lifting operation and turns on the horizontal automatic stopping operation. The area Z4 is an area where the CPU 44 turns on both the lifting height automatic stop operation and the horizontal automatic stop operation.

Next, the operation of the operating device configured as described above will be described.
FIG. 5 is a flowchart showing the control executed by the CPU 44 of the vehicle control device 29 when the machine base of the forklift 11 is operated. In the flowchart of FIG. 5, the CPU 44 first determines whether or not a push signal is input from the push button switch 38 in step (hereinafter referred to as “S”) 11. Then, when a pressing signal is input from the push button switch 38, the CPU 44 stores the operation amount from the first potentiometer 36 as an X value and the operation amount from the second potentiometer 37 as a Y value in the memory 45 in S12. To do. In S13, the CPU 44 refers to the map 100 in FIG. 4 to determine the area, and the operation amount (X value, Y value) of the lever 35 in the X axis direction and the Y axis direction indicates which area in the map 100. It is judged whether it corresponds to. And CPU44 performs the operation | movement corresponding to each area by S14-S20.

  If the determination result of the area determination is area Z1 in S14, the CPU 44 turns off both the lifting height automatic stop operation and the horizontal automatic stop operation in S15 so that neither operation is executed. . In this case, only a normal operation of operating the fork 14 at a speed corresponding to the operation direction and operation amount of the lever 35 is executed. Thereafter, the CPU 44 returns to S11. In S11, even when a push signal is not input from the push button switch 38, the process proceeds to S15 and the same processing is performed. On the other hand, if it is not area Z1 in S14, the process proceeds to S16.

  If the determination result of the area determination is area Z2 in S16, the CPU 44 turns on the automatic lift-off operation and turns off the horizontal automatic stop operation in S17, and executes only the automatic lift-off operation. At this time, if the lifted position of the fork 14 is lower than the target lifted position, the fork 14 rises. When the fork 14 reaches the target lift position, the fork 14 stops rising even if the lever 35 is operated in the positive direction in the X-axis direction. Therefore, the fork 14 can be easily stopped at the target lift position even if it is not a skilled driver.

  In S16 described above, if the area is not the area Z2, the CPU 44 proceeds to S18. If the determination result of the area determination is area Z3 in S18, the CPU 44 executes only the horizontal automatic stop operation by turning off the automatic lifting height stop operation and turning on the horizontal automatic stop operation in S19. At this time, if no horizontal detection signal is input from the horizontal detection switch 41, the fork 14 tilts back and forth. When the fork 14 is in a horizontal posture, the fork 14 stops in a horizontal posture without tilting back and forth even if the lever 35 is operated in the Y-axis direction. Therefore, the fork 14 can be easily stopped in a horizontal posture without being a skilled driver.

  In S18 described above, if it is not area Z3 (if it is area Z4), the CPU 44 proceeds to S20, turns on the automatic lifting stop operation, turns on the horizontal automatic stop operation, and executes both operations. Let At this time, if the fork 14 is lower than the target lift position, the fork 14 moves up, and if the fork 14 is not in a horizontal posture, the fork 14 tilts back and forth. When the fork 14 reaches the target lift position, the fork 14 does not move up and stops at the target lift position. When the fork 14 is in a horizontal posture, the fork 14 stops in a horizontal posture without being tilted back and forth. In addition, CPU44 will return to S11, if a process is complete | finished in S15, S17, S19, and S20.

In this embodiment, the following effects can be obtained.
(1) When the CPU 44 detects that the push button switch 38 is input, the CPU 44 refers to the map 100 stored in the memory 45 and determines an area corresponding to the operation amount and the operation direction of the lever 35. . Then, the lifting height automatic stop operation and the horizontal automatic stop operation are turned ON or OFF according to the determined area. Therefore, even if the number of the push button switches 38 is one, it is possible to perform the lifting height automatic stop operation and the horizontal automatic stop operation according to the operation amounts of the lever 35 in the first and second directions.

  Further, the push button switch 38 provided on the lever 35 is one. Therefore, in order to switch ON / OFF of the automatic lift-height stop operation and horizontal automatic stop operation, the configuration is simpler than when a plurality of push button switches corresponding to each of the automatic lift-height stop operation and horizontal automatic stop operation are provided can do.

  (2) If inconvenience occurs in the cargo handling work when the automatic lifting height stop operation and horizontal automatic stop operation are turned on, the automatic lifting height stop operation and horizontal automatic stop operation are turned on according to the operating direction and operation amount of the lever 35. The range of the areas Z1 to Z4 in the map 100 is defined so as not to make it. Therefore, the efficiency of the cargo handling work is reduced even when the automatic lifting stop and the horizontal automatic stop are turned on or off by the operating device having the lever 35 having a degree of freedom in the X-axis direction and the Y-axis direction. Can be suppressed.

  (3) The vehicle control device 29 controls the electromagnetic proportional valve 20 according to the operation amount of the lever 35 in the X-axis direction, and controls the electromagnetic proportional valve 20 according to the operation amount of the lever 35 in the Y-axis direction. Therefore, the fork 14 can be moved up and down at a speed corresponding to the operation amount of the lever 35 in the X-axis direction, and the fork 14 can be tilted back and forth at a speed corresponding to the operation amount of the lever 35 in the Y-axis direction. .

  (4) The memory 45 stores a program for performing a lifting height automatic stop operation and a horizontal automatic stop operation. In addition, the map 100 stored in the memory 45 defines an area for the CPU 44 to turn on or off the automatic elevation stop operation and the horizontal automatic stop operation. Therefore, when the CPU 44 turns on the automatic lifting / lifting stop operation based on the operation amount of the lever 35 in the X-axis direction and the Y-axis direction and the map 100, the fork 14 can be stopped at the target lifting position. . Further, when the CPU 44 is on the horizontal automatic stop operation based on the operation amount of the lever 35 in the X-axis direction and the Y-axis direction and the map 100, the fork 14 can be stopped in a horizontal posture.

(Second Embodiment)
Next, the second embodiment will be described focusing on the differences from the first embodiment. In this embodiment, a map used for area determination is selected from a plurality of maps according to the point at which a plurality of maps are stored in the memory 45 and the control executed by the CPU 44 according to the pressing time of the push button switch 38. The point which processes is different from 1st Embodiment.

  As shown in FIG. 3, the vehicle control device 29 is provided with a timer 46 for measuring the pressing time of the push button switch 38. The memory 45 stores a first map 200 shown in FIG. 6A and a second map 201 shown in FIG. 6B. The first map 200 is the same as the map of the first embodiment shown in FIG. Therefore, −X20, Y20, and −Y21 in the first map 200 of FIG. 6A are the same values as −X1, Y1, and −Y2 of FIG. As shown in FIG. 6B, the second map 201 also defines four areas Z1 to Z4. In area Z1 in FIG. 6B, the boundary condition in the Y-axis direction is in the range of −Y31 or more and Y30 or less, and the boundary condition in the X-axis direction is less than −X20. In the area Z2, the boundary condition in the Y axis direction is −Y31 or more and Y30 or less, and the boundary condition in the X axis direction is −X20 or more. In the area Z3, the boundary condition in the Y-axis direction is larger than Y30, the boundary condition in the X-axis direction is a range below the origin O, and the boundary condition in the Y-axis direction is smaller than −Y31. In the area Z4, the boundary condition in the Y-axis direction is larger than Y30, and the boundary condition in the X-axis direction is in the range of the origin O or more. The absolute values of Y30 and -Y31 in FIG. 6B are set to be larger than the absolute values of Y20 and -Y21 in FIG. 6A, respectively.

Next, the operation of the operating device will be described.
FIG. 7 is a flowchart showing the control executed by the CPU 44 of the vehicle control device 29 when the machine base of the forklift 11 is operated. In the flowchart of FIG. 7, first, when the push button switch 38 is pressed in S31, the CPU 44 sets the operation amount from the first potentiometer 36 as the X value and the operation amount from the second potentiometer 37 as the Y value in S32. Save in the memory 45. Thereafter, in S33, whether or not the switch-on is continued for a certain time, that is, the measurement time by the timer 46 is compared with the determination time (for example, 1 sec), and the measurement time by the timer 46 is equal to or longer than the determination time. In S34, area determination is performed using the second map 201 of FIG.

  On the other hand, if the measurement time by the timer 46 is smaller than the determination time in S33, the CPU 44 determines that the push button switch 38 is not continuously turned on for a certain period of time, and in S36, the first of FIG. Area determination is performed using the map 200, and in S35, the processing of S14 to S20 (see FIG. 5) is performed as in the first embodiment.

  In S31, if the push signal is not inputted from the push button switch 38, the CPU 44 turns off both the lifting automatic stop operation and the horizontal automatic stop operation in S37.

Next, the control content of the operating device in this embodiment is demonstrated.
When the pressing time of the push button switch 38 is within a predetermined time, ON / OFF of the lifting height automatic stop operation and the horizontal automatic stop operation is set based on the operation direction and operation amount of the lever 35 and the first map 200. The However, when the status of the cargo handling work is changed, the current cargo handling work is set in the ON / OFF setting of the lifting automatic stop operation and the horizontal automatic stop operation based on the operation direction and operation amount of the lever 35 and the first map 200. May not be appropriate for your situation. At this time, the driver operates the lever 35 after the push button switch 38 is continuously pressed for a predetermined time or more. Then, the operation direction and operation amount of the lever 35 and the relationship between the areas Z1 to Z4 change. Therefore, compared with the relationship between the operation direction and operation amount of the lever 35 and the areas Z1 to Z4 in the first map 200, the relationship between the operation direction and operation amount of the lever 35 and the areas Z1 to Z4 is preferable according to the situation. Can be in a relationship.

According to this embodiment, the following effects can be obtained.
(5) The map used by the CPU 44 for area determination can be selected from the first map 200 and the second map 201 in accordance with the pressing time of the push button switch 38. Therefore, the driver can change the pressing time of the push button switch 38 according to the situation, so that an appropriate map according to the situation can be used.

(Third embodiment)
Next, the third embodiment will be described focusing on the differences between the first and second embodiments.
As shown in FIG. 3, the vehicle control device 29 is provided with a timer 46 for measuring the pressing time of the push button switch 38. The vehicle control device 29 is electrically connected to a load sensor 42 that detects the weight of the load placed on the fork 14. The vehicle control device 29 can display the weight of the load detected by the load sensor 42 on the display unit 43. The memory 45 of the vehicle control device 29 stores a control program for causing the CPU 44 to execute a load display operation for displaying the detection result obtained from the load sensor 42 on the display unit 43 and a lifting height automatic stop operation. . As shown in FIGS. 8A, 8B, 8C, 8D, and 5E, five maps 300 to 304 are stored in the memory 45, and m values are associated with each map. ing. Each map 300 to 304 corresponding to the m value shown in FIGS. 8A to 8E defines an operation area Z10 for executing a predetermined operation. Then, as shown in FIGS. 8A to 8C and FIG. 8E, in the maps 300, 301, 302, and 304, the operation area Z10 has a boundary condition in the Y-axis direction that is −Y40 or less. , And the boundary condition in the Y-axis direction is a range of Y41 or more. As shown in FIG. 8D, in the map 303, the motion area Z10 has a boundary condition in the Y-axis direction of −Y40 or more and Y41 or less, and a boundary condition in the X-axis direction of −X40 or more.

  The operation area Z10 of the map 300 is an area for causing the CPU 44 to perform an operation for holding the state when the horizontal automatic stop operation is ON. When the CPU 44 uses the map 300, the CPU 44 turns off the horizontal automatic stop operation when the fork 14 reaches the horizontal posture. The operation area Z10 of the maps 301 and 302 is an area where the CPU 44 turns on the horizontal automatic stop operation. An operation area Z10 of the map 303 is an area for causing the CPU 44 to execute an automatic elevation stop operation. The operation area Z10 of the map 304 is an area where the CPU 44 turns on the horizontal automatic stop operation and turns on the load display operation.

Next, the operation of the operating device will be described.
FIG. 9 is a flowchart showing the control executed by the CPU 44 of the vehicle control device 29 when the machine base of the forklift 11 is operated. FIG. 10 shows details of the process in S43 of FIG. FIG. 11 is a time chart showing the pressing state of the push button switch and the transition of the m value.

  As shown in FIG. 9, in S41, the CPU 44 stores 0 as the m value in the memory 45, and then proceeds to S42. In S42, the operation amount from the first potentiometer 36 is stored in the memory 45 as the X value, and the operation amount from the second potentiometer 37 is stored in the memory 45, and the m value determination process in S43 is executed. Details of the m value determination process will be described later. Next, in S44, the CPU 44 selects maps 300 to 304 corresponding to the m value from the memory 45, and in S45, performs area determination using the selected map. In S46, it is determined whether or not the determination result of the area determination is the operation area Z10. If it is within the operation area Z10, the operation set in the area Z10 in S47 is executed. If it is outside the operation area Z10 in S46, the process returns from S46 to S42.

  Details of the m value determination process in S43 of FIG. 9 will be described with reference to FIGS. FIG. 11 shows a case where the push button switch 38 is pressed during the period t1 to t4 and the push button switch 38 is pressed during the period t11 to t14. The period from t1 to t4 is shorter than the certain time of S56 in FIG. 10, and the period from t11 to t14 is longer than the certain time.

  As shown in FIG. 10, the CPU 44 determines whether or not the push button switch 38 is pressed in S51, and when a press signal is input from the push button switch 38, in S52, the CPU 44 determines the m value. Whether m is 0 or not is determined. If m = 0, the process proceeds to S53, and the m value is rewritten to 1 (timing t1 and t11 in FIG. 11). If m ≠ 0 in S52, the CPU 44 determines in S54 whether the m value is 1. If m = 1, the m value is rewritten to 2 in S55 (t2 in FIG. 11). timing of t12). In S54, if m ≠ 1, the CPU 44 determines in S56 whether or not the push button switch 38 is continuously pressed for a certain period of time, and if the time measured by the timer 46 is smaller than the determination time. In S55, if the measurement time is equal to or longer than the determination time, the m value is rewritten to 4 in S57 (timing t13 in FIG. 11).

  If the push button switch 38 is not pressed in S51, the CPU 44 proceeds to S58, determines whether the m value is 1 or 2, and proceeds to S59 if m = 1 or 2. The m value is rewritten to 3 (timing at t3 in FIG. 11). In S58, if m ≠ 1 or m ≠ 2, that is, m = 0, m = 3, or m = 4, the CPU 44 rewrites the m value to 0 in S60 (timing between t4 and t14 in FIG. 11). ).

Next, the control content of the operating device in this embodiment is demonstrated.
When the lever 35 is operated without pressing the push button switch 38, the fork 14 operates according to the operation direction and the operation amount of the lever 35. After that, when the push button switch 38 is pressed and the lever 35 is operated in the Y-axis direction so as to enter the maps 301 and 302 in FIGS. 8B and 8C, the horizontal automatic stop operation is turned on. If it is not posture, it tilts. Even if the push button switch 38 is stopped before the fork 14 reaches the horizontal posture with the lever 35 operated in the Y-axis direction, the fork 14 continues to tilt, and the tilting ends when the horizontal posture is reached.

  Further, when the lever 35 is operated so as to enter the area Z10 in the map 303 in FIG. 8D, the push button switch 38 is depressed, and the push button switch 38 is depressed before a certain period of time elapses. Automatic stop operation is enabled. Thereafter, when the lever 35 is operated in the positive direction in the Y-axis direction, the fork 14 rises if the lifted position of the fork 14 is lower than the target lifted position, and when the fork 14 reaches the target lifted position, the lever 35 is moved. Even if it is operated in the positive direction of the Y-axis direction, the fork 14 stops rising.

  Further, when the lever 35 is operated in the Y-axis direction so as to enter the area Z10 of the map 304 in FIG. 8E, if the push button switch 38 is continuously pressed for a predetermined time or more, the load placed on the fork 14 is displayed. Is displayed on the display unit 43. If the fork 14 is not in a horizontal posture, the fork 14 is tilted until the horizontal posture is reached. Once the fork 14 is in a horizontal posture, the normal state is restored, and the fork 14 is moved according to the operation direction and the operation amount of the lever 35. Will work.

In this embodiment, the following effects can be obtained.
(6) The CPU 44 uses the map 302 when the pressing time of the push button switch 38 does not elapse for a certain time, and uses the map 304 when the pressing time of the push button switch 38 elapses for a certain time. Further, the CPU 44 uses the map 303 when the driver stops pressing the push button switch 38 in less than a predetermined time. Different types of operations are set in the operation area Z10 defined in each map. Therefore, since the operation performed by the CPU 44 can be changed according to the pressing state of the push button switch 38, more types of operations can be performed even though the number of the push button switches 38 is one. it can.

The embodiment is not limited to the above, and may be embodied as follows, for example.
In 3rd Embodiment, you may prescribe | regulate other areas other than the operation area Z10 with respect to the maps 300-304 of Fig.8 (a)-(e). For example, in the map 304 in FIG. 8E, the area set as the dead zone is defined as an area where the CPU 44 turns on the horizontal automatic stop operation when the operation direction and the operation amount of the lever 35 correspond to the above area. May be.

  ○ The operation switch may be a switch other than a push button switch. For example, as an operation switch, a snap-back type snap switch may be used instead of the push button switch.

  The present invention may be applied to industrial vehicles other than forklifts. For example, the present invention may be applied to industrial vehicles such as excavators. Moreover, you may apply to vehicles like an electric wheelchair other than an industrial vehicle, for example.

The side view of a forklift. The model perspective view which shows a joystick. The block diagram which shows the electric constitution of an operating device. The figure explaining the map used when performing area determination processing in 1st Embodiment. The flowchart explaining the processing operation of the operating device in 1st Embodiment. (A), (b) is a figure explaining the map used when performing an area determination process in 2nd Embodiment. The flowchart explaining the processing operation of the operating device in 2nd Embodiment. (A)-(e) is a figure which shows the map used in 3rd Embodiment. The flowchart explaining the processing operation of the operating device in 3rd Embodiment. The flowchart explaining m value determination processing. The time chart which shows the relationship between the pressing state of a pushbutton switch, and m value.

Explanation of symbols

  M ... Mast, 11 ... Forklift, 14 ... Fork, 16 ... Tilt cylinder as target device, 17 ... Lift cylinder as target device, 29 ... Vehicle control device, 34 ... Joystick, 35 ... Lever, 36 ... 1st potentiometer, 37 ... 2nd potentiometer, 38 ... Push button switch as an operation switch, 44 ... CPU as a calculating part, 100 ... Map, 200 ... 1st map, 201 ... 2nd map, 300-304 ... map.

Claims (2)

A joystick having a lever with degrees of freedom in orthogonal first and second directions;
One operation switch installed at or near the lever of the joystick;
An operation amount detection signal in the first direction from the joystick, an operation amount detection signal in the second direction, and an operation signal from the operation switch are input to the target device in the first direction and the second direction. A calculation unit that performs an operation according to an operation amount and performs a plurality of types of operations different from the operation according to the operation amount in the first direction and the second direction based on an operation of the operation switch;
With
The arithmetic unit includes a storage unit, and the storage unit stores a map defining an execution area for a plurality of types of operations in the relationship between the operation amount in the first direction and the operation amount in the second direction.
The arithmetic unit is an operation device that causes the target device to perform an operation based on the amount of operation in the first direction and the second direction on the joystick and the map when the operation switch is operated. And
The target device is a lift cylinder that moves the fork of the forklift up and down, and a tilt cylinder that tilts the fork of the forklift,
The calculation unit is configured to move the fork up and down at a speed corresponding to the operation amount in the first direction, and to tilt the fork at a speed according to the operation amount in the second direction,
The plurality of types of operations are a lifting automatic stop operation for stopping the fork at a predetermined target lifting position, and a horizontal automatic stopping operation for stopping the fork in a horizontal posture,
An operation characterized in that an execution area for the automatic lifting operation and an execution area for the horizontal automatic stop operation are defined in the map in relation to the operation amount in the first direction and the operation amount in the second direction. apparatus. As the map, a plurality of maps according to the operation time of the operation switch is prepared,
The operation device according to claim 1, wherein the calculation unit uses a map corresponding to an operation time of the operation switch among the plurality of maps.

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