JP6468944B2 - Cargo handling vehicle - Google Patents

Description

  The present invention relates to a cargo handling vehicle capable of dumping (inclining) a container on a chassis on the chassis that can be loaded and unloaded between the chassis and the ground to lower a load (containment) in the container.

  The cargo handling vehicle includes a dump arm connected to a rear portion of a chassis so as to be able to undulate in a front-rear direction, a lift arm connected to a front end portion of the dump arm so as to be able to undulate in a front-rear direction, and a container. A hook arm that has a hook capable of being connected to the front end of the lift arm so that the hook can be tilted rearward in a direction approaching the rotation center of the lift arm from a running posture, a dump arm, and a lift arm In order to dump the container, the locked state that locks the lifting and lowering rotation of the lift arm with respect to the dump arm and the unlocking that unlocks the lifting and lowering rotation of the lift arm with respect to the dump arm to load and unload the container with the hook arm and the lift arm The lock device can be switched to a state, and the lock device is switched to the unlocked state by tilting the hook arm to the rear side. It is as provided with an interlocking portion for interlocking with the hook arm and the locking device. And the said interlocking | linkage part is comprised from the push-pull type operating rod which connects a hook arm and a locking device (patent document 1).

  In the cargo handling vehicle configured as described above, when the container on the chassis is lowered to the ground, the locking device can be switched to the unlocked state by tilting the hook arm backward and pulling the operating rod forward. . Accordingly, the container engaged with the hook arm by raising and lowering the lift arm with respect to the dump arm can be lowered to the ground by moving the container to the rear of the chassis while lifting it onto the chassis. In addition, by tilting the hook arm to the rear side, there is an advantage that the height of the trajectory drawn by the container can be kept low when the lift arm is rotated to move the container backward while lifting the container.

Japanese Patent No. 4398778

  In recent years, it has been desired to increase the tilt angle to the rear side of the hook arm so that the height of the trajectory drawn by the container can be kept as low as possible when the lift arm is rotated and moved while lifting the container. Has been. However, when the tilt angle to the rear side of the hook arm increases, the distance that the container slides to the rear side becomes longer. Therefore, depending on the type of container, for example, there is a possibility that the leg portion of the container may come into contact with various members provided in the chassis, and the tilt angle to the rear side of the hook arm cannot be increased at present. .

  Therefore, an object of the present invention is to provide a cargo handling vehicle capable of suppressing the contact of the container with various members of the chassis while suppressing the trajectory drawn by the container as low as possible.

  A cargo handling vehicle of the present invention is connected to a rear part on a chassis on which a container can be mounted so as to be able to swing up and down in the front-rear direction, and to a front end portion of the dump arm so as to be able to swing up and down in the front-rear direction. A lift arm and a hook that can be engaged with and disengaged from a container, and the front end of the lift arm can be changed in posture by tilting or sliding from a traveling posture in a direction approaching the rotation center of the lift arm. A hook arm connected to the dump arm, a lock state that locks up and down rotation of the lift arm with respect to the dump arm to dump the container with the dump arm and the lift arm, and the container with the hook arm and the lift arm. It is possible to switch to the unlocked state in which the lifting and lowering lock of the lift arm with respect to the dump arm is released to be loaded and unloaded. A cargo handling vehicle comprising: a hooking device; and an interlocking portion that interlocks the hook arm and the locking device so that the locking device can be switched from the locked state to the unlocked state by changing the posture of the hook arm. The interlocking unit includes a lock release unit that unlocks the lock device during the posture change of the hook arm and holds a release state when the posture of the hook arm is changed after the lock is released. It is a feature.

  According to the above configuration, since the lock device can be unlocked in the middle of the posture change of the hook arm by the lock release portion, the lift arm can be moved without tilting the hook arm to a large maximum angle or sliding to the maximum rear position. The container can be lifted by rotating. Thereby, the sliding amount of the container by the hook arm attitude | position change can be restrained small. When the posture of the hook arm is changed after the lock is released, the lock release unit holds the unlocked state. Therefore, after the lift arm is turned and the container is lifted, the hook arm is moved to a larger angle in the unlocked state (for example, By tilting to the maximum angle set) or sliding to the maximum rear position, for example, the height of the trajectory drawn by the container when the container is moved while being lifted by the lift arm can be suppressed as low as possible.

  The cargo handling vehicle of the present invention may include an interlock release unit that releases the interlock between the hook arm and the lock device when the posture of the hook arm after the lock is released is changed.

  According to the above configuration, since the interlock between the hook arm and the lock device is released by the interlock release unit when the posture of the hook arm is changed after the lock device is unlocked, the lock device is not operated unexpectedly. .

  The cargo handling vehicle of the present invention may be configured such that the interlock release unit includes an accommodation unit that does not transmit the operation force from the hook arm to the lock device after the lock device is unlocked.

  According to the above configuration, since the operating force from the hook arm is not transmitted to the lock device after the lock device is unlocked by the interchangeable portion, the lock device is operated unexpectedly especially during rotation of the lift arm. There is no such thing as contacting an object.

  In the cargo handling vehicle according to the present invention, the locking device can lock and unlock the lifted portion of the lift arm with respect to the dump arm by engaging the locked portion provided on the dump arm and the locked portion. And a urging means for urging the lock portion and the locked portion into an engaged state, and the unlocking portion is connected to the lock portion. An operation unit, and an operation unit coupled to the hook arm to operate the operated unit. The operation unit applies the urging force by the urging means to the lock unit during the posture change of the hook arm. The operated portion may be configured to be operated to release the lock.

  According to the above configuration, when the posture of the hook arm is changed, the operation unit is operated so as to unlock the operated portion connected to the lock portion during the posture change. By this operation, the lock portion can be unlocked against the urging force of the urging means.

  In the cargo handling vehicle of the present invention, the interlocking unit applies an operation force from the hook arm to the lock device so as to maintain the locked state until the predetermined amount of the posture change that unlocks the hook arm from the traveling posture. You may provide the dead zone part which does not transmit.

  According to the above configuration, since the interlocking portion includes the dead zone, the locked state is reliably maintained until a predetermined amount of posture change is performed from the traveling posture of the hook arm to unlock.

  In the present invention, the lock device can be unlocked in the middle of the posture change of the hook arm, so that the container can be prevented from coming into contact with various members of the chassis while the locus drawn by the container can be kept as low as possible. It is possible to provide a cargo handling vehicle capable of

It is a whole side view of the cargo handling vehicle of this invention carrying a container. It is the whole cargo handling vehicle side view which tilted the hook arm to the rear side and moved the container back. It is the whole cargo handling vehicle side view which shows the state immediately before rotating a lift arm and dropping a container on the ground. It is the whole cargo handling vehicle side view which shows the state which rotated the lift arm and lowered the container on the ground. It is the top view which looked at the lift arm and the dump arm from the top. (A) is the side view which looked at the hook arm and lift arm with which a locking device is locked from the side, (b) is the bottom view which abbreviate | omitted partially seeing (a) from the bottom. It is an enlarged view of the principal part of FIG.6 (b). 6A is a side view showing a state in which the lock arm is unlocked by tilting the hook arm of FIG. 6A backward by a predetermined angle, and FIG. 6B is a bottom view of the state where FIG. It is. It is an enlarged view of the principal part of FIG.8 (b). (A) is the sectional view on the AA line in FIG. 6 (a), (b) is the sectional view on the BB line in FIG. 6 (a), (c) is the sectional view on the CC line in FIG. 6 (a). It is. (A)-(e) is explanatory drawing which shows transition of the angle of a hook arm and a lift arm until it drops a container on the ground. (A)-(e) is explanatory drawing which shows transition of the angle of a hook arm and a lift arm until it mounts a ground container on a cargo handling frame. It is the whole cargo handling vehicle side view which shows the state which dumped the container. It is a block diagram which shows a control structure. (A) is a schematic plan view showing a state immediately before the container is mounted with the cargo handling vehicle positioned obliquely in front of the container located on the ground, and (b) is an enlarged side view showing only the hook arm and lift arm of (a). FIG.

  Hereinafter, a cargo handling vehicle according to an embodiment of the present invention will be described. As shown in FIG. 1, the cargo handling vehicle V has a cab Ca mounted in front of the chassis F and a cargo handling frame 1 mounted in the rear of the chassis F. As shown in FIG. 5, the cargo handling frame 1 includes a pair of left and right vertical frames 1A and 1A that are long in the front-rear direction, and a horizontal frame 1B that connects intermediate portions of the vertical frames 1A and 1A in the left-right direction. . A container Ct is mounted on the cargo handling frame 1. An outrigger D is provided at the rear of the chassis F. The outrigger D is used to stabilize the cargo handling vehicle V on the ground GR when the container Ct is loaded or unloaded, or when dumped.

  As shown in FIGS. 1 to 5, a pair of left and right guide rollers 2, 2 projecting outward in the left-right direction are rotatably attached to the rear end portion of the cargo handling frame 1. These guide rollers 2 and 2 move and guide the container Ct while rotating when the container Ct on the cargo handling frame 1 is lowered onto the ground or when the container Ct is mounted on the cargo handling frame 1 from the ground.

  Further, as shown in FIG. 5, the rear end portion of the dump arm 3 is pivotally supported at the rear end portion of the cargo handling frame 1 so that the dump arm 3 can tilt around the horizontal axis 3T. ing. The dump arm 3 includes a pair of left and right vertical frames 3A, 3A that are long in the front-rear direction, an intermediate horizontal frame 3B that connects intermediate portions of the vertical frames 3A, 3A in the left-right direction, and front ends of the vertical frames 3A, 3A. And a front end horizontal frame 3C to be connected. A rotary shaft 3D is penetrated near the front side of the intermediate portion of the vertical frames 3A, 3A, and the rear end portion of the lift arm 4 is attached to the rotary shaft 3D so as to be integrally rotatable. The lift arm 4 is positioned between the vertical frames 3A and 3A of the dump arm 3, and the rear end portion overlaps the front end portions of the vertical frames 3A and 3A of the dump arm 3 in the front-rear direction. Further, an intermediate portion of the lift arm 4 and a front end portion of the cargo handling frame 1 are connected by a pair of hydraulic lift cylinders 5 and 5. By operating the lift cylinders 5 and 5 to extend and contract, the lift arm 4 can be rotated around the rotation shaft 3D.

  As shown in FIGS. 6A and 8A, the base end portion of the substantially L-shaped hook arm 6 is attached to the front end portion of the lift arm 4 so as to be rotatable around the horizontal axis 7 in the left-right direction. The hook arm 6 is configured to be able to tilt in a direction (rear side) in which a hook 8 (to be described later) approaches a rotation shaft 3D that is a rotation center of the lift arm 4. A substantially C-shaped hook 8 that engages with the engaging portion 12 of the container Ct is provided at the upper end of the hook arm 6. A hydraulic hook cylinder 9 is connected between the intermediate portion of the hook arm 6 and the front end portion of the lift arm 4, and the hook arm 6 is shown in FIG. The rear side shown in FIG. 8A from the traveling posture, that is, the tilted posture in which the hook 8 is tilted by a predetermined angle in the direction approaching the rotation shaft 3D of the lift arm 4 (retracted from the traveling posture by a predetermined distance H in FIG. 8A). The posture can be changed to a posture (a second posture in which a hook 8 described later is closer to the rotation shaft 3D than the traveling posture).

  The lift cylinders 5 and 5 constitute first driving means, and the hook cylinder 9 constitutes second driving means.

  The container Ct is configured in a box shape having a plurality of traveling wheels 11 on the lower surface, and an engaging portion 12 that can be engaged with a hook 8 of a hook arm 6 described later is provided on the front side of the container Ct. On the rear side, an openable rear gate 13 is provided.

  As shown in FIGS. 6A and 6B to FIG. 9, the lift arm 4 undulates with respect to the dump arm 3 on the lower surface of the lift arm 4 so that the dump arm 3 and the lift arm 4 dump the container Ct. It is possible to switch between a locked state in which the movement is locked and an unlocked state in which the hook arm 6 and the lift arm 4 unload the container Ct or release the lock of the lifting and lowering rotation of the lift arm 4 with respect to the dump arm 3 to load the container Ct. The locking device 10 is provided.

  The locking device 10 is engaged with the pair of left and right locked portions 14 and 14 provided on the front end lateral frame 3C of the dump arm 3 and the locked portions 14 and 14 to lock the two arms 3 and 4. A pair of substantially L-shaped lock portions 15 and 15 that are pivotally supported around both sides of the lift arm 4 so as to be releasably pivotable about the horizontal axis Y1, and the lock portions 15 and 15 are locked portions 14. And an urging means 16 for urging the engaged state. The pair of left and right lock portions 15, 15 are connected by a bracket 17. The urging means 16 is composed of a pair of coil springs (only one is shown in FIG. 6A) provided between the lift arm 4 and the lock portions 15 and 15.

  The hook arm 6 and the locking device 10 are interlocked by the interlocking unit 18, and the locking device 10 is configured to be switched from the locked state to the unlocked state by tilting backward (changing the posture) of the hook arm 6.

  The interlocking unit 18 unlocks the locking device 10 during the rearward tilting (posture change) of the hook arm 6, and the unlocked state is released when the hook arm 6 tilts rearward (posture change) after unlocking. An unlocking part R1 to be held and an interlocking releasing part R2 for releasing the interlocking of the hook arm 6 and the locking device 10 when the hook arm 6 is unlocked and tilted to the rear side (posture change) are provided. Specifically, as shown in FIGS. 6A and 6B, the interlocking unit 18 includes a first push-pull rod 19 having one end connected to the bracket 17 on the locking device 10 side, and a hook arm. 6 is provided with a second push-pull rod 20 having one end connected to the side, and a lock release portion R1 and an interlock release portion R2 are provided between the first push-pull rod 19 and the second push-pull rod 20. ing.

  As shown in FIGS. 6B and 10C, one end of the first push-pull rod 19 on the locking device 10 side is provided with a connecting portion 19B having a bifurcated tip, and the bottom plate portion of the bracket 17 A vertical plate 17B protruding upward is provided on the upper surface of 17A. The bifurcated tip of the connecting portion 19B is sandwiched from the left and right directions into the vertical plate 17B, and in this state, a pin is formed in a hole (not shown) formed in the vertical plate 17B and a hole (not shown) formed in the connecting portion 19B. The vertical plate 17B is connected to the connecting portion 19B by preventing the tip of the pin P1 from coming off after passing through P1. The holes formed in the vertical plate 17B are formed as vertical holes that are long in the vertical direction, and the holes formed in the connecting portion 19B are formed as round holes that allow the pin P1 to pass therethrough.

  Further, as shown in FIGS. 6B and 10A, one end on the hook arm 6 side of the second push-pull rod 20 is provided with a connecting portion 20K having a bifurcated tip portion. On the upper surface of the bottom plate 6A that is bolted to the base end portion, there is provided a vertical plate 6B that extends obliquely upward and rearward. The bifurcated tip of the connecting portion 20K is sandwiched from the left and right directions in the vertical plate 6B, and in this state, a pin is formed in a hole (not shown) formed in the vertical plate 6B and a hole (not shown) formed in the connecting portion 20K. The vertical plate 6B is connected to the connecting portion 20K by preventing the tip of the pin P2 from coming off after passing through P2. The holes formed in the vertical plate 6B are formed as vertical holes that are long in the vertical direction, and the holes formed in the connecting portion 20K are formed as round holes that allow the pin P2 to pass therethrough.

  The first push / pull rod 19 is smoothly guided in the longitudinal direction of the lift arm 4 by a plurality of support members 22 attached to the lower surface of the lift arm 4. As shown in FIG. 10B, the support member 22 is sandwiched between a U-shaped support bracket 22A fixed to the lower surface of the lift arm 4 and a pair of downward plates 22a and 22a of the support bracket 22A. A pair of left and right half members 22B and 22B fixed by bolts 22M and nuts 22N are provided. Arc portions 22b and 22b that sandwich the first push-pull rod 19 (not shown in FIG. 10B) are formed on the opposing surfaces of the half members 22B and 22B. The second push / pull rod 20 includes a first rod 20A coupled to the hook arm 6 and a second rod 20B coupled to extend toward the lock device 10 via an operation unit 24 described later. Each of the first rod 20 </ b> A and the second rod 20 </ b> B is supported by the plurality of support members 22.

  The unlocking portion R1 is configured so that the locking device 10 is unlocked during the tilting (posture change) of the hook arm 6 to the rear side. Specifically, the unlocking portion R1 swings the swing link 23 as an operated portion connected to a pin 19P provided on the end member 19A at the other end of the first push / pull rod 19, and the swing link 23. The operation part 24 provided between the 1st rod 20A and the 2nd rod 20B which comprise the 2nd push-pull rod 20 in order to operate is provided.

  The swing link 23 has an elongated hole 23A for penetrating and connecting the pin 19P at one end, and the other end is pivotally supported on the lower surface of the lift arm 4 so as to be swingable about the vertical axis X1. A rotating member 25 having a claw portion 25 </ b> A that rotates integrally is provided on the upper surface of the base end portion that is the swing center side of the swing link 23. The operation part 24 is for releasing the engagement of the lock part 15 against the urging force of the urging means 16 during the rearward tilting (posture change) of the hook arm 6. Specifically, the operation unit 24 includes an abutting portion 26 that abuts on a claw portion 25 </ b> A of a rotating member 25 attached to the swing link 23 to swing the swing link 23. The contact portion 26 is formed by a cutout portion 26 </ b> K in which one side portion of the left and right side portions of the operation portion 24 is cut out. Then, the contact portion 26 comes into contact with the claw portion 25A of the rotating member 25 in the first posture in which the hook arm 6 is moved backward by a predetermined distance, and the swinging link 23 starts swinging. The first posture is shorter than the predetermined distance H of the second posture and is closer to the traveling posture than the second posture. The swing link 23 is swung by changing the posture from the first posture to the second posture in which the hook arm 6 is further moved backward by a predetermined distance. The position of the contact portion 26 with respect to the claw portion 25A is set so that the lock device 10 is switched to the unlocked state by the swing of the swing link 23. Accordingly, when the hook arm 6 tilts rearward, the contact portion 26 contacts the claw portion 25A of the rotating member 25 and swings the swing link 23. When the posture of the hook arm 6 is changed to the second posture, the second push-pull rod 20 is pulled away from the lock device 10 indicated by an arrow as shown in FIGS. 8B and 9. As a result, the swing link 23 is swung counterclockwise from FIGS. 6B and 7, whereby the first push-pull rod 19 is pulled toward the hook arm 6. As a result, the lock portions 15 and 15 are engaged and disengaged from the locked portions 14 and 14 to unlock the lock device 10 (see FIG. 8A). When the lock is released, the hook arm 6 is in the second posture shown in FIG.

  The interlocking unit 18 receives the operation force from the hook arm 6 to the locking unit 15 of the locking device 20 so as to maintain the locked state until the hook arm 6 is changed from the traveling posture to the rearward posture of a predetermined amount that is unlocked. , 15 is provided with a dead zone portion that does not transmit to. As shown in FIG. 7, the dead zone portion includes a gap E formed between the claw portion 25 </ b> A of the rotating member 25 and the contact portion 26 formed by the notch portion 26 </ b> K. By forming this gap E, the contact portion 26 can come into contact with the claw portion 25A of the rotating member 25 until the hook arm 6 is changed to the first posture (posture change amount smaller than the second posture). Absent. Then, when the hook arm 6 comes into contact with the claw portion 25A in the first posture of the hook arm 6 and then the posture of the hook arm 6 is changed to the second posture, the swing link 23 is swung and the lock device 10 is swung. Is switched to the unlocked state. Therefore, as shown in FIG. 13, the lift cylinder 5 is extended and the dump arm 3 and the lift arm 4 are rotated together with the lock portion 15 of the lock device 10 locked to the locked portion 14. In a state where the container Ct is dumped, for example, when the oil leakage occurs in the hook cylinder 9 and the hook arm 6 tilts rearward (changes the posture), the gap (dead zone) is Therefore, since the contact portion 26 does not contact the claw portion 25A of the rotating member 25 until the hook arm 6 is changed to the first posture, the lock portions 15 and 15 are maintained in the locked state, and the lock device There is an advantage that the ten lock portions 15 can be prevented from being unlocked from the locked portion 14.

  The interlock release unit R2 is an interchangeable unit that does not transmit the operation force from the operation unit 24 to the swing link 23 after the lock device 10 is unlocked between the operation unit 24 and the rotating member 25 of the swing link 23. It is composed of The interchangeable portion R2 includes a claw portion 25A of the rotating member 25 and a flat surface 27 extending from the contact portion 26 of the operation portion 24 toward the locking device 10 side. In other words, the rotating member 25 rotates and the claw portion 25A rides on the flat surface 27 of the operating unit 24 (see FIGS. 8B and 9), so that the rotating member can be operated even if the operating unit 24 is further pulled. 25 does not rotate and maintains the posture in which the claw portion 25 </ b> A is in contact with the flat surface 27, and constitutes a flexible portion R <b> 2 that does not transmit the operating force from the operating portion 24 to the swing link 23. Therefore, after the claw portion 25A rides on the flat surface 27 of the operation unit 24, the posture of the hook arm 6 is further rearwardly changed, so that the swing link 23 moves completely even if the operation unit 24 is further pulled. The position where the claw portion 25A is in contact with the flat surface 27 is maintained (the lock device is in the unlocked state). After the locking device 10 is unlocked by this interchangeable portion R2, the operating force from the operating portion 24 is not transmitted to the swing link 23, which is the operated portion, so that the locking portion 15, 15 does not move and unexpectedly comes into contact with other objects.

  Further, when the hook arm 6 is returned from the tilted position to the vertical position, the swing link 23 is forced to rotate clockwise by contacting the contact piece 23B of the swing link 23. A return operation unit 28 for swinging is provided. By providing the return operation part 28, even when the urging force of the coil spring 16 as the urging means is weak, the locking device 10 can be reliably locked. The return operation unit 28 includes two nuts screwed to the bolt, and the timing of contacting the contact piece 23B can be changed by changing the position of the nut with respect to the bolt.

  As shown in FIG. 14, the first control means 29 for controlling the first drive means 5 and the second control means to the fourth control means 30, 31, 32 for controlling the second drive means 9 are provided. The means 29-32 are comprised so that it may operate based on the command signal from the control part S with which the cargo handling vehicle V is equipped. The second control means 30 controls the drive of the second drive means 9 until the lock apparatus 10 in the locked state is unlocked. When the lock apparatus 10 is unlocked, the first control means 29 raises the lift arm 4 to the rear. The drive of the first drive means 5 is controlled so as to start the movement. Further, the second control means controls the driving of the second driving means 9 so that the hook arm 6 is further tilted rearward after the lift arm 4 starts to be turned upright. Further, in the loading operation of placing the container Ct on the chassis F, when the hook 8 of the hook arm 6 is engaged with the engaging portion 12 of the container Ct, the first control means 29 is rotated forward of the lift arm 4. Control to start the movement. After the rotation of the lift arm 4 is started, the third control means 31 takes the second posture so that the posture change amount is larger than the second posture in which the hook arm 6 is unlocked (referred to as the fourth posture). The drive means 9 is controlled. Subsequently, the fourth control means 32 is in a state where the lift arm 4 is turned down by the forward rotation of the lift arm 4 (as shown in FIGS. 1 and 2), the lift arm 4 is in the vertical frame 1A of the cargo handling frame 1. The posture of the hook arm 6 is changed to the traveling posture side before the container Ct is placed on the chassis F in a state substantially parallel to 1A). Specifically, the second posture (second posture) The driving of the second drive means 9 is controlled so as to change the posture to a third posture (see FIG. 12 (c)) that may be a posture that is larger and smaller than the fourth posture.

  Next, a lowering operation for lowering the container Ct on the cargo handling frame 1 of the cargo handling vehicle V to the ground will be described.

  The hook cylinder 9 is extended by the second control means 30 from the travelable state where the container Ct is mounted on the cargo handling frame 1 of the cargo handling vehicle V shown in FIG. As a result, the hook arm 6 is tilted rearward (posture change) to change the posture to the second posture (see FIG. 2). With this change in posture, as described above, the first push-pull rod 19 is pulled by the lock release portion R1, and the lock device 10 is unlocked (see FIGS. 8A and 8B). At this time, the container Ct moves backward relative to the cargo handling vehicle V, and when the hook arm 6 changes its posture to the second posture, the container Ct dropping device that engages the container Ct and the dump arm 3 is used. (Not shown) is also released. When the lock device 10 is unlocked, the extension operation of the hook cylinder 9 is stopped, the extension operation of the lift cylinder 5 is started by the first control means 29 and the lift arm 4 is rotated to lift the container Ct. Move backwards. After a predetermined time (slight time) has elapsed since the extension operation of the lift cylinder 5 has started, the hook cylinder 9 is again extended by the second control means 30 and tilted to the maximum angle (in FIG. 8A). Although the posture of the hook arm 6 is changed to the second posture, the hook 8 is moved closer to the rotating shaft 3D of the lift arm 4 by changing the posture to the fourth posture that is further tilted. Change posture).

  When the elevation angle of the lift arm 4 (inclination angle with respect to the horizontal when looking up) becomes 80 ° to 90 ° (when the inclination angle becomes larger than that in FIG. 3), the hook cylinder 9 is shortened and operated. It returns to the 3rd attitude | position which is an attitude | position close | similar to the driving | running | working attitude | position side by predetermined distance. At this time, the posture of the hook 8 is changed in a direction away from the rotation shaft 3D of the lift arm 4.

  When the shortening operation of the hook cylinder 9 is completed, the container Ct is lowered to the ground while only the lift cylinder 5 is expanded and contracted, and the lowering operation of the container Ct is completed (see FIG. 4).

  FIGS. 11A to 11E are diagrams showing the change of the angle between the hook arm 6 and the lift arm 4 during the lowering operation of the container Ct. FIG. 11A shows the running posture (initial state) of the hook arm 6. FIG. 11B shows a state where the posture of the hook arm 6 is changed from the traveling posture to the second posture. In FIG. 11C, after a predetermined time after the rotation of the lift arm 4 is started, the hook arm 6 is moved from the second posture (shown by a broken line) to the fourth posture where the maximum angle shown by the solid line is further retracted. This shows a state in which the posture has been changed. FIG. 11D shows the hook arm 6 by a broken line by shortening the hook cylinder 9 when the elevation angle of the lift arm 4 (the inclination angle with respect to the horizontal when looking up) is 80 ° to 90 °. A state (solid line state) in which a third posture is returned by a predetermined distance from the maximum angle to the traveling posture side is shown. FIG. 11 (e) shows the angle between the hook arm 6 and the lift arm 4 when the lift arm 6 is further rotated and the container Ct is lowered while the hook arm 6 remains at the angle shown in FIG. 11 (d). Yes.

  As described above, by the unlocking portion R1, the hook arm 6 is moved from the traveling posture while the lift arm 4 is in a state of being lowered to the position where the hook 8 is changed in posture by a predetermined distance in the direction approaching the rotation shaft 3D of the lift arm 4. The lock device 10 can be unlocked in the second posture. By releasing the lock, the container Ct can be lifted by rotating the lift arm 4 without tilting the hook arm 6 to a large angle. Thereby, the sliding amount to the rear side of the container Ct by the posture change to the rear side of the hook arm 6 can be suppressed small. Then, after the lift arm 4 is rotated and the container Ct is lifted, the second control means 30 controls the drive of the second drive means 9 to change the hook arm 6 to a large posture change amount (third or fourth posture). Since the distance from the pivot center of the lift arm 4 to the hook 8 can be shortened by changing the posture to (posture), the height of the trajectory drawn by the container Ct when the container Ct is moved while being lifted by the lift arm 4 can be as small as possible. The angle can be kept low (see the angle of the hook arm 6 between FIGS. 11C to 11D).

  The second control means 30 controls the drive of the second drive means 9 after rotating the lift arm 4 and lifting the front side of the container Ct, so that the hook arm 6 is moved to the third posture or the maximum angle. The container Ct that slides backward as the posture is changed to four postures moves with its front side (particularly, the front traveling wheel 11) separated above the chassis F. Therefore, the traveling wheels 11 and the chassis F Can be prevented from interfering.

  FIGS. 12A to 12E are diagrams showing the angle transition of the hook arm 6 and the lift arm 4 during the loading operation when the ground container Ct is mounted on the cargo handling frame 1. FIG. 12A shows a state immediately before the container Ct is lifted at the same angle of the hook arm 6 and the lift arm 4 as in the state of FIG. FIG. 12B shows a state in which the lift cylinder 4 is shortened and the lift arm 4 is rotated while the elevation angle of the lift arm 4 (the tilt angle with respect to the horizontal when looking up) becomes 80 ° to 90 °. A solid line indicates a state in which the hook cylinder 9 is extended by the third control means 31 to a fourth posture which is the maximum angle tilted further rearward from the third posture indicated by the broken line. FIG. 12C shows a second posture in which the fourth control unit 31 controls the second driving unit 9 to return the hook arm 6 from the fourth posture at the maximum angle indicated by the broken line to the traveling posture side. The state returned to (solid line posture) is shown. FIG. 12D shows a state in which the lift arm 4 is further rotated by the first control means 29 and the lift arm 4 is placed on the cargo handling frame 1 from the state of FIG. FIG. 12E shows a state where the hook cylinder 9 is shortened by the fifth control means (not shown) and the hook arm 6 is returned to the traveling posture (travelable state). Since the container Ct is loaded in the same manner as the container Ct is lowered, the height of the path drawn by the container Ct when the container Ct is moved while being lifted by the lift arm 4 is kept as low as possible. (See the posture (angle) of the hook arm 6 between FIGS. 12B to 12C). As described above, in the loading operation, after the first control unit 29 starts to rotate the lift arm 4 forward, the third control unit 31 has a larger tilt angle than the posture in which the hook arm 6 is unlocked. By changing the posture to the posture (third posture or fourth posture), the distance from the pivot center of the lift arm 4 to the hook 8 can be shortened, so the height of the locus drawn by the container Ct moved by the lift arm 4 Can be kept as low as possible. Further, the hook 8 moves further forward than the highest point (the pivot shaft 3D of the lift arm 4), and the lift arm 4 is turned down by turning the lift arm 4 forward, so that the container Ct is placed on the chassis F. Before the container Ct is placed on the container Ct, the lock unit 15 changes the posture of the container Ct from the third posture in the unlocked state or the second posture immediately before the switching from the unlocked state to the locked state. The sliding amount of the container Ct when returning the hook arm 6 to the traveling state after being placed on the chassis F can be reduced.

  1 to 4, the description has been given of the case where the lock device 10 is unlocked and the lift arm 4 is rotated to lower the container Ct onto the ground GR or to load the ground GR container Ct. When the lift cylinder 5 is extended and the dump arm 3 and the lift arm 4 are rotated together while the 15 is locked to the locked portion 14, the container Ct can be dumped (see FIG. 13). In FIG. 13, by dumping the container Ct and then opening the rear gate 13, the contents in the container Ct can be dropped and discharged downward.

  Further, as shown in FIG. 15A, when the cargo handling vehicle V is positioned obliquely in front of the ground container Ct and the container Ct is loaded (mounted) on the chassis F, the hook 8 of the hook arm 6 is attached to the container. The case of engaging with the engaging portion 12 of Ct will be described. In FIG. 15A, for example, an obstacle or the like exists on the ground, and the center line X2 in the vehicle width direction of the cargo handling vehicle V and the center line X3 in the width direction of the container Ct are positioned on a substantially straight line. In the case where it is not possible, that is, a state where the angle θ formed by the two center lines X2 and X3 is obtained. In this state, when the hook 8 of the hook arm 6 is engaged with the engaging portion 12 of the container Ct, as shown in FIG. Is shortened, the hook 8 can be extended rearward of the cargo handling vehicle V from the solid line shown in FIGS. 15A and 15B to the rear position indicated by the two-dot chain line. As described above, the hook cylinder 9 can be expanded and contracted to adjust the position of the hook 8 in the front-rear direction of the cargo handling vehicle V. Therefore, even in the state of FIG. There is an advantage that the hook 8 can be easily engaged with the engaging portion 12 of the container Ct without the need to do so. Furthermore, if the lift arm 4 is rotated, the vertical position (height) of the hook 8 can be adjusted, and the hook 8 can be more easily engaged by the engaging portion 12 of the container Ct. .

  The present invention can be variously modified without departing from the spirit of the present invention. In addition, the specific configuration of each part is not limited to the above embodiment.

  In the above-described embodiment, the case where the posture change to the rear side of the hook arm 6 is performed by tilting the hook arm 6 to the rear side from the traveling posture, but the hook arm 6 is slid to the rear side from the traveling posture. It may be performed by making it. Similarly to the case of tilting, for example, the slide is also changed from the first posture to the third posture (or the second posture) according to the slide amount from the running posture (the distance at which the hook 8 is brought close to the rotation shaft 3D of the lift arm 4). 4 postures) (so that the slide amount increases toward the third posture (or the fourth posture) side).

  Further, in the above embodiment, when the elevation angle of the lift arm 4 (inclination angle with respect to the horizontal when looking up) becomes 80 ° to 90 °, the hook cylinder 9 is shortened and returned to the traveling posture side by a predetermined angle. Although the posture is changed to the third posture, the configuration may be such that the hook cylinder 9 is shortened and returned to the traveling posture side by a predetermined angle regardless of the elevation angle of the lift arm 4. It is not necessary to change the angle of the hook arm 6 while the lift arm 4 is rotating.

  Further, in the above embodiment, the lock release portion R1 is configured by the contact portion 26 that makes contact with the claw portion 25A of the rotating member 25 attached to the swing link 23 and swings the swing link 23, and releases the interlock. Although the portion R2 is composed of an accommodation portion that does not transmit the operation force from the operation portion 24 to the operated portion 23 after the lock device 10 is unlocked, the accommodation portion may be omitted. At this time, the lock device 10 moves in the release direction even after the lock device 10 is unlocked. However, since the lock device 10 holds the released state, the dump arm 3 is interlocked with the rotation of the lift arm 4. do not do. Further, the unlocking part R1 and the interlocking releasing part R2 are configured to include a meshing type or friction type clutch in the transmission part for transmitting the pulling force from the rod 20 on the hook arm 6 side to the rod 19 on the locking device 10 side. May be. In this case, a sensor that detects that the hook arm 6 is in a predetermined posture (a predetermined tilt angle or a predetermined slide position), a drive mechanism that engages and disengages the clutch, and a drive mechanism based on a detection signal from the sensor. It is preferable to implement with a control device that controls the driving of the motor.

DESCRIPTION OF SYMBOLS 1 ... Handling frame, 1A ... Vertical frame, 1B ... Horizontal frame, 2 ... Guide roller, 3 ... Dump arm, 3A ... Vertical frame, 3B ... Intermediate part horizontal frame, 3C ... Front end side frame, 3D ... Rotating shaft, 3T ... horizontal axis, 4 ... lift arm, 5 ... lift cylinder (first driving means), 6 ... hook arm, 7 ... horizontal axis, 8 ... hook, 9 ... hook cylinder (second driving means), 10 ... locking device, DESCRIPTION OF SYMBOLS 11 ... Running wheel, 12 ... Engagement part, 13 ... Rear gate, 14 ... Locked part, 15 ... Lock part, 16 ... Energizing means (coil spring), 17 ... Bracket, 18 ... Interlocking part, 19 ... Rod, 19A ... end member, 19P ... pin, 20 ... rod, 20A ... rod, 20B ... rod, 22 ... support member, 22A ... support bracket, 22B ... half member, 22M ... bolt, 22N ... nut, 22a ... Direction plate part, 22b ... Circular arc part, 23 ... Swing link (operated part), 23A ... Long hole, 24 ... Operation part, 25 ... Rotating member, 25A ... Claw part, 26 ... Contact part, 26K ... Notch part , 27 ... flat surface, 28 ... operation unit, 29 ... first control means, 30 ... second control means, 31 ... third control means, 32 ... fourth control means, Ca ... cab, Ct ... container, D ... Outrigger, F ... chassis, GR ... ground, H ... predetermined distance, R1 ... unlocking part, R2 ... interlock release part (conversation part), X1 ... vertical axis, X2, X3 ... centerline, Y1 ... horizontal axis, V ... cargo handling vehicle, θ ... angle

Claims (5)

A dump arm connected to a rear portion of a chassis on which a container can be mounted so as to be able to swing up and down, a lift arm connected to a front end portion of the dump arm so as to be able to swing up and down, and a container. A hook arm having a detachable hook and coupled to the front end of the lift arm so that the posture can be changed by tilting or sliding the hook from a traveling posture in a direction approaching the rotation center of the lift arm. The dump arm and the lift arm are used to dump the container, and the lock arm locks the lifting and lowering rotation of the lift arm relative to the dump arm, and the hook arm and the lift arm are used to load and unload the container. A lock device that can be switched to an unlocked state in which the lifting arm is unlocked and unlocked; As the locking device by the posture change of the arm is switched from the locked state to the unlocked state, a cargo handling vehicle equipped with an interlocking portion for interlocking the said hook arm and said locking device,
The interlocking unit includes a lock release unit that releases the lock of the lock device during the posture change of the hook arm and holds the release state when the posture of the hook arm is changed after the lock is released. Cargo handling vehicle.   The cargo handling vehicle according to claim 1, further comprising an interlock release unit that cancels the interlock between the hook arm and the lock device when the posture of the hook arm is changed after the lock is released.   3. The cargo handling vehicle according to claim 2, wherein the interlock release unit includes an interchangeable unit that does not transmit an operation force from the hook arm to the lock device after the lock device is unlocked.   The lock device is provided on the lift arm so as to be locked and unlocked by locking the lock portion provided on the dump arm, and engaging the lock portion with the undulating rotation of the lift arm relative to the dump arm. A lock portion; and a biasing means that biases the lock portion and the locked portion into an engaged state, and the unlocking portion is connected to the lock portion; An operation unit coupled to the hook arm to operate the unit, and the operation unit unlocks the lock unit against the urging force of the urging means during the posture change of the hook arm. The cargo handling vehicle according to claim 1, wherein the cargo handling vehicle is configured to operate the operated portion as much as possible.   The interlocking unit includes a dead zone that does not transmit the operation force from the hook arm to the lock device in order to maintain the locked state until the predetermined amount of the posture change that is unlocked from the traveling posture of the hook arm. The cargo handling vehicle according to any one of claims 1 to 4, wherein the cargo handling vehicle is provided.