JP6922613B2 - Forklift cargo handling control method and forklift cargo handling control device - Google Patents

Description

The present invention is a forklift cargo handling control method and a forklift for a forklift capable of moving the fork left and right with respect to the vehicle body and turning the fork left and right with respect to the vehicle body when viewed from above. Regarding the cargo handling control device.

In recent years, warehouses are provided with aisles that are slightly wider than the width of forklift trucks in order to make effective use of the space inside the warehouse, and luggage is stored in racks stacked along the left and right sides of the aisles. There is a warehouse. The warehouse uses a forklift equipped with a fork that can move left and right and turn left and right when loading and unloading luggage. Since the turning center axis of the fork is on the rear end side of the fork, the tip of the fork protrudes in the turning direction. Therefore, when the fork is turned right or left while the position of the fork in the left-right direction is fixed within the width of the aisle, the fork may come into contact with the left and right racks. In order to avoid this contact of the fork, it is necessary to turn the fork left and right and move it left and right at the same time. For example, if you want to turn the tip of the fork to the right in the aisle without touching the rack, you need to turn the fork to the right and move the fork to the left so that the fork does not touch the rack. It is difficult for a forklift operator to manually move the fork in synchronization with the left (or right) while turning the fork to the right (or left) so that the fork does not come into contact with the rack. Yes, it takes time and effort. Therefore, various automatic synchronization controls that automatically rotate the fork to the right (or left) and move the fork in synchronization with the left (or right) so that the fork does not protrude from the left and right of the vehicle body. It is disclosed.

Hereinafter, the turning angle of the fork with respect to the vehicle body when viewed from above is referred to as the rotate angle, and the position of the fork in the left-right direction of the vehicle body is referred to as the shift position. Further, it is the right shift limit position which is the limit of the shift position when the fork is moved to the right, and the rotation angle when the fork is oriented to the left orthogonal to the forward direction of the vehicle body when the fork is turned to the left. The fork at the shift position and the rotate angle, which is the leftward angle, is set as the right home position (see FIG. 7). Also, at the left shift limit position, which is the limit of the shift position when the fork is moved to the left, and at the rotation angle where the fork faces the right direction orthogonal to the forward direction of the vehicle body when the fork is turned to the right. The fork at the shift position and the rotate angle, which is a certain rightward angle, is set as the left home position (see FIG. 5).

For example, the fork automatic inversion control device for a forklift of Patent Document 1 has a relative positional relationship curve shown in FIG. 20. In the relative positional relationship curve shown in FIG. 20, the horizontal axis indicates the rotation angle R of the fork. Equivalent), indicating that it is in the state of. Further, in the relative positional relationship curve, the vertical axis indicates the fork shift position M, the fork shift position is at the left end (corresponding to the left shift limit position) at the lower end, and the fork shift position is at the right end (right shift limit) at the upper end. (Corresponding to the position), indicating that. Further, the shaded hatched portion indicates an interference region Rc in which the fork interferes with the rack, and the center line C approximates a curve centered on the limit lines (boundary lines) Lc1 and Lc2 of the interference region Rc with a plurality of straight lines. It is a line that has been made. Further, in the non-interference region NRc, which is a region other than the interference region Rc, an allowable region Rf indicated by vertical line hatching, which includes the center line C and further narrows the non-interference region NRc, is set. In FIG. 20, a region that is not an interference region Rc and a region that is not an allowable region Rf (a region in FIG. 20 in which neither diagonal line hatching nor vertical line hatching is performed) is defined as a non-allowable region NRf.

In Cited Document 1, when the fork state (rotate angle, shift position) is within the allowable region Rf in FIG. 20, synchronous control of the shift operation and the rotate operation can be executed. Further, when executing the synchronization operation, the operator instructs the synchronization operation by operating the button and operating the rotate lever. Further, when the fork state (rotate angle, shift position) is within the unacceptable region NRf in FIG. 20 (for example, in the case of P1 (R1, M1) in FIG. 20), the fork state (rotate angle, shift position). Depending on the situation, either the rotate operation or the shift operation is performed to rotate and move the fork state (rotate angle, shift position) from the non-allowable region NRf to the allowable region Rf, and after entering the allowable region Rf. , Shifting to synchronous control of shift operation and rotate operation. When the fork state (rotate angle, shift position) is within the interference region Rc, an error is displayed on the display means and the fork control is stopped. In normal loading / unloading work (cargo handling work), the fork is shifted to the left or right by setting the fork rotation angle to a rightward angle or a leftward angle orthogonal to the forward direction of the forklift. Therefore, when the rotation angle of the fork is a rightward angle or a leftward angle orthogonal to the forward direction of the forklift, the shift operation is possible even within the interference region Rc.

JP-A-2002-293497

The forklift that entered the aisle between the left rack and the right rack inserts the tip of the fork into the interference area Rc by shifting the fork to the left to the left when performing cargo handling work on the left rack. Carry in and out of luggage. Similarly, when performing cargo handling work on the right rack, the forklift that has entered the aisle shifts the fork to the right to the right and inserts the tip of the fork into the interference area Rc to carry in and out the luggage. conduct. In the fork automatic reversing control device of the forklift described in Patent Document 1, for example, if the operator inadvertently operates the rotate lever during loading or unloading, the operation of the fork stops in the interference region Rc and the fork operates in the interference region Rc. It is not preferable because the fork may be out of control.

The present invention was devised in view of these points, and the fork is in an interference region (prohibited region) except during loading and unloading (during cargo handling work) in which the fork is shifted to the right or left and shifted to the left or right. ), It is an object of the present invention to provide a forklift cargo handling control method and a forklift cargo handling control device that assist in safely escaping from the interference area (prohibited area).

In order to solve the above problems, the first invention of the present invention is a shift drive device that performs a right shift operation for moving the fork to the right with respect to the vehicle body and a left shift operation for moving the fork to the left with respect to the vehicle body. A rotate drive device that performs a right-handed rotation operation of turning the fork clockwise with respect to the vehicle body and a left-rotating operation of turning the fork counterclockwise with respect to the vehicle body, an operating means, and an operation of the operating means. This is a cargo handling control method for a forklift using a control device for controlling the shift drive device, the rotate drive device, and a storage device according to a state. Further, the turning angle of the fork with respect to the vehicle body is the rotate angle, the position of the fork in the left-right direction of the vehicle body is the shift position, the right shift limit position which is the limit of the shift position when the fork is moved to the right, and the fork. When the fork is turned to the left, the state of the fork at the shift position and the rotate angle, which is the leftward angle, which is the rotation angle at which the fork faces the left direction orthogonal to the forward direction of the vehicle body, is the right home position, and the fork is The left shift limit position, which is the limit of the shift position when the fork is moved to the left, and the rightward rotation angle, which is the rotation angle at which the fork faces the right direction orthogonal to the forward direction of the vehicle body when the fork is turned to the right. When the state of the fork at the shift position and the rotate angle, which is the angle, is the left home position, the right rotate operation is synchronized while performing the left shift operation from the right home position to the left home position. Alternatively, when the left rotation operation is synchronized while performing the right shift operation from the left home position to the right home position, a shift-related amount related to the shift position is set corresponding to the rotation angle in. In addition, the synchronization reference characteristic in which the rotation angle at which the fork protrudes to the left and right from the width of the vehicle body and the region serving as the shift-related amount is set as the prohibited region is stored in advance in the storage device. Then, when the operating means is operated and a right home position instruction for setting the fork state to the right home position or a left home position instruction for setting the fork state to the left home position is input. In the state of the current fork based on the current rotation angle, which is the current rotation angle of the fork, and the current shift-related amount, which is the shift-related amount corresponding to the current shift position of the fork, in the control device. A prohibited area confirmation step for determining whether or not a certain current fork state is within the prohibited area in the synchronization reference characteristic, and when it is determined that the current fork state is within the prohibited area, the rotate drive It is a cargo handling control method for a forklift having a rotate operation prohibition step for prohibiting control of the device.

Next, the second invention of the present invention is the forklift cargo handling control method according to the first invention, in which the current fork state is changed to the prohibited area in the prohibited area confirmation step in the control device. If it is determined that the speed is within, the direction of the shift operation toward the target shift-related amount obtained based on the operating state of the operating means is the direction of escaping from the prohibited area, the current shift-related amount is determined. When the shift drive device is feedback-controlled so that the amount approaches the target shift-related amount and it is determined that the direction of the shift operation toward the target shift-related amount is not the direction of escaping from the prohibited region, the shift drive is performed. It is a cargo handling control method of a forklift having a prohibited area escape shift control step that stops the feedback control of the device.

Next, the third invention of the present invention is the cargo handling control method of the forklift according to the second invention, and after executing the prohibited area escape shift control step in the control device, the inside of the prohibited area When it is determined in the confirmation step that the current fork state is not within the prohibited region, the current rotation angle or the synchronization rotation angle, which is a rotation angle obtained based on the synchronization reference characteristic and the current shift-related amount, is obtained. A target rotation angle calculation step of obtaining a target rotation angle obtained by adding an additional rotation angle obtained based on the operating state of the operating means, and feeding back the rotation driving device so that the current rotation angle approaches the target rotation angle. The rotate feedback control step to be controlled, the synchronous shift-related amount which is the shift-related amount obtained based on the synchronization reference characteristic and the current rotation angle, or the current shift-related amount, based on the operating state of the operating means. A target shift-related amount calculation step for obtaining a target shift-related amount by adding the obtained addition shift-related amount, and a shift feedback that feedback-controls the shift drive device so that the current shift-related amount approaches the target shift-related amount. It is a cargo handling control method of a forklift having a control step.

Next, the fourth invention of the present invention is a forklift cargo handling control method according to any one of the first to third inventions, wherein the fork is from the leftward angle to the rightward angle. The right rotation operation is possible, the left rotation operation is possible from the right angle to the left angle, and the right shift operation is possible from the left shift limit position to the right shift limit position. The left shift operation is possible from the right shift limit position to the left shift limit position, the rotation angle is 0 ° when the fork direction is the forward direction of the vehicle body, and the fork direction is the left direction angle. The rotation angle is set to −90 °, and the rotation angle when the fork is oriented to the right is set to + 90 °. Further, a conversion angle obtained by converting the shift position into an angle is set for the shift-related amount, and the central shift position from the left shift limit position to the right shift limit position is set to a conversion angle of 0 ° and the right shift. The shift position that becomes the limit position is set as a conversion angle + 90 °, and the shift position that becomes the left shift limit position is set as a conversion angle -90 °, and each from the left shift limit position to the right shift limit position. This is a cargo handling control method for a forklift that sets the shift position to the corresponding conversion angle within the range of the conversion angle −90 ° to the conversion angle +90 °.

Next, a fifth aspect of the present invention is a shift drive device that performs a right shift operation for moving the fork to the right with respect to the vehicle body and a left shift operation for moving the fork to the left with respect to the vehicle body, and a vehicle body. A rotate drive device that performs a right-handed rotation operation of turning the fork clockwise and a left-handed rotation operation of turning the fork counterclockwise with respect to the vehicle body, and a rotation angle which is a turning angle of the fork with respect to the vehicle body is detected. It has a rotate angle detecting means for detecting a shift position which is a position of the fork in the left-right direction of the vehicle body, an operating means, and an operating state detecting means for detecting the operating state of the operating means. A cargo handling control device for a forklift that controls the right shift operation, the left shift operation, the right rotate operation, and the left rotate operation in the forklift, and includes a storage device and a control device. Further, the rotation is at the right shift limit position, which is the limit of the shift position when the fork is moved to the right, and when the fork is turned to the left, the fork faces the left direction orthogonal to the forward direction of the vehicle body. The state of the fork at the shift position and the rotate angle, which is an angle to the left, is the right home position, the left shift limit position which is the limit of the shift position when the fork is moved to the left, and the fork is turned to the right. When the state of the fork at the shift position and the rotate angle, which is the rightward angle, which is the rotation angle at which the fork faces the right direction orthogonal to the forward direction of the vehicle body when the fork is moved, is the left home position, the above. In the storage device, when the right rotate operation is synchronized while performing the left shift operation from the right home position to the left home position, or the right shift operation from the left home position to the right home position. When the left rotation operation is synchronized while performing the above, the shift-related amount related to the shift position is set corresponding to the rotation angle in, and the rotation angle at which the fork protrudes to the left and right from the width of the vehicle body. And the synchronization reference characteristic in which the shift-related amount area is set as the prohibited area is stored. Then, the control device detects the operating state of the operating means, which is the operating state of the operating means, based on the detection signal from the operating state detecting means, and is currently based on the detection signal from the rotate angle detecting means. The current rotation angle, which is the rotation angle of the fork, is obtained, and the shift-related amount corresponding to the current shift position of the fork is obtained based on the detection signal from the shift position detecting means. When the right home position instruction for setting the fork state to the right home position or the left home position instruction for setting the fork state to the left home position, the current rotation angle which is the current rotation angle of the fork and the current rotation angle. Whether or not the current shift-related amount, which is the shift-related amount corresponding to the current shift position of the fork, and the current fork state, which is the current fork state based on, are within the prohibited region in the synchronization reference characteristic. This is a forklift cargo handling control device that prohibits control of the rotate drive device when it is determined that the current fork state is within the prohibited area.

Next, the sixth invention of the present invention is the forklift cargo handling control device according to the fifth invention, in which the operating means operating state changes the fork state to the right home position. In the case of a right home position instruction or a left home position instruction that changes the state of the fork to the left home position, when it is determined that the current fork state is within the prohibited area, the operation means is based on the operation state. When the target shift-related amount is obtained and it is determined that the direction of the shift operation toward the obtained target shift-related amount is the direction of escaping from the prohibited area, the current shift-related amount becomes the target shift-related amount. The shift drive device is feedback-controlled so as to approach the target shift drive device, and when it is determined that the direction of the shift operation toward the target shift-related amount is not the direction of escaping from the prohibited area, the feedback control of the shift drive device is stopped. It is a cargo handling control device for forklifts.

Next, a seventh invention of the present invention is a cargo handling control device for a forklift according to the sixth invention, wherein the operating means operating state changes the fork state to the right home position. In the case of a right home position instruction or a left home position instruction that changes the state of the fork to the left home position, when it is determined that the current fork state is not within the prohibited area, the current rotate angle or the synchronization is performed. The target rotation angle is obtained by adding the addition rotation angle obtained based on the operating state of the operating means to the synchronous rotation angle which is the rotation angle obtained based on the reference characteristic and the current shift-related quantity, and the current rotation angle is the said. The rotation drive device is feedback-controlled so as to approach the target rotation angle, and the operation is applied to the synchronization shift-related amount, which is the shift-related amount obtained based on the synchronization reference characteristic and the current rotation angle, or the current shift-related amount. Cargo handling control of a forklift, which obtains a target shift-related amount obtained by adding an additional shift-related amount obtained based on a means operating state, and feedback-controls the shift drive device so that the current shift-related amount approaches the target shift-related amount. It is a device.

Next, the eighth invention of the present invention is a forklift cargo handling control device according to any one of the fifth to seventh inventions, wherein the fork is from the leftward angle to the rightward angle. The right rotation operation is possible, the left rotation operation is possible from the right angle to the left angle, and the right shift operation is possible from the left shift limit position to the right shift limit position. The left shift operation is possible from the right shift limit position to the left shift limit position, the rotation angle is 0 ° when the fork direction is the forward direction of the vehicle body, and the fork direction is the left direction angle. The rotation angle is set to −90 °, and the rotation angle is set to + 90 ° when the fork is oriented to the right. Further, a conversion angle obtained by converting the shift position into an angle is set in the shift-related amount, and the central shift position from the left shift limit position to the right shift limit position has a conversion angle of 0 °. The shift position that is the right shift limit position is set to the conversion angle + 90 °, and the shift position that is the left shift limit position is set to the conversion angle -90 °, and the shift position is changed from the left shift limit position to the right shift limit position. Each shift position up to that point is a forklift cargo handling control device set to a corresponding conversion angle within a range of a conversion angle of −90 ° to a conversion angle of +90 °.

According to the first and fifth inventions, when the fork state is currently in the prohibited area, the operator inputs a right home position instruction or a left home position instruction requesting synchronous operation of the rotate operation and the shift operation. Even if this is done, by prohibiting the rotate operation (that is, performing only the shift operation), it is possible to support the safe escape from the interference area (prohibited area).

According to the second and sixth inventions, when the fork state is currently in the prohibited area, when the operator inputs a right home position instruction or a left home position instruction, the direction of escaping from the prohibited area is obtained. Allow shift operation. As a result, it is possible to support the safe escape from the interference area (prohibited area).

In the third and seventh inventions, after successfully escaping from the prohibited area, the rotation operation and the shift operation can be synchronized with each other in response to the right home position instruction or the left home position instruction from the operator. That is, when the fork state is currently in the prohibited area, the operator can safely escape from the prohibited area simply by continuing the right home position instruction or the left home position instruction (from the second invention and the sixth invention). ), After escaping, the fork can be moved to the right home position or the left home position by automatically synchronizing the rotation operation and the shift operation.

According to the fourth and eighth inventions, for example, even if the distance from the left shift limit position to the right shift limit position is variously different for each forklift, all the left shift limit positions are converted angles-. 90 [°], the right shift limit position is +90 [°]. Therefore, it is convenient because it is possible to control with the same control program regardless of the difference in the length of the shift operation distance.

It is a perspective view which shows the example of the appearance of the forklift to which this invention is applied. It is a right side view of the forklift shown in FIG. It is a perspective view explaining an example of each lever operated by an operator in the forklift shown in FIG. It is a top view explaining the example of the case where the fork is swiveled and moved in the passage surrounded by racks on the left and right sides. It is a top view explaining the left home position which is the state which the rotation angle of a fork is set to +90 [°] (to the right), and the shift position of a fork is set to the left shift limit position. It is a top view explaining the central home position which is the state where the rotation angle of a fork is set to 0 [°] (front direction), and the shift position of a fork is set to the center of a shift range. It is a top view explaining the right home position which is the state which the fork rotation angle is set to −90 [°] (leftward), and the state which the fork shift position is set to the right shift limit position. It is a figure explaining the input / output of the machine stand control device. It is an example of the processing procedure of the 1st Embodiment of the machine stand control device, and is the flowchart explaining the example of the processing procedure at the time when the fork state is currently in a prohibition area. It is an example of the processing procedure of the 1st Embodiment of the machine stand control device, and is the flowchart explaining the example of the processing procedure at the time when the fork state is not in the prohibition area at present. It is a figure explaining the example of the shift position / conversion angle characteristic which converts the shift position in the left-right direction of a fork into a shift-related amount (conversion angle), and the shift-related amount (conversion angle). It is a figure explaining the rotation angle. It is a figure explaining the example of the left-right operation amount / addition shift-related quantity characteristic in which the addition shift-related quantity corresponding to the operation amount is set when the operation lever (operation means) is operated left and right. It is a figure explaining the example of the back-and-forth operation amount / addition rotation amount characteristic that the addition rotation amount is set according to the operation amount when the operation lever (operation means) is operated back and forth. It is a figure explaining the example of the back-and-forth operation amount / addition shift-related quantity characteristic in which the addition shift-related quantity corresponding to the operation amount is set when the operation lever (operation means) is operated back and forth. An example of the shift / rotate synchronization reference characteristic showing the synchronization relationship between the rotation angle and the shift-related amount (conversion angle) when transitioning from the right home position to the left home position or from the left home position to the right home position, and the prohibited area. This is a diagram for explaining an example of the operation when the fork state is not currently in the prohibited area in the first embodiment. In the first embodiment, it is a figure explaining an example of operation when the fork state is present in a prohibition area. It is an example of the processing procedure of the 2nd Embodiment of the machine stand control device, and is the flowchart explaining the example of the processing procedure at the time when the fork state is not in the prohibition area at present. In the second embodiment, it is a figure explaining the example of the operation when the fork state is not in the prohibition area at present. It is a figure explaining the example of the conventional prohibited area and the example of the operation of the conventional fork.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. When the X-axis, Y-axis, and Z-axis are described in the figure, the X-axis, the Y-axis, and the Z-axis are orthogonal to each other, the Z-axis indicates vertically upward, and the X-axis is the forward direction of the forklift. The Y-axis indicates the left direction of the forklift.

In the description of the present embodiment, the operation of moving the fork 35 (arm 32) to the right when viewed from the operator of the driver's seat of the forklift 1 is "right shift operation", and the fork 35 (arm 32) is moved to the forklift 1 with respect to the forklift 1. The operation of moving to the left is described as "left shift operation". Similarly, when the operator in the driver's seat views the fork from above, the operation of turning the fork 35 clockwise with respect to the vehicle body of the forklift 1 is the "right rotation operation", and the fork 35 with respect to the vehicle body of the forklift 1. The operation of turning the counterclockwise is described as "left rotation operation". Further, the "shift operation" includes a right shift operation and a left shift operation, and the "rotate operation" includes a right rotate operation and a left rotate operation. Similarly, when the operator in the driver's seat views the fork from above, the turning angle of the fork 35 with respect to the forklift 1 is the "rotate angle", and the position of the fork 35 (arm 32) in the left-right direction of the forklift 1 is the "shift position". ".

● [Overall configuration of forklift 1 (Figs. 1 to 8)]
As shown in FIGS. 1 to 3, the forklift 1 described in the present embodiment includes a vehicle body 10, a mast 20, an elevating unit 30, a drive steering wheel 16A, a caster wheel 16B, a driven wheel 16C, and the like. .. The vehicle body 10 has a body 11, a reach leg 12 (see FIG. 4), a head guard 13, and the like. In the description of the present embodiment, each motor is an electric motor that operates with the electric power supplied from the battery 50.

As shown in FIGS. 1 and 2, the body 11 has a box shape having a floor surface on which an operator rides, and is provided with drive steering wheels 16A and caster wheels 16B so as to project downward from the rear. Further, on the left and right sides of the body 11, a pair of reach legs 12 projecting forward are provided on the left and right sides, and a head guard 13 is provided above the body 11. A driving wheel 16C is provided on each of the left and right reach legs 12 so as to project downward, and the plate-shaped cross plate 17 is supported by the left and right reach legs 12. The cross plate 17 is provided with a mast 20. Further, a rear roller 14 (see FIG. 6) is provided on the lower rear side surface of the body 11 so as to project left and right, and a front roller 15 (see FIG. 6) is provided on the front side surface of the reach leg 12 so as to project left and right. See). As shown in FIG. 6, the front roller 15 and the rear roller 14 have a function of guiding the forklift by contacting the left and right racks with the forklift that has entered the passage T having the passage width L.

As shown in FIG. 1, an operation lever 41, an elevating lever 42, an accelerator lever 43, a steering 45, a special button 44 (see FIG. 3), and the like are provided at a position (driver's seat) on the body 11 where the operator is boarded. The operator operates these levers to run and handle cargo. The operation lever 41 corresponds to the operation means. Further, the floor surface of the body 11 is provided with a so-called deadman type foot brake (not shown) or the like in which the brake is released when the operator steps on it. Further, a battery 50, a traveling motor 16M, a machine base control device 40 (corresponding to a control device), and the like are housed in the body 11. The operator can move the forklift 1 forward and backward by the drive steering wheel 16A by operating the accelerator lever 43 and depressing the foot brake (release the brake), and by operating the steering wheel 45, the drive steering wheel can be moved forward and backward. The direction of 16A can be changed to make a right turn or a left turn of the forklift 1.

The mast 20 is provided on the cross plate 17 as shown in FIG. Further, the mast 20 has an outer mast 21 connected to the cross plate 17 and an inner mast 22 that can slide up and down with respect to the outer mast 21. The inner mast 22 is equipped with a lift cylinder that allows the elevating unit 30 to be raised and lowered up and down. The elevating unit 30 moves up and down by supplying oil to the lift cylinder by driving an oil pump by an elevating motor 30M provided on the vehicle body. The operator can instruct the elevating unit 30 to elevate and lower by operating the elevating lever 42.

As shown in FIG. 1, the elevating unit 30 is vertically movablely attached to the inner mast 22, and has a support portion 36, a shift rail 31, an arm 32, a rotate shaft 33, a finger bar 34, a fork 35, and the like. There is. The shift rail 31 is a pair of vertically extending rails extending in the left-right direction, and guides the movement of the arm 32 in the left-right direction. Further, the shift rail 31 is attached so as to be movable up and down with respect to the inner mast 22 via the support portion 36. The arm 32 is attached so as to be movable left and right with respect to the shift rail 31, and a rotate shaft 33 capable of turning left and right around the rotation axis 33Z is provided at the tip of the arm 32. A finger bar 34 is attached to the rotate shaft 33, and a fork 35 is attached to the finger bar 34.

As shown in FIG. 4, the arm 32 is provided with a shift motor 31M, a shift roller 31R, a shift position detecting means 31S, a rotate motor 33M, a rotate angle detecting means 33S, and the like. The shift motor 31M corresponds to a shift drive device, and rotates the shift roller 31R via a power transmission means such as a gear based on a control signal from the machine base control device 40. The shift roller 31R is in contact with the shift rail 31, and when the shift roller 31R rotates, the arm 32 moves left and right along the shift rail 31. The shift position detecting means 31S is, for example, a position sensor, and outputs a detection signal corresponding to the position of the arm 32 in the left-right direction with respect to the shift rail 31 to the machine stand control device 40.

The rotate motor 33M corresponds to a rotate drive device, and rotates the rotate shaft 33 around the rotation axis 33Z via a power transmission means such as a gear based on a control signal from the machine base control device 40. The rotate angle detecting means 33S is, for example, an angle sensor, and outputs a detection signal corresponding to the turning angle of the rotate shaft 33 with respect to the arm 32 to the machine stand control device 40. The operator can shift the arm 32 to the left or right by tilting the operation lever 41 to the left or right. Further, the operator can move the arm 32 and the fork 35 to the left home position shown in FIG. 5 by tilting the operating lever 41 forward. Further, the operator can move the arm 32 and the fork 35 to the right home position shown in FIG. 7 by tilting the operating lever 41 backward.

The battery 50 is, for example, a lead storage battery (lead storage battery), and power is supplied from the battery 50 to each motor and the chassis control device 40.

Next, with reference to FIG. 3, an operation panel on which a lever or the like operated by an operator is arranged will be described. An operation lever 41, an elevating lever 42, an accelerator lever 43, a special button 44, a monitor 47, an audio output device 48, a lamp 49, and the like are arranged on the operation panel.

The operating lever 41 is held in an upright neutral position, and can be tilted from the neutral position to the front-rear direction or from the neutral position to the left-right direction. An operation state detecting means 41S is provided in the vicinity of the operation lever 41, and the machine base control device 40 determines whether the operation lever 41 is in the neutral position based on the detection signal from the operation state detection means 41S. It is possible to detect in which direction the tilt is forward, backward, left or right, and how much the operation amount (operation angle (= tilt angle)) when tilted is. When the operator tilts the operating lever 41 to the right, the arm 32 shifts to the right, and when the operator tilts the operating lever 41 to the left, the arm 32 shifts to the left (see FIG. 4).

[About the left home position (Fig. 5)]
Tilt the operating lever 41 forward is a left home position instruction for moving the fork 35 to the left home position shown in FIG. 5, and moves the fork 35 to the left home position by synchronizing the left shift operation and the right rotate operation. It is an instruction to let you. When the operator tilts the operation lever 41 forward, the arm 32 shifts to the left while the fork 35 turns to the right around the rotation axis 33Z, and the left home position (arm 32 is the left shift limit position and the arm 32 is the left shift limit position) shown in FIG. , The fork 35 has a rightward angle). The left shift limit position of the arm 32 is a position that becomes the limit of the shift position when the fork 35 (arm 32) is operated to the left shift (in the example of FIG. 11, the shift-related amount (converted angle) = −90 [ °] position). Further, the right-facing angle of the fork 35 is a rotation angle in which the fork 35 faces the right direction orthogonal to the forward direction of the forklift 1 when the fork 35 is rotated to the right (in the example of FIG. 12, the rotation angle). = +90 [°] angle).

[About right home position (Fig. 7)]
Tilt to the rear of the operation lever 41 is a right home position instruction for moving the fork 35 to the right home position shown in FIG. 7, and moves to the right home position by synchronizing the right shift operation and the left rotate operation. It is an instruction to let you. When the operator tilts the operating lever 41 backward, the arm 32 shifts to the right while the fork 35 turns left around the rotation axis 33Z, and the right home position (arm 32 is the right shift limit position and the arm 32 is the right shift limit position) shown in FIG. The fork 35 has a leftward angle). The right shift limit position of the arm 32 is a position that becomes the limit of the shift position when the fork 35 (arm 32) is moved to the right (in the example of FIG. 11, the shift-related amount (converted angle) = +90 [°]. ] Position). Further, the leftward angle of the fork 35 is a rotation angle in which the fork 35 faces the left direction orthogonal to the forward direction of the fork lift 1 when the fork 35 is rotated to the left (in the example of FIG. 12, the rotation angle). = -90 [°] angle).

[About the central home position (Fig. 6)]
Further, FIG. 6 shows a state in which the arm 32 is at the center position in the left-right direction (in the example of FIG. 11, the shift-related amount (converted angle) = 0 [°] position) and the fork 35 is facing forward (FIG. 12). In the example, the central home position where the rotation angle = 0 [°] angle) is shown. For example, when the arm 32 and the fork 35 are in the left home position shown in FIG. 5, when the operator tilts the operation lever 41 backward, the fork 35 turns to the left while the arm 32 shifts to the right, and the arm 32 And the fork 35 becomes the right home position shown in FIG. 7 after passing through the central home position shown in FIG. When the operator desires only the turning operation of the fork 35, the operator can turn the fork 35 to the right by tilting the operation lever 41 forward while pressing the special button 44, and the special button 44 can be turned. The fork 35 can be turned to the left by tilting the operating lever 41 backward while pressing the lever.

The elevating lever 42 is held in an upright neutral position, and can be tilted in the front-rear direction from the neutral position. An elevating operation state detecting means 42S is provided in the vicinity of the elevating lever 42, and the machine base control device 40 has the elevating lever 42 in a neutral position based on a detection signal from the elevating operation state detecting means 42S. It is possible to detect in which direction it is tilted back and forth, and how much the operation amount (operation angle) is when it is tilted. When the operator tilts the elevating lever 42 forward, the elevating unit 30 (see FIG. 1) descends, and when the operator tilts the elevating lever 42 backward, the elevating unit 30 (see FIG. 1) rises.

The accelerator lever 43 is held in an upright neutral position, and can be tilted in the front-rear direction from the neutral position. An accelerator operation state detecting means 43S is provided in the vicinity of the accelerator lever 43, and the machine base control device 40 has the accelerator lever 43 in a neutral position based on a detection signal from the accelerator operation state detecting means 43S. It is possible to detect in which direction it is tilted back and forth, and how much the operation amount (operation angle) is when it is tilted. When the operator tilts the accelerator lever 43 forward, the forklift 1 moves forward, and when the operator tilts the accelerator lever 43 backward, the forklift 1 moves backward.

The monitor 47 is, for example, a liquid crystal display device, and various information (for example, battery capacity information) and warnings (for example, charging reminder) from the machine stand control device 40 are displayed. The voice output device 48 is, for example, a speaker, and various warnings and the like are output by voice from the machine stand control device 40. The lamp 49 is, for example, a plurality of LED lamps, and the lamps associated with various warnings are turned on and off from the machine stand control device 40.

The machine base control device 40 corresponds to the control device, and as shown in FIG. 8, the shift position detecting means 31S, the rotate angle detecting means 33S, the operating state detecting means 41S, the elevating operation state detecting means 42S, and the accelerator operating state. Detection signals from the detection means 43S, the special button 44, the elevating position detecting means (not shown), the vehicle speed detecting means, and the like are input. Further, as shown in FIG. 8, the machine base control device 40 controls to operate a monitor 47 (display device), an audio output device 48, a lamp 49, a shift motor 31M, a rotate motor 33M, an elevating motor 30M, a traveling motor 16M, and the like. Output a signal. The machine base control device 40 has a storage device.

● [Processing procedure of the machine base control device 40 in the first embodiment (FIGS. 9 to 17)]
Next, the processing procedure for controlling the shift motor 31M and the rotate motor 33M by the machine base control device 40 will be described with reference to the flowcharts shown in FIGS. 9 and 10. The flowchart shown in FIG. 9 shows the processing in the prohibited area when it is determined in step S515 that the fork state is currently in the prohibited area, and the flowchart shown in FIG. 10 shows the processing in the prohibited area in step S515. Indicates the processing in the permitted area when it is determined that the state is not in the prohibited area (when it is determined to be in the permitted area). The machine stand control device 40 activates the process shown in FIG. 9 at a predetermined time interval (for example, an interval of several ms to several tens of ms), and when activated, proceeds to step S510.

In step S510, the machine base control device 40 detects and stores the current rotation angle, which is the current rotation angle of the fork 35, based on the detection signal from the rotation angle detecting means, and detects it from the shift position detecting means. Based on the signal, the current shift position, which is the current shift position of the arm 32 (fork 35), is detected and stored. Further, the machine base control device 40 tilts the operating lever 41 in the tilting direction (front, rear, left, right, no tilt (neutral position)) based on the detection signal from the operating state detecting means 41S corresponding to the operating lever 41. And the operation amount (operation angle) are detected and stored as an operation means operation state, and whether or not the special button 44 is pressed (whether or not it is turned on) is detected and stored.

As shown in FIG. 12, the fork 35 can perform a right-rotating operation from the left-pointing angle described in the right home position to the right-pointing angle described in the left home position, and the fork 35 can perform the right-pointing operation from the right-pointing angle. Left rotation operation is possible up to a leftward angle. Then, as shown in FIG. 12, the rotation angle when the direction of the fork 35 is the forward direction of the vehicle body is 0 [°], and the rotation angle when the direction of the fork 35 is the leftward angle is −90 [°]. , The rotation angle when the direction of the fork 35 is the rightward angle is set to +90 [°].

The arm 32 can move left and right within a range from the left shift limit position (the substantially left end of the shift rail 31) to the right shift limit position (the substantially right end of the shift rail 31). As shown in FIG. 11, a conversion angle obtained by converting the shift position into an angle is set for the shift-related amount. The central shift position from the left shift limit position to the right shift limit position is the conversion angle 0 [°], the shift position that is the right shift limit position is the conversion angle +90 [°], and the shift position that is the left shift limit position is The conversion angle is set to -90 [°]. Then, each shift position from the left shift limit position to the right shift limit position is set to the corresponding conversion angle within the range of the conversion angle −90 [°] to the conversion angle +90 [°]. The shift-related amount (conversion angle) will be described in detail below.

[Procedure for converting shift position to shift-related quantity (Fig. 11)]
The storage device of the machine base control device 40 stores the shift position / converted angle characteristics shown in FIG. As for the shift position / conversion angle characteristic, the horizontal axis is the shift position and the vertical axis is the conversion angle, and the shift position between the left end and the right end (from the left shift limit position to the right shift limit position) of the shift rail is converted. This is a characteristic for converting from an angle of −90 [°] to a conversion angle of +90 [°]. As shown in FIG. 11, for example, in the case of a shift rail having a length L1 in the left-right direction, the center position in the left-right direction is set to a conversion angle of 0 [°], and the left end position (left shift limit position) is set to a conversion angle of −90 [ Set to [°] and set the rightmost position (right shift limit position) to the conversion angle +90 [°]. Then, each position from the center position to the left end is set to a conversion angle of 0 [°] to -90 [°] according to the position, and each position from the center position to the right end is set to 0 [°] according to the position. Set to a conversion angle of ~ + 90 [°]. Similarly, for example, in the case of a shift rail having a length L2 in the left-right direction, the center position in the left-right direction is set to a conversion angle of 0 [°], and the left end position (left shift limit position) is set to a conversion angle of −90 [°]. Then, the right end position (right shift limit position) is set to the conversion angle +90 [°]. Then, each position from the center position to the left end is set to a conversion angle of 0 [°] to -90 [°] according to the position, and each position from the center position to the right end is set to 0 [°] according to the position. Set to a conversion angle of ~ + 90 [°].

The length from the left end to the right end of the shift rail (length in the left-right direction) may be various lengths depending on the passage width of the passage to be worked. When this length is changed, it is necessary to adjust the control gain of the shift feedback control that shifts the arm 32 left and right to the target shift position. However, if converted to the above conversion angle, the left shift limit position is the conversion angle -90 [°] and the right shift limit position is the conversion angle +90 [°] regardless of the length in the left-right direction. °], which is convenient because it is not necessary to adjust the control gain according to the length of the shift rail in the left-right direction. Hereinafter, the value of the conversion angle obtained by converting the shift position based on the shift position / conversion angle characteristic shown in FIG. 11 is described as “shift-related amount” (that is, shift-related amount = conversion angle). The machine stand control device 40 stores the current shift-related amount obtained from the current shift position of the arm 32 (fork 35). Then, the machine base control device 40 proceeds to step S515. The current rotation angle, the current shift-related amount, the tilting direction of the operating lever, the operating state of the operating means, and the ON / OFF state of the special button stored above are used in the following processing.

The shift position of the arm 32 is represented by the distance from the center position in the left-right direction of the shift rail 31 to the right direction "+" and the distance from the center position in the left-right direction of the shift rail 31 to the left direction "-". However, in the present embodiment, the shift position is converted into the shift-related amount (converted angle) described above and used for control.

In step S515, the machine base control device 40 has a shift / rotate synchronization reference characteristic (corresponding to the synchronization reference characteristic) shown in FIG. 16 and a current fork state (current rotation angle, current shift-related amount of fork state). Based on this, it is determined whether or not the current fork state is in the prohibited area (in the left prohibited area AL or in the right prohibited area AR) in the shift / rotate synchronization reference characteristic, and the current fork state is in the prohibited area. If yes, the process proceeds to step S530, and if the fork state is not currently in the prohibited area (No), the process proceeds to step S520. The process of step S515 corresponds to the confirmation step in the prohibited area for determining whether or not the current fork state is the prohibited area in the shift / rotate synchronization reference characteristic.

The shift / rotate synchronization reference characteristic (corresponding to the synchronization reference characteristic) shown in FIG. 16 is stored in the storage device of the machine base control device 40. In the shift / rotate synchronization reference characteristics shown in FIG. 16, the horizontal axis represents the shift-related amount (converted angle), and the vertical axis represents the rotate angle. In the shift / rotate synchronization reference characteristic shown in FIG. 16, the coordinates of the right home position HR (converted angle, rotate angle) are HR (+90, -90), and the coordinates of the left home position HL (converted angle, rotate angle). Is HL (-90, +90). The coordinates (converted angle, rotate angle) of the central home position HC are HC (0, 0). The shift / rotate synchronization reference characteristic shown in FIG. 16 is a straight line (synchronization reference straight line S) passing through HL (−90, +90), HC (0, 0), and HR (+90, −90). This synchronization reference straight line S is a synchronous operation in which a left rotation operation (left turn) is performed while performing a right shift operation (shift movement to the right) from the left home position to the right home position, and a left home from the right home position. It is a locus showing a synchronous operation of performing a right rotate operation (right turn) while performing a left shift operation (shift movement to the left) to a position. Further, in the shift / rotate synchronization reference characteristic shown in FIG. 16, a region where the fork 35 protrudes to the left and right from the width of the vehicle body of the forklift and a shift-related amount is set as a prohibited region. In the example shown in FIG. 16, the prohibited area has a left prohibited area AL and a right prohibited area AR shown by hatching.

When the process proceeds to step S520, the machine console control device 40 cancels the display if it has warned the monitor 47 that it is in the prohibited area in order to inform the operator that it is not in the prohibited area. However, if the voice output device 48 has output a warning that it is in the prohibited area, the output is stopped, and if the lamp 49 indicating that it is in the prohibited area is turned on, the lamp is turned on. The light is turned off and the process proceeds to step S525.

When the process proceeds to step S525, the machine base control device 40 executes the process of the SUB 100 shown in FIG. Hereinafter, the processing of the SUB 100 shown in FIG. 10 will be described first. The process of the SUB 100 is a process in the permitted area when the fork state is not currently in the prohibited area.

● [Processing when the fork state is not currently in the prohibited area (Fig. 10: Processing of SUB100)]
When the process proceeds to SUB100 shown in FIG. 10, the machine stand control device 40 proceeds to step S115.

In step S115, the machine base control device 40 determines whether or not the special button is in the ON state (pressed state), and if it is in the ON state (Yes), the process proceeds to step S220, and if it is not in the ON state. (No) proceeds to step S120.

When the process proceeds to step S220, the machine base control device 40 displays a warning on the monitor 47 or gives a voice warning from the voice output device 48 in order to inform the operator that the special button is in the ON state. , The warning lamp 49 is turned on, and the process proceeds to step S225.

In step S225, the machine stand control device 40 determines whether or not the tilting direction of the operating lever is forward or backward based on the operating state of the operating means, and if it is forward or backward (Yes), the process proceeds to step S335. If it is not forward or backward (No), the process proceeds to step S230.

[Run Rotate Only]
When the process proceeds to step S335, the machine base control device 40 executes only the rotate feedback control (rotate when the special button is ON) without performing the shift feedback control in the following steps S335 and S340. In step S335, the machine base control device 40 determines the tilting direction (in this case, front or rear) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the front-rear operation amount / addition rotation shown in FIG. The added rotate amount is obtained based on the quantity characteristic. For example, when the tilting direction of the operating lever is forward and the operating angle is θ1, the addition rotation amount = + R1r is obtained as shown in FIG. The front-rear operation amount and the addition rotation amount characteristic are stored in the storage device of the machine base control device 40. As for the front-rear operation amount / addition rotation amount characteristic, the horizontal axis is the front-rear operation amount (operation angle), and the vertical axis is the addition rotation amount. The front-rear operation amount / addition rotation amount characteristic is not limited to the characteristic shown in FIG. Then, the machine stand control device 40 for which the added rotation amount has been obtained adds the obtained added rotation amount to the current rotation angle to obtain the target rotation angle, stores the obtained target rotation angle, and proceeds to step S340. When determining the target rotation angle, the machine base control device 40 sets the upper limit of the target rotation angle to +90 [°] and the lower limit to −90 [°].

In step S340, the machine stand control device 40 executes the rotate feedback control based on the deviation between the target rotate angle and the current rotate angle, and drives the rotate motor so that the rotate angle approaches the target rotate angle. , End the process. Since the target rotation angle is the value obtained by adding the addition rotation amount according to the operation amount of the operation lever to the rotation angle at present, when the operation amount is large, the deviation becomes large and the rotation speed becomes large. Further, when the operation amount is small, the deviation becomes small, so that the speed of the rotate operation becomes small. Therefore, the operator can adjust the speed of the rotate operation by adjusting the operation amount (operation angle). In addition, by setting the upper limit of the target rotation angle to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90 [°]. The rotation operation can be stopped when the temperature reaches [°] or −90 [°].

Further, when the process proceeds to step S230, the machine base control device 40 determines whether or not the tilting direction of the operating lever is left or right based on the operating state of the operating means, and if it is left or right (Yes). Goes to step S245, and if it is not left or right (No), the operation lever is in the neutral position, and the process ends.

[Execute shift only]
When the process proceeds to step S245, the machine base control device 40 executes only shift feedback control (shift when the special button is ON) in the following steps S245 and S265. In step S245, the machine base control device 40 determines the tilting direction (in this case, right or left) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the left-right operation amount / addition shift shown in FIG. The addition shift related quantity is obtained based on the related quantity characteristic. For example, when the tilting direction of the operating lever = right and the operating angle = θ3, as shown in FIG. 13, the addition shift related amount = + R3s is obtained. The left-right operation amount and the addition shift-related amount characteristic are stored in the storage device of the machine base control device 40. As for the left-right operation amount / addition shift-related amount characteristic, the horizontal axis is the left-right operation amount (operation angle), and the vertical axis is the addition shift-related amount. The left-right operation amount / addition shift-related amount characteristic is not limited to the characteristic shown in FIG. Then, the machine control device 40 for which the addition shift-related amount has been obtained obtains the target shift-related amount (target conversion angle) by adding the obtained addition shift-related amount to the current shift-related amount (conversion angle), and obtains the target. The shift-related amount is stored, and the process proceeds to step S265. When obtaining the target shift-related amount, the machine base control device 40 sets the upper limit of the target shift-related amount to +90 [°] and the lower limit to −90 [°].

In step S265, the machine stand control device 40 executes shift feedback control based on the deviation between the target shift-related amount (target conversion angle) and the current shift-related amount (conversion angle), and the shift-related amount is the target. The shift motor is driven so as to approach the shift-related amount, and the process is terminated. Since the target shift-related amount is the value obtained by adding the addition shift-related amount according to the operation amount of the operation lever to the shift-related amount at present, when the operation amount is large, the deviation becomes large and the speed of the shift operation becomes large. Further, when the operation amount is small, the deviation becomes small, so that the speed of the shift operation becomes small. Therefore, the operator can adjust the speed of the shift operation by adjusting the operation amount (operation angle). In addition, by setting the upper limit of the target shift-related amount to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90. The shift operation can be stopped when it reaches [°] or −90 [°].

Further, when the process proceeds to step S120, since the special button is turned off in the machine stand control device 40, the warning display of the special button ON on the monitor 47 is stopped, or the special button ON in the voice output device 48 is turned on. The warning output is stopped, the lamp 49 indicating that the special button is ON is turned off, and the process proceeds to step S125.

In step S125, the machine base control device 40 determines whether or not the tilting direction of the operating lever is left or right based on the operating state of the operating means, and if it is left or right (Yes), the process proceeds to step S245. If it is not left or right (No), the process proceeds to step S130. Since the processing of steps S245 and S265 when the process proceeds to step S245 has already been described, the description thereof will be omitted.

When the process proceeds to step S130, the machine base control device 40 determines whether or not the tilting direction of the operating lever is forward or backward based on the operating state of the operating means, and if it is forward or backward (Yes), the step. If the process proceeds to S135 and is not forward or backward (No), the operation lever is in the neutral position, and the process ends.

[Execute automatic synchronization control of rotation and shift]
In the process of steps S135 to S165, a right home position instruction for setting the state of the fork 35 to the right home position or a left home position instruction for setting the state of the fork 35 to the left home position is input (by operating the operation lever). This is the processing when In the following, the operating lever is tilted "forward" (operation) from the state where the current fork state is P1 (current shift-related amount, current rotation angle) = P1 (+30, -60) in FIG. A case where the angle = θ1) is set and the left home position is instructed will be described as a specific example.

When the process proceeds to step S135, the machine base control device 40 determines the tilting direction (in this case, front or rear) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the front-rear operation amount shown in FIG. -Additional rotation amount Obtain the additional rotation amount based on the characteristics. Then, the machine stand control device 40 for which the added rotation amount has been obtained adds the obtained added rotation amount to the current rotation angle to obtain the target rotation angle, stores the obtained target rotation angle, and proceeds to step S140. When determining the target rotation angle, the machine base control device 40 sets the upper limit of the target rotation angle to +90 [°] and the lower limit to −90 [°].

Specifically, in the machine base control device 40, the tilting direction of the operating lever based on the operating state of the operating means = "front", the operating amount = θ1, and the additional rotation amount from the front-rear operation amount and the addition rotation amount in FIG. = + R1r [°] is calculated. Then, the machine base control device 40 obtains the target rotation angle from the current rotation angle + the added rotation amount (+ R1r), and stores the obtained target rotation angle. As shown in FIG. 16, the target rotation angle T1r obtained with respect to the current rotation angle P1r (= -60) in the current state P1 (+30, -60) is −60 + R1r. Here, assuming that + R1r = 10 [°], the target rotation angle is T1r = -60 + 10 = -50 [°]. Note that step S135 corresponds to the target rotation angle calculation step.

In step S140, the pedestal control device 40 executes the rotate feedback control based on the deviation between the target rotation angle and the current rotation angle, and drives the rotation motor so that the rotation angle approaches the target rotation angle. , Step S145. Since the target rotation angle is the value obtained by adding the addition rotation amount according to the operation amount of the operation lever to the rotation angle at present, when the operation amount is large, the deviation becomes large and the rotation speed becomes large. Further, when the operation amount is small, the deviation becomes small, so that the speed of the rotate operation becomes small. Therefore, the operator can adjust the speed of the rotate operation by adjusting the operation amount (operation angle) even during the automatic synchronization control of the shift operation and the rotate operation. In addition, by setting the upper limit of the target rotation angle to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90 [°]. The rotation operation can be stopped when the temperature reaches [°] or −90 [°].

Specifically, the machine base control device 40 determines the feedback control amount based on the deviation between the target rotation angle T1r (= -50 [°]) and the current rotation angle P1r (= -60 [°]). Based on the obtained control amount, the rotation motor is driven so that the rotation angle approaches the target rotation angle. Further, step S140 corresponds to a rotate feedback control step.

In step S145, the machine base control device 40 determines the tilting direction (in this case, front or rear) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the front-rear operation amount / addition shift shown in FIG. The addition shift related quantity is obtained based on the related quantity characteristic. The front-rear operation amount and the addition shift-related amount characteristic are stored in the storage device of the machine base control device 40. As for the front-back operation amount / addition shift-related amount characteristic, the horizontal axis is the front-back operation amount (operation angle), and the vertical axis is the addition shift-related amount. The front-back operation amount / addition shift-related amount characteristic is not limited to the characteristic shown in FIG.

Specifically, the machine base control device 40 adds from the tilt direction of the operating lever = "front" and the operating amount = θ1 based on the operating state of the operating means, and the front-rear operation amount / addition shift-related amount characteristic of FIG. The shift-related quantity = −R1s [°] is obtained.

The machine stand control device 40 for which the additional shift-related amount has been obtained is a synchronization that is a shift-related amount (converted angle) corresponding to the current rotation angle based on the current rotation angle and the shift-rotate synchronization reference characteristic shown in FIG. The shift-related amount is obtained, the addition shift-related amount is added to the obtained synchronous shift-related amount to obtain the target shift-related amount (target conversion angle), the obtained target shift-related amount is stored, and the process proceeds to step S150. When obtaining the target shift-related amount, the machine base control device 40 sets the upper limit of the target shift-related amount to +90 [°] and the lower limit to −90 [°].

Specifically, the machine base control device 40 has P1r (= -60 [°], which is the current rotation angle at P1 (+30, -60), which is the current state of the fork, on the synchronization reference line S in FIG. ]) Is obtained as P1s (= +60 [°]) which is a synchronous shift-related amount which is a shift-related amount (conversion angle) corresponding to). Then, the machine base control device 40 obtains the target shift-related amount from the synchronous shift-related amount P1s (= +60 [°]) + the addition shift-related amount (= −R1s), and stores the obtained target shift-related amount. When this is shown in FIG. 16, the synchronous shift-related amount P1s (= +60) corresponding to the current state P1 (+30, -60) + the additional shift-related amount (= −R1s) = the target shift-related amount. .. Here, assuming that −R1s = −10 [°], the target shift-related amount is T1s = + 60-10 = + 50 [°]. That is, the target rotation angle T1r (= -50) obtained in step S135 and T1 (+50, -50) represented by the target shift-related quantity T1s (= +50) obtained in step S145 are the current forks. It is a target state to go from P1 (+30, -60) of the state of. Note that step S145 corresponds to the target shift-related amount calculation step.

In step S150, the machine base control device 40 determines whether or not the tilting direction of the operating lever is forward based on the operating state of the operating means. If it is forward (Yes), the process proceeds to step S155, and if it is not forward. (No) proceeds to step S160.

When the process proceeds to step S155, the machine base control device 40 determines whether or not the target shift-related amount obtained in step S145 is on the right (+ side) of the current shift-related amount, and determines whether or not the target shift-related amount is on the right (+ side). If it is on the side of) (Yes), the process ends, and if it is not on the right (+ side) (No), the process proceeds to step S165. That is, when the target shift-related amount obtained when the left home position instruction is input determines that the fork is shifted to the right with respect to the current shift-related amount, the shift feedback control is stopped (skipped).

Specifically, in FIG. 16, the operator operates the operating lever in the tilting direction = "forward" to instruct the left home position from P1 (+30, -60), which is the current state of the fork. Regardless, if the target shift-related amount T1s (= +50) is to the right (+ side) of the current shift-related amount (= +30), the fork will shift to the right (however, shift to the right for a while). After that, the target shift-related amount becomes left (-side) from the current shift-related amount, and the left shift operation is performed). When the operator starts the shift operation to the "right" even though the operator has instructed to move to the "left" home position, he misunderstands that he has made an erroneous operation and operates in reverse (in this case, in this case). It is not very preferable because it may tilt the operating lever "backward"). Therefore, when the left home position is instructed and the target shift-related amount is to the right (+ side) of the current shift-related amount, the shift feedback control is not performed and only the rotate feedback control is performed. The same idea applies to step S155. In step S155, when the right home position is instructed and the target shift-related amount is to the left (-side) of the current shift-related amount, shift feedback control is not performed. , Performs only rotate feedback control. In FIG. 16, when the current fork state indicates the left home position from P1 (+30, -60), it is shown by a solid line from P1 (+30, -60) in steps S150, S155, and S160. At the locus Kt, the player heads to the left home position while performing synchronous shift and rotate operations. Although steps S150, S155, and S160 may be omitted and step S165 may be executed after step S145, in that case, the operation is performed along the locus Ke shown in FIG.

When the process proceeds to step S160, the machine base control device 40 determines whether or not the target shift-related amount obtained in step S145 is on the left (-side) of the current shift-related amount, and is left (-). If it is on the left (-side) (Yes), the process ends, and if it is not on the left (-side) (No), the process proceeds to step S165. That is, when the target shift-related amount obtained when the right home position instruction is input determines that the fork is to shift left with respect to the current shift-related amount, the shift feedback control is stopped (skipped).

When the process proceeds to step S165, the machine base control device 40 executes shift feedback control based on the deviation between the target shift-related amount and the current shift-related amount so that the shift-related amount approaches the target shift-related amount. Drive the shift motor to finish the process. Since the target shift-related amount is the sum of the synchronous shift-related amount, which is the shift-related amount corresponding to the rotation angle, and the addition shift-related amount according to the operation amount of the operating lever, the deviation is large when the operation amount is large. As it increases, the speed of shift operation increases. Further, when the operation amount is small, the deviation becomes small, so that the speed of the shift operation becomes small. Further, the farther away from the synchronization reference straight line S, the larger the deviation and the faster the shift operation speed. Therefore, the operator can adjust the speed of the shift operation by adjusting the operation amount (operation angle) even during the automatic synchronization control of the shift operation and the rotate operation. Further, as described above, the movement to the right home position or the left home position can be executed regardless of the current shift position or rotation angle of the fork, even if the fork is not in the right home position or the left home position. In addition, by setting the upper limit of the target shift-related amount to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90. The shift operation can be stopped when it reaches [°] or −90 [°]. Note that step S165 corresponds to the shift feedback control step.

When the current fork in FIG. 16 is in the state of P1 (+30, -60) and the operator inputs the right home position instruction, the fork moves to the right home position along the trajectory Ks indicated by the alternate long and short dash line. Moving.

● [Processing when the fork state is currently in the prohibited area (Fig. 9: Processing after step S530)]
Next, returning to the description of step S530 of FIG. 9, the processing after step S530 in FIG. 9 will be described. Note that FIG. 17 has a shift-rotate synchronization reference characteristic having the same synchronization reference line S, left prohibition region AL, and right prohibition region AR as the synchronization reference straight line S, left prohibition region AL, and right prohibition region AR in FIG. Is shown. A specific example of the processing of the flowchart shown in FIG. 9 will be described with reference to FIG.

In step S530, the machine stand control device 40 determines whether or not the current rotation angle is +90 [°] or −90 [°], and the current rotation angle is +90 [°] or −90 [°]. If (Yes), the process proceeds to step S535A, and if the rotation angle is not currently +90 [°] or −90 [°] (No), the process proceeds to step S535B.

When the process proceeds to step S535A, the pedestal controller 40 is currently in the fork state in the prohibited area, but is in the left / right shift operation from the right home position or in the left / right shift operation from the left home position. Therefore, it is determined that normal cargo handling work is in progress, and the warning that it is within the prohibited area is canceled. For example, when the machine stand control device 40 warns the monitor 47 that it is in the prohibited area, the display is stopped and the voice output device 48 outputs a warning that it is in the prohibited area. In that case, the output is stopped, and if the lamp 49 indicating the warning that the area is within the prohibited area is turned on, the lamp is turned off and the process proceeds to step S540.

When the process proceeds to step S535B, the machine base control device 40 determines that the fork state is currently in the prohibited area while the cargo handling work is not in progress, and issues a warning that the fork state is in the prohibited area. For example, the machine base control device 40 displays a warning that the monitor 47 is in the prohibited area, outputs a warning that the voice output device 48 is in the prohibited area, and indicates that the warning is in the prohibited area. The lamp 49 is turned on, and the process proceeds to step S540.

In step S540, the machine base control device 40 determines whether or not the special button is in the ON state (pressed state), and if it is in the ON state (Yes), the process proceeds to step S645, and if it is not in the ON state. (No) proceeds to step S545.

When the process proceeds to step S645, the machine stand control device 40 displays on the monitor 47 that the special button is ON or an audio output device in order to inform the operator that the special button is in the ON state. The voice is output from 48, the lamp 49 indicating a warning is turned on, and the process proceeds to step S650.

In step S650, the machine stand control device 40 determines whether or not the tilting direction of the operating lever is forward or backward, and if it is forward or backward (Yes), the process proceeds to step S765, and if it is not forward or backward (Yes). No) proceeds to step S655.

When the process proceeds to step S765, the machine base control device 40 executes only the rotate feedback control (rotate when the special button is ON) without performing the shift feedback control in the following steps S765 and S780. In step S765, the machine base control device 40 determines the tilting direction (in this case, front or rear) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the front-rear operation amount / addition rotation shown in FIG. The added rotate amount is obtained based on the quantity characteristic. For example, when the tilting direction of the operating lever is forward and the operating angle is θ1, the addition rotation amount = + R1r is obtained as shown in FIG. The front-rear operation amount and the addition rotation amount characteristic are stored in the storage device of the machine base control device 40. As for the front-rear operation amount / addition rotation amount characteristic, the horizontal axis is the front-rear operation amount (operation angle), and the vertical axis is the addition rotation amount. The front-rear operation amount / addition rotation amount characteristic is not limited to the characteristic shown in FIG. Then, the machine stand control device 40 for which the added rotation amount has been obtained adds the obtained added rotation amount to the current rotation angle to obtain the target rotation angle, stores the obtained target rotation angle, and proceeds to step S780. When determining the target rotation angle, the machine base control device 40 sets the upper limit of the target rotation angle to +90 [°] and the lower limit to −90 [°].

In step S780, the machine stand control device 40 executes the rotate feedback control based on the deviation between the target rotation angle and the current rotation angle, and drives the rotation motor so that the rotation angle approaches the target rotation angle. , End the process. Since the target rotation angle is the value obtained by adding the addition rotation amount according to the operation amount of the operation lever to the rotation angle at present, when the operation amount is large, the deviation becomes large and the rotation speed becomes large. Further, when the operation amount is small, the deviation becomes small, so that the speed of the rotate operation becomes small. Therefore, the operator can adjust the speed of the rotate operation by adjusting the operation amount (operation angle). In addition, by setting the upper limit of the target rotation angle to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90 [°]. The rotation operation can be stopped when the temperature reaches [°] or −90 [°].

For example, in FIG. 17, when the fork state is currently Q2 (-30, -90) (when it is in the prohibited area), the operator turns on the special button and tilts the operation lever "forward". In this case, the machine base control device 40 turns the fork to the right in the processes of steps S765 and S780. Then, in FIG. 17, when the operator turns off the special button and sets the operation lever to "neutral" when the fork state is currently Q3 (-30, -60), the fork state is Q3 (-). It is maintained in the state of 30, -60).

Further, when the process proceeds to step S655, the machine base control device 40 determines whether or not the tilting direction of the operating lever is left or right based on the operating state of the operating means, and if it is left or right (Yes). Goes to step S665, and if it is not left or right (No), the operation lever is in the neutral position, and the process ends.

When the process proceeds to step S665, the machine base control device 40 executes only shift feedback control (shift when the special button is ON) in the following steps S665 and S680. In step S665, the machine base control device 40 determines the tilting direction (in this case, right or left) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the left / right operation amount / addition shift shown in FIG. The addition shift related quantity is obtained based on the related quantity characteristic. For example, when the tilting direction of the operating lever = right and the operating angle = θ3, as shown in FIG. 13, the addition shift related amount = + R3s is obtained. The left-right operation amount and the addition shift-related amount characteristic are stored in the storage device of the machine base control device 40. As for the left-right operation amount / addition shift-related amount characteristic, the horizontal axis is the left-right operation amount (operation angle), and the vertical axis is the addition shift-related amount. The left-right operation amount / addition shift-related amount characteristic is not limited to the characteristic shown in FIG. Then, the machine control device 40 for which the addition shift-related amount has been obtained obtains the target shift-related amount (target conversion angle) by adding the obtained addition shift-related amount to the current shift-related amount (conversion angle), and obtains the target. The shift-related amount is stored, and the process proceeds to step S680. When obtaining the target shift-related amount, the machine base control device 40 sets the upper limit of the target shift-related amount to +90 [°] and the lower limit to −90 [°].

In step S680, the machine stand control device 40 executes shift feedback control based on the deviation between the target shift-related amount (target conversion angle) and the current shift-related amount (conversion angle), and the shift-related amount is the target. The shift motor is driven so as to approach the shift-related amount, and the process is terminated. Since the target shift-related amount is the value obtained by adding the addition shift-related amount according to the operation amount of the operation lever to the shift-related amount at present, when the operation amount is large, the deviation becomes large and the speed of the shift operation becomes large. Further, when the operation amount is small, the deviation becomes small, so that the speed of the shift operation becomes small. Therefore, the operator can adjust the speed of the shift operation by adjusting the operation amount (operation angle). In addition, by setting the upper limit of the target shift-related amount to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90. The shift operation can be stopped when it reaches [°] or −90 [°].

For example, in FIG. 17, when the fork state is currently Q3 (-30, -60) (when it is in the prohibited area), the operator turns on the special button and tilts the operation lever to the "right". If so, the machine base control device 40 moves the fork to the right in the processes of steps S665 and S680. Then, in FIG. 17, when the operator turns off the special button and sets the operation lever to "neutral" when the fork state is currently Q4 (+10, -60), the fork state is Q4 (+10, -60). It is maintained in the state of -60).

Further, when the process proceeds to step S545, since the special button is turned off in the machine stand control device 40, the warning display of the special button ON on the monitor 47 is stopped, or the special button ON in the voice output device 48 is turned on. The warning output is stopped, the lamp 49 indicating that the special button is ON is turned off, and the process proceeds to step S550.

In step S550, the machine stand control device 40 determines whether or not the tilting direction of the operating lever is left or right based on the operating state of the operating means, and if it is left or right (Yes), the process proceeds to step S560. If it is not left or right (No), the process proceeds to step S555.

If the process proceeds to step S560, the pedestal controller 40 determines whether or not the current rotation angle is +90 [°] or -90 [°], and the current rotation angle is +90 [°] or -90 [°]. ], The process proceeds to step S665, and if the rotation angle is not currently +90 [°] or −90 [°] (No), the process proceeds to step S565.

The processing of steps S665 and S680 when (Yes) is determined in step S560 and the process proceeds to step S665 has already been described, and thus the description thereof will be omitted. Further, the processing of steps S665 and S680 after the determination of (Yes) in step S560 is the processing of shifting the fork of the left home position to the left or right in the prohibited area, or the processing of the right home position in the prohibited area. This is a process that shifts the fork left and right.

For example, in FIG. 17, when the fork state is currently Q1 (-90, -90) (when it is in the prohibited area), the operator turns off the special button and tilts the operation lever to the "right". In this case, the machine stand control device 40 moves the fork to the right in the processes of steps S665 and S680 via step S560. Then, in FIG. 17, when the operator sets the operation lever to "neutral" when the fork state is currently Q2 (-30, -90), the fork state is Q2 (-30, -90). Maintained in a state. Further, at this time, the rotation angle is −90 [°], which is a normal cargo handling operation, so that the warning of the prohibited area is canceled in step S535A.

When the process proceeds to step S555, the machine stand control device 40 determines whether or not the tilting direction of the operating lever is forward or backward based on the operating state of the operating means, and if it is forward or backward (Yes), the step. If the process proceeds to S565 and is not forward or backward (No), the operation lever is in the neutral position, and the process ends.

In steps S565 to S580, when the fork state is currently in the prohibited area, the operator instructs the right home position to set the fork state to the right home position, or the left to set the fork state to the left home position. This is the process when the home position instruction is input. The process of steps S565 to S580 corresponds to the rotate operation prohibition step for prohibiting the control of the rotate drive device when it is determined that the fork state is currently in the prohibited area.

When the process proceeds to step S565, the machine base control device 40 determines the tilting direction (in this case, front or rear) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the front-rear operation amount shown in FIG. -Additional shift-related quantity Obtain the additional shift-related quantity based on the characteristics. Then, the machine control device 40 for obtaining the addition shift-related amount adds the obtained addition shift-related amount to the current shift-related amount to obtain the target shift-related amount, stores the obtained target shift-related amount, and steps S570. Proceed to. When obtaining the target shift-related amount, the machine base control device 40 sets the upper limit of the target shift-related amount to +90 [°] and the lower limit to −90 [°].

Specifically, when the tilting direction of the operating lever based on the operating state of the operating means = "rear" and the operating amount = θ2, the machine base control device 40 adds from the front-back operation amount / addition shift-related amount in FIG. Find the shift-related amount = + R2s [°]. Then, the machine base control device 40 obtains the target shift-related amount from the current shift-related amount + the addition shift-related amount (+ R2s), and stores the obtained target shift-related amount. This is shown in FIG. 17, for example, when the current state is Q1 (-90, -90) and the addition shift-related amount = + R2s = + 10 [°], the current shift-related of Q1 (-90, -90). The target shift-related quantity with respect to the quantity (−90) is −90 + 10 = −80 [°].

In step S570, the pedestal control device 40 is currently in the fork state in the left prohibited area in FIG. 17, and the target shift-related amount is on the right side (+ side) with respect to the current shift-related amount. If it is satisfied (Yes), the process proceeds to step S580, and if it is not satisfied (No), the process proceeds to step S575.

When the process proceeds to step S575, the pedestal control device 40 is currently in the fork state in the right prohibited area in FIG. 17, and the target shift-related amount is on the left side (-side) with respect to the current shift-related amount. If it is satisfied (Yes), the process proceeds to step S580, and if it is not satisfied (No), the process ends.

When the process proceeds to step S580, the machine base control device 40 executes shift feedback control based on the deviation between the target shift-related amount and the current shift-related amount so that the shift-related amount approaches the target shift-related amount. Drive the shift motor to finish the process. Since the target shift-related amount is the value obtained by adding the addition shift-related amount according to the operation amount of the operation lever to the shift-related amount at present, when the operation amount is large, the deviation becomes large and the speed of the shift operation becomes large. Further, when the operation amount is small, the deviation becomes small, so that the speed of the shift operation becomes small. Therefore, the operator can adjust the speed of the shift operation by adjusting the operation amount (operation angle). In addition, by setting the upper limit of the target shift angle to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90 [°]. The shift operation can be stopped when the temperature reaches [°] or −90 [°].

In the process of steps S570 to S580 described above, when it is determined that the fork state is currently in the prohibited area, it is determined that the direction of the shift operation toward the target shift-related amount is the direction of escaping from the prohibited area. In this case, it corresponds to the prohibited area escape shift control step of controlling the shift feedback. When the direction of the shift operation toward the target shift-related amount is opposite to the direction of exiting the prohibited area, the shift feedback control is prohibited.

Specifically, for example, in FIG. 17, when the current fork state is Q4 (+10, -60) in the left prohibited area, the operator tilts the special button = OFF and the operation lever = "back" (right home). When the position instruction) is input, the machine stand control device 40 shifts the fork to the right in the process of steps S565 to S580. When the fork that has entered the left prohibited area reaches P1 (+30, -60) in FIG. 17 and escapes from the left prohibited area in the right shift operation, steps S515, S520, and S525. The process shifts to the SUB 100 shown in FIG. Then, as described above in steps S130 to S165 in the SUB 100 of FIG. 10, the shift operation and the rotate operation are automatically shifted to the synchronous operation. That is, for example, when the current fork state is Q4 (+10, -60) in the left prohibited area, the operator inputs the special button = OFF and the operation lever = "backward" to tilt (right home position instruction). You just have to continue. The machine stand control device 40 automatically performs only the right shift operation from Q4 (+10, -60) in FIG. 17 to P1 (+30, -60) until it escapes from the prohibited area. Then, after escaping from the prohibited area, the machine base control device 40 automatically shifts the control from P1 (+30, -60) to the synchronous control toward the right home position.

● [Second embodiment in processing when the fork state is not currently in the prohibited area (FIG. 18: processing of SUB100)]
In the SUB 100 (processing in the permitted area) of FIG. 10 of the first embodiment described above, the shift operation during the synchronous operation is targeted from the synchronous shift-related amount corresponding to the current rotate angle with the current rotate angle as a reference. By obtaining the shift-related quantity, the synchronization reference straight line S was approached. In the second embodiment, the rotation operation during the synchronous operation is brought closer to the synchronization reference straight line S by obtaining the target rotation angle from the synchronous rotation angle corresponding to the current shift-related amount with the current shift-related amount as a reference.

Next, the processing procedure for controlling the shift motor 31M and the rotate motor 33M by the machine base control device 40 will be described with reference to the flowchart shown in FIG. The flowchart shown in FIG. 18 shows a flowchart that replaces FIG. 10 in the flowchart of the first embodiment. The flowchart of the second embodiment shown in FIG. 18 is different from the flowchart of FIG. 10 of the first embodiment in the processes of steps S135A, S140A, S145A, S155A, S160A, and S165A, and other processes. Is the same. Hereinafter, the differences in the flowchart will be mainly described.

When the process proceeds to step S130, the machine base control device 40 determines whether or not the tilting direction of the operating lever is forward or backward based on the operating state of the operating means, and if it is forward or backward (Yes), the step. If the process proceeds to S135A and is not forward or backward (No), the operation lever is in the neutral position, and the process ends.

[Execute automatic synchronization control of rotation and shift]
In the processing of steps S135A to S165A, a right home position instruction for setting the state of the fork 35 to the right home position or a left home position instruction for setting the state of the fork 35 to the left home position is input (by operating the operation lever). This is the processing when

The shift / rotate synchronization reference characteristic (corresponding to the synchronization reference characteristic) shown in FIG. 19 is stored in the storage device of the machine base control device 40. The synchronization reference line S, the left prohibited area AL, and the right prohibited area AR shown in FIG. 19 are the same as the synchronization reference line S, the left prohibited area AL, and the right prohibited area AR shown in FIG. In the following, in FIG. 19, the operation lever is moved "backward" from the state where the position in the left-right direction and the rotation angle are P2 (current shift-related amount, current rotation angle) = P2 (+30, -60). A case where the right home position is instructed by tilting (operating angle = θ2) will be described as a specific example.

When the process proceeds to step S135A, the machine base control device 40 determines the tilting direction (in this case, front or rear) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the front-rear operation amount shown in FIG. -Additional shift-related quantity Obtain the additional shift-related quantity based on the characteristics. Then, the machine control device 40 for obtaining the addition shift-related amount adds the obtained addition shift-related amount to the current shift-related amount to obtain the target shift-related amount, stores the obtained target shift-related amount, and steps S140A. Proceed to. When obtaining the target shift-related amount, the machine base control device 40 sets the upper limit of the target shift-related amount to +90 [°] and the lower limit to −90 [°].

Specifically, in the machine base control device 40, the tilting direction of the operating lever based on the operating state of the operating means = "rear", the operating amount = θ2, and the addition shift is performed from the front-back operation amount / addition shift-related amount in FIG. Find the related quantity = + R2s [°]. Then, the machine base control device 40 obtains the target shift-related amount from the current shift-related amount + the addition shift-related amount (+ R2s), and stores the obtained target shift-related amount. As shown in FIG. 19, the target shift-related amount T2s obtained with respect to the current shift-related amount P2s (= +30) in the current state P2 (+30, -60) is +30 + R2s. Here, assuming that + R2s = 10 [°], the target shift-related amount is T2s = + 30 + 10 = + 40 [°]. Note that step S135A corresponds to the target shift-related amount calculation step.

In step S140A, the machine stand control device 40 executes shift feedback control based on the deviation between the target shift-related amount and the current shift-related amount, and shift motor so that the shift-related amount approaches the target shift-related amount. Is driven, and the process proceeds to step S145A. Since the target shift-related amount is the value obtained by adding the addition shift-related amount according to the operation amount of the operation lever to the shift-related amount at present, when the operation amount is large, the deviation becomes large and the speed of the shift operation becomes large. Further, when the operation amount is small, the deviation becomes small, so that the speed of the shift operation becomes small. Therefore, the operator can adjust the speed of the shift operation by adjusting the operation amount (operation angle) even during the automatic synchronization control of the shift operation and the rotate operation. In addition, by setting the upper limit of the target shift-related amount to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90. The shift operation can be stopped when it reaches [°] or −90 [°].

Specifically, the machine base control device 40 determines the feedback control amount based on the deviation between the target shift-related amount T2s (= + 40 [°]) and the current shift-related amount P2s (= + 30 [°]). Based on the obtained control amount, the shift motor is driven so that the shift-related amount approaches the target shift-related amount. Further, step S140A corresponds to a shift feedback control step.

In step S145A, the machine base control device 40 determines the tilting direction (in this case, front or rear) and the operation amount (operation angle) of the operation lever based on the operation state of the operation means, and the front-rear operation amount / addition rotation shown in FIG. The added rotate amount is obtained based on the quantity characteristic. The front-rear operation amount and the addition rotation amount characteristic are stored in the storage device of the machine base control device 40. As for the front-rear operation amount / addition rotation amount characteristic, the horizontal axis is the front-rear operation amount (operation angle), and the vertical axis is the addition rotation amount. The front-rear operation amount / addition rotation amount characteristic is not limited to the characteristic shown in FIG.

Specifically, the machine base control device 40 has an addition rotation based on the tilt direction of the operation lever = "rear" and the operation amount = θ2 based on the operation state of the operation means, and the front-rear operation amount / addition rotation amount characteristics of FIG. Calculate the quantity = −R2r [°].

The machine stand control device 40 for obtaining the added rotation amount obtains the synchronization rotation angle, which is the rotation angle corresponding to the current shift-related amount, based on the current shift-related amount and the shift-rotate synchronization reference characteristic shown in FIG. , The added rotation amount is added to the obtained synchronous rotation angle to obtain the target rotation angle, the obtained target rotation angle is stored, and the process proceeds to step S150. When determining the target rotation angle, the machine base control device 40 sets the upper limit of the target rotation angle to +90 [°] and the lower limit to −90 [°].

Specifically, the machine base control device 40 has P2s (= +30 [°), which is the current shift-related amount in P2 (+30, -60), which is the current fork state, on the synchronization reference line S in FIG. ]), P2r (= −30 [°]), which is a synchronous rotation angle corresponding to the rotation angle, is obtained. Then, the machine base control device 40 obtains the target rotation angle from the synchronous rotation angle P2r (= −30 [°]) + the addition rotation angle (= −R2r), and stores the obtained target rotation angle. When this is shown in FIG. 19, the synchronous rotation angle P2r (= −30) corresponding to the current state P2 (+30, −60) + the added rotation amount (= −R2r) = the target rotation angle. Here, assuming that −R2r = −10 [°], the target rotation angle is T2r = −30-10 = −40 [°]. That is, the target shift-related quantity T2s (= +40) obtained in step S135A and T2 (+40, -40) represented by the target rotation angle T2r (= -40) obtained in step S145A are the current forks. It is a target state to go from P2 (+30, -60) of the state of. Note that step S145A corresponds to the target rotation angle calculation step.

In step S150, the machine base control device 40 determines whether or not the tilting direction of the operating lever is forward based on the operating state of the operating means. If it is forward (Yes), the process proceeds to step S155A, and if it is not forward. (No) proceeds to step S160A.

When the process proceeds to step S155A, the machine stand control device 40 determines whether or not the target rotation angle obtained in step S145A is on the left turn side (-side) of the current rotation angle, and determines whether or not the target rotation angle is on the left turn side (-side). If it is on the (− side) (Yes), the process ends, and if it is not on the left turning side (− side) (No), the process proceeds to step S165A. That is, when it is determined that the target rotation angle obtained when the left home position instruction is input causes the fork to perform the left rotation operation with respect to the current rotation angle, the rotation feedback control is stopped (skipped).

When proceeding to step S160A, the machine stand control device 40 determines whether or not the target rotation angle obtained in step S145A is on the right turn side (+ side) of the current rotation angle, and turns right. If it is on the turning side (+ side) (Yes), the process ends, and if it is not on the right turning side (+ side) (No), the process proceeds to step S165A. That is, when it is determined that the target rotation angle obtained when the right home position instruction is input causes the fork to perform the right rotation operation with respect to the current rotation angle, the rotation feedback control is stopped (skipped).

Specifically, in FIG. 19, the operator operates the operating lever in the tilting direction = "backward" to instruct the right home position from P2 (+30, -60), which is the current state of the fork. Regardless, if the target rotation angle T2r (= -40) is currently on the right turn side (+ side) of the rotation angle (= -60), the fork will rotate to the right (however, for a while). After the right rotation operation, the target rotation angle becomes the left turning side (-side) from the current rotation angle, and the left rotation operation occurs). When the operator starts the "right" rotation operation even though the operator has instructed to move to the "right" home position, he misunderstands that he has made an erroneous operation and operates in reverse (in this case, the operation lever is "forward". It is not very preferable because it may cause you to lean toward. Therefore, when the right home position is instructed and the target rotation angle is on the right turning side (+ side) of the current rotation angle, the rotation feedback control is not performed and only the shift feedback control is performed. Step S155A has the same idea. In step S155A, when the left home position is instructed and the target rotation angle is on the left turning side (-side) of the current rotation angle, the rotation feedback control is not performed. , Only shift feedback control is performed. In FIG. 19, when the current fork state indicates the right home position from P2 (+30, -60), it is shown by a solid line from P2 (+30, -60) in steps S150, S155A, and S160A. At the locus Kt, the player heads to the right home position while performing synchronous shift and rotate operations. Although steps S150, S155A, and S160A may be omitted and step S165A may be executed after step S145A, in that case, the operation is performed along the locus Ke shown in FIG.

When the process proceeds to step S165A, the machine base control device 40 executes the rotate feedback control based on the deviation between the target rotation angle and the current rotation angle, and causes the rotation motor to approach the target rotation angle. Drive and end the process. Since the target rotation angle is the sum of the synchronous rotation angle, which is the rotation angle corresponding to the shift-related amount, and the addition rotation amount according to the operation amount of the operating lever, the deviation becomes large when the operation amount is large. The speed of rotation operation increases. Further, when the operation amount is small, the deviation becomes small, so that the speed of the rotate operation becomes small. Further, the farther away from the synchronization reference straight line S, the larger the deviation and the faster the rotation operation speed. Therefore, the operator can adjust the speed of the rotate operation by adjusting the operation amount (operation angle) even during the automatic synchronization control of the shift operation and the rotate operation. Further, as described above, the movement to the right home position or the left home position can be executed regardless of the current shift position or rotation angle of the fork, even if the fork is not in the right home position or the left home position. In addition, by setting the upper limit of the target rotation angle to +90 [°] and the lower limit to -90 [°], the speed is gradually reduced when approaching +90 [°] or -90 [°] to +90 [°]. The rotation operation can be stopped when the temperature reaches [°] or −90 [°]. Note that step S165A corresponds to the rotate feedback control step.

When the current fork in FIG. 19 is in the state of P2 (+30, -60) and the operator inputs the left home position instruction, the fork moves to the left home position along the trajectory Ks indicated by the alternate long and short dash line. Moving.

The forklift cargo handling control method of the present invention and the forklift cargo handling control device are not limited to the configuration, structure, appearance, shape, processing procedure, etc. described in the present embodiment, and are various as long as the gist of the present invention is not changed. Can be changed, added, and deleted.

In the description of the present embodiment, an example in which an electric rotation motor and a shift motor are used as the rotation drive device and the shift drive device has been described, but a hydraulic rotation motor and a shift motor (shift cylinder) may also be used. good. That is, it can be applied to various rotate drive devices and shift drive devices.

In the description of the present embodiment, an example in which the operating means is configured by an operating lever that can be tilted back and forth and left and right is shown, but the operating means may be a lever type as long as the operator can operate the operating direction and the operating amount. It may be a combination of a seesaw type switch and a cross type seesaw type switch. The seesaw type allows the operation amount to be changed depending on the tilt amount.

In the description of the present embodiment, the example in which the machine base control device 40 is a “control device” has been described, but the “control device” may be configured by a plurality of two or more control devices. In the description of the present embodiment, the special button 44 shows an example of the button shape, but the special button 44 is not limited to the button shape and may be a switch having various shapes.

Further, the numerical values used in the description of the present embodiment are examples, and are not limited to these numerical values.

1 Forklift 10 Body 11 Body 12 Reach leg 13 Head guard 14 Rear roller 15 Front roller 16A Drive steering wheel 16B Caster wheel 16C Driven wheel 16M Travel motor 17 Cross plate 20 Mast 21 Outer mast 22 Inner mast 30 Elevating unit 30M Elevating unit Motor (shift drive)
31S Shift position detecting means 32 Arm 33 Rotate shaft 33M Rotate motor (rotate drive device)
33S Rotate angle detection means 34 Finger bar 35 Fork 36 Support 40 Machine stand control device (control device)
41 Operation lever 41S Operation state detection means 42S Elevation operation state detection means 43S Accelerator operation state detection means 42 Elevation lever 43 Accelerator lever 44 Special button 47 Monitor (display device)
48 Audio output device 49 Lamp 50 Battery

Claims (4)

A shift drive device that performs a right shift operation for moving the fork to the right with respect to the vehicle body and a left shift operation for moving the fork to the left with respect to the vehicle body.
A rotation drive device that performs a right-rotate operation of turning the fork clockwise with respect to the vehicle body and a left-rotate operation of turning the fork counterclockwise with respect to the vehicle body.
Operation means and
A control device that controls the shift drive device and the rotate drive device according to the operation state of the operation means, and
Storage device and
This is a forklift cargo handling control method using
Rotate angle, the turning angle of the fork with respect to the vehicle body
The position of the fork in the left-right direction of the vehicle body is shifted to the shift position.
At the right shift limit position, which is the limit of the shift position when the fork is moved to the right, and at the rotation angle when the fork is oriented to the left orthogonal to the forward direction of the vehicle body when the fork is turned to the left. The state of the fork at a certain leftward angle, a shift position and a rotate angle, is a right home position.
The left shift limit position, which is the limit of the shift position when the fork is moved to the left, and the rotation angle when the fork is oriented to the right orthogonal to the forward direction of the vehicle body when the fork is turned to the right. The state of the fork at the shift position and the rotate angle, which is the rightward angle, is the left home position.
If
When the right rotate operation is synchronized while performing the left shift operation from the right home position to the left home position, or when the right shift operation is performed from the left home position to the right home position, the left When the rotation operations are synchronized, the shift-related amount related to the shift position is set corresponding to the rotation angle in, and the rotation angle and the shift-related amount in which the fork protrudes to the left and right from the width of the vehicle body are set. The synchronization reference characteristic in which the area is set as the prohibited area is stored in the storage device in advance.
The control when the operating means is operated and a right home position instruction for setting the fork state to the right home position or a left home position instruction for setting the fork state to the left home position is input. In the device
The current fork state, which is the current fork state based on the current rotate angle, which is the current rotation angle of the fork, and the current shift-related amount, which is the shift-related amount corresponding to the current shift position of the fork, is the current fork state. A confirmation step in the prohibited area for determining whether or not it is in the prohibited area in the synchronization reference characteristic, and
When it is determined that the current fork state is within the prohibited area, the rotation operation prohibition step for prohibiting the control of the rotate drive device and the rotation operation prohibition step
Have a,
In the control device
When it is determined in the prohibited area confirmation step that the current fork state is within the prohibited area, the direction of the shift operation toward the target shift-related amount obtained based on the operating state of the operating means is the prohibited area. When it is determined that the direction is to escape from, the shift drive device is feedback-controlled so that the current shift-related amount approaches the target shift-related amount, and the direction of the shift operation toward the target shift-related amount is the said. When it is determined that the vehicle is not in the direction of escaping from the prohibited area, it has a prohibited area escape shift control step for stopping the feedback control of the shift drive device.
In the control device
After executing the prohibited area escape shift control step, when it is determined in the prohibited area confirmation step that the current fork state is not within the prohibited area,
Target rotation angle obtained by adding the addition rotation angle obtained based on the operating state of the operating means to the current rotation angle or the synchronization rotation angle which is the rotation angle obtained based on the synchronization reference characteristic and the current shift-related amount. The target rotation angle calculation step and
A rotation feedback control step that feedback-controls the rotation drive device so that the current rotation angle approaches the target rotation angle.
The addition shift-related amount obtained based on the operating state of the operating means is added to the synchronization shift-related amount, which is the shift-related amount obtained based on the synchronization reference characteristic and the current rotation angle, or the current shift-related amount. The target shift-related amount calculation step to obtain the target shift-related amount, and
A shift feedback control step that feedback-controls the shift drive device so that the current shift-related amount approaches the target shift-related amount.
Have,
Forklift cargo handling control method. The forklift cargo handling control method according to claim 1.
The fork can perform the right rotate operation from the left angle to the right angle, can perform the left rotate operation from the right angle to the left angle, and can shift to the right from the left shift limit position. The right shift operation is possible to the limit position, and the left shift operation is possible from the right shift limit position to the left shift limit position.
When the direction of the fork is the forward direction of the vehicle body, the rotation angle is 0 °.
When the fork is oriented to the left, the rotation angle is −90 °.
When the fork is oriented to the right, the rotation angle is + 90 °.
And set
The shift-related amount includes
Set the conversion angle that converts the shift position to the angle,
The central shift position from the left shift limit position to the right shift limit position is defined by a conversion angle of 0 °.
The shift position, which is the right shift limit position, is set to a conversion angle of + 90 °.
The shift position, which is the left shift limit position, is set to a conversion angle of −90 °.
And set
Each shift position from the left shift limit position to the right shift limit position is set to the corresponding conversion angle within the range of the conversion angle −90 ° to the conversion angle + 90 °.
Forklift cargo handling control method. A shift drive device that performs a right shift operation for moving the fork to the right with respect to the vehicle body and a left shift operation for moving the fork to the left with respect to the vehicle body.
A rotation drive device that performs a right-rotate operation of turning the fork clockwise with respect to the vehicle body and a left-rotate operation of turning the fork counterclockwise with respect to the vehicle body.
Rotate angle detecting means for detecting the rotate angle, which is the turning angle of the fork with respect to the vehicle body,
A shift position detecting means for detecting a shift position which is the position of the fork in the left-right direction of the vehicle body,
Operation means and
An operation state detecting means for detecting the operation state of the operation means and
A forklift cargo handling control device that controls the right shift operation, the left shift operation, the right rotate operation, and the left rotate operation in the forklift having the above.
Storage device and
Control device and
Have,
At the right shift limit position, which is the limit of the shift position when the fork is moved to the right, and at the rotation angle when the fork is oriented to the left orthogonal to the forward direction of the vehicle body when the fork is turned to the left. The state of the fork at a certain leftward angle, a shift position and a rotate angle, is a right home position.
The left shift limit position, which is the limit of the shift position when the fork is moved to the left, and the rotation angle when the fork is oriented to the right orthogonal to the forward direction of the vehicle body when the fork is turned to the right. The state of the fork at the shift position and the rotate angle, which is the rightward angle, is the left home position.
If
The storage device has
When the right rotate operation is synchronized while performing the left shift operation from the right home position to the left home position, or when the right shift operation is performed from the left home position to the right home position, the left When the rotation operations are synchronized, the shift-related amount related to the shift position is set corresponding to the rotation angle in, and the rotation angle and the shift-related amount in which the fork protrudes to the left and right from the width of the vehicle body are set. The synchronization reference characteristic is stored in which the area is set as the prohibited area.
The control device is
Based on the detection signal from the operation state detecting means, the operation means operation state which is the operation state of the operation means is detected, and the operation state is detected.
Based on the detection signal from the rotation angle detecting means, the current rotation angle, which is the current rotation angle of the fork, is obtained.
Based on the detection signal from the shift position detecting means, the shift-related amount corresponding to the current shift position of the fork is obtained.
When the operating means operating state is a right home position instruction that sets the fork state to the right home position, or a left home position instruction that sets the fork state to the left home position.
The current fork state, which is the current fork state based on the current rotate angle, which is the current rotation angle of the fork, and the current shift-related amount, which is the shift-related amount corresponding to the current shift position of the fork, is the current fork state. It is determined whether or not it is within the prohibited area in the synchronization reference characteristic, and it is determined.
When it is determined that the current fork state is within the prohibited area, the control of the rotate drive device is prohibited .
The control device is
When the operating means operating state is a right home position instruction that sets the fork state to the right home position, or a left home position instruction that sets the fork state to the left home position.
When it is determined that the current fork state is within the prohibited area,
The target shift-related amount is obtained based on the operating state of the operating means.
When it is determined that the direction of the shift operation toward the obtained target shift-related amount is the direction of escaping from the prohibited region, the shift drive device is set so that the current shift-related amount approaches the target shift-related amount. When feedback control is performed and it is determined that the direction of the shift operation toward the target shift-related amount is not the direction of escaping from the prohibited region, the feedback control of the shift drive device is stopped.
The control device is
When the operating means operating state is a right home position instruction that sets the fork state to the right home position, or a left home position instruction that sets the fork state to the left home position.
When it is determined that the current fork state is not within the prohibited area,
A target rotation angle obtained by adding the addition rotation angle obtained based on the operating state of the operating means to the current rotation angle or the synchronization rotation angle which is the rotation angle obtained based on the synchronization reference characteristic and the current shift-related quantity. Ask,
The rotation drive device is feedback-controlled so that the current rotation angle approaches the target rotation angle.
A target obtained by adding an additional shift-related amount obtained based on the operating state of the operating means to the synchronous shift-related amount, which is a shift-related amount obtained based on the synchronization reference characteristic and the current rotation angle, or the current shift-related amount. Find the shift-related quantity,
The shift drive device is feedback-controlled so that the current shift-related amount approaches the target shift-related amount.
Forklift cargo handling control device. The forklift cargo handling control device according to claim 3.
The fork can perform the right rotate operation from the left angle to the right angle, can perform the left rotate operation from the right angle to the left angle, and can shift to the right from the left shift limit position. The right shift operation is possible to the limit position, and the left shift operation is possible from the right shift limit position to the left shift limit position.
When the direction of the fork is the forward direction of the vehicle body, the rotation angle is 0 °.
When the fork is oriented to the left, the rotation angle is −90 °.
When the fork is oriented to the right, the rotation angle is + 90 °.
Is set to
The shift-related amount includes
The conversion angle that converts the shift position to the angle is set,
The central shift position from the left shift limit position to the right shift limit position has a conversion angle of 0 °.
The shift position, which is the right shift limit position, is a conversion angle of + 90 °.
The shift position, which is the left shift limit position, has a conversion angle of −90 °.
Is set to
Each shift position from the left shift limit position to the right shift limit position is set to a corresponding conversion angle within a range of the conversion angle −90 ° to the conversion angle + 90 °.
Forklift cargo handling control device.

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