JP7579164B2 - Cargo handling vehicles and loading equipment - Google Patents

Description

The present invention relates to a loading vehicle equipped with a loading arm for loading and unloading containers between the vehicle and the ground. The present invention also relates to a loading device constituting a loading vehicle for transporting containers.

Cargo vehicles such as container transporters are required to have rear bumpers, which must protrude rearward from the vehicle body to some extent to ensure safety in the event of a collision with pedestrians or other vehicles.
Incidentally, container transport vehicles are used for operations such as lifting containers onto the vehicle and lowering containers from the vehicle to the ground, and during these operations, the bumper may come into contact with the container.
Patent Document 1 discloses a container transport vehicle having a jack that prevents the vehicle from tilting and a structure in which the position of the bumper changes in conjunction with the jack.
In the container transport vehicle disclosed in Patent Document 1, the position of the bumper changes when the jack is extended, preventing interference between the container and the bumper during loading and unloading.
When loading and unloading containers using the container transport vehicle of Patent Document 1, workers perform the work in accordance with the following procedure.
That is, first the jack is operated and the bumper is moved out of the way.
Following this, the loading and unloading arms are operated to load and unload the containers.

Patent No. 5546167

If the worker follows the above procedure, the container will not come into contact with the bumper during loading and unloading.
However, because the loading arm and the jack (bumper) are operated independently, workers may make a mistake in the procedure and perform loading and unloading work without storing the jack, i.e., the bumper.
In such a case, there is a concern that the container may move with the bumper protruding rearward and collide with the bumper.

The present invention focuses on the above-mentioned problems of the conventional technology and aims to provide a loading vehicle in which the container does not come into contact with the bumper, at least when the container is unloaded.

An embodiment for solving the above-mentioned problems is a loading vehicle having a vehicle section and a loading device, the loading device being mounted on the vehicle section, the loading device being for loading a container, the loading vehicle having a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm, the loading arm having an engagement part for engaging with the container, the loading vehicle being capable of performing a loading operation in which the engagement part is engaged with the container placed on the ground and the loading arm is driven to pull the container onto the vehicle section, and an unloading operation in which the container placed on the vehicle section is lowered to the ground by the loading arm. The vehicle has a bumper device, which has a bumper body and can change the position of the bumper between a driving position suitable for driving and a storage position retracted to the vehicle side by power, has an extension switch that moves the bumper body to the driving position, and a storage switch that moves the bumper body to the storage position, and has a storage position detection means that detects that the bumper body is in the storage position, and is characterized in that, at least during the loading and unloading operation, the loading arm is in a state where it can start operating, provided that the storage position detection means detects that the bumper body is in the storage position.

The loading vehicle of this embodiment has an extension switch that moves the bumper body to a traveling position, and a storage switch that moves the bumper body to a storage position, and the bumper body can be moved by operating these switches.
In addition to this configuration, the loading vehicle of this embodiment has a storage detection means for checking whether the bumper body is in the storage position. In the loading vehicle of this embodiment, the loading arm can start operating only when the bumper body is in the storage position, so when the loading arm starts operating, the bumper body is always in the storage position and the container does not come into contact with the bumper body.

Another aspect for solving the same problem is a loading vehicle having a vehicle section and a loading device, the loading device being mounted on the vehicle section, the loading device being for loading a container, the loading device having a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm, the loading arm having an engagement portion for engaging with the container, a loading operation of engaging the engagement portion with the container placed on the ground and driving the loading arm to pull the container onto the vehicle section,
This loading vehicle is capable of performing a unloading operation in which the container placed on the vehicle section is lowered to the ground by the loading arm, and has a bumper device, which has a bumper body and can be manually moved to a driving position suitable for driving and a storage position retracted to the vehicle side, and has a storage position detection means for detecting that the bumper body is in the storage position, and at least during the loading and unloading operation, the loading arm is in a state in which it can begin operation, provided that the storage position detection means detects that the bumper body is in the storage position.

In the loading vehicle of this embodiment, the bumper body can be moved by human power.
The loading vehicle of this aspect has a storage detection means and can confirm whether the bumper body is in the storage position or not. In the loading vehicle of this aspect, the operation of the loading arm can be started on the condition that the bumper body is in the storage position, so when the loading arm starts to operate, the bumper body is always in the storage position and the container does not come into contact with the bumper body.

In each of the above aspects, it is desirable that the arm actuation switch be a loading switch that performs the loading operation, and that the bumper body be able to return to the driving position on the condition that the loading operation is completed.

According to this embodiment, the container does not come into contact with the bumper during loading operations.

In each of the above-mentioned aspects, it is desirable that the arm actuation switch be a lowering switch that initiates the lowering operation, and that after the storage switch has been operated for a predetermined time, if the storage detection means does not detect that the bumper body is in the storage position when the lowering switch is operated to initiate the lowering operation, the lowering operation is initiated automatically or on condition that other requirements are satisfied.

This aspect is intended to deal with malfunctions and erroneous detections of the storage detection means.
By operating the storage switch, the bumper body can be moved to the storage position. Therefore, by referring to the operation history of the storage switch, if the storage switch has been operated before the lowering switch is operated, the lowering operation may be performed.
According to this aspect, if the storage switch is operated before the lowering switch is operated, there are exceptional cases in which the lowering operation can be performed.

The loading device is mounted on a vehicle and has a container loading section for loading the container, a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm, the loading arm having an engagement section for engaging with the container, and capable of performing a loading operation in which the engagement section is engaged with the container placed on the ground and the loading arm is driven to pull the container into the container loading section, and an unloading operation in which the container placed on the container loading section is lowered to the ground by the loading arm, the loading device having a bumper The bumper device has a bumper body, and can change the position of the bumper between a driving position suitable for driving and a storage position retracted to the vehicle side by power, and has an extension switch that moves the bumper body to the driving position and a storage switch that moves the bumper body to the storage position, and a storage position detection means that detects that the bumper body is in the storage position, and is characterized in that at least during the loading and unloading operation, the loading arm operation can be started on the condition that the storage position detection means detects that the bumper body is in the storage position.

With this loading device, the loading arm can start operating only when the bumper body is in the storage position. Therefore, when the loading arm starts to operate, the bumper body is always in the storage position, and the bumper body will not come into contact with the ground even if the vehicle is in an inclined position.

With the cargo handling vehicle and loading device of the present invention, the container does not come into contact with the bumper when it is unloaded.

1 is a side view and a partially enlarged view of a loading vehicle according to an embodiment of the present invention. 2A, 2B, and 2C are side views of the loading vehicle shown in FIG. 1, showing the operation of each part during loading operation. 2(d), (e), and (f) are side views showing the operation of each part in the loading operation of the loading vehicle shown in FIG. 1, which is continued from FIG. 2. 2A, 2B, and 2C are side views of the loading vehicle shown in FIG. 1, showing the operation of each part during unloading operation. 5D, 5E, and 5F are side views showing the operation of each part in the unloading operation of the loading vehicle shown in FIG. 1, which are subsequent to FIG. 4. FIG. 2 is a front view of the remote control device. 13 is a flowchart of an automatic unloading operation. 13 is a flowchart of an automatic loading operation. 13 is a flowchart of a manual lowering operation. 13 is a flowchart of a manual loading operation. 13 is a flowchart of an automatic unloading operation. 13 is a flowchart of a modified example of the manual lowering operation.

Hereinafter, an embodiment of the present invention will be described.
In the following description, the relationship between the front and rear is based on the front and rear of the loading vehicle 1. In other words, the front side means the driver's seat 100 side, and the rear side means the opposite side.
The loading vehicle 1 of this embodiment is a container transport vehicle known as a detachable body vehicle, and is equipped with a loading arm 3 for loading and unloading a container 2 between the vehicle and the ground.
1, the cargo handling vehicle 1 has a vehicle section 5 and a loading device 17. The loading device 17 includes a control device 6, a hydraulic device 7, and a bumper device 50. The loading device 17 also includes a remote control device (hereinafter referred to as a remote control) 8.
The vehicle section 5 is a vehicle body of a known truck, has an engine, and rotates wheels to travel on a road.
The loading device 17 is a device for loading and unloading the container 2 between the vehicle section 5 and the ground, and is mounted on the vehicle section 5.

The loading device 17 has a container placement section 11 for placing a container 2 thereon, and a loading arm 3 .
The container placement section 11 is a frame on which the container 2 is placed, and has a gate-shaped protective frame 12 at its front end. The protective frame 12 is provided with an initial position detection means 15. The initial position detection means 15 is a known proximity sensor, photoelectric sensor, or the like, and detects whether the loading arm 3 has moved to the initial position, which is the traveling posture. The initial position detection means 15 may also be a mechanical switch, such as a limit switch.

The loading arm 3 is composed of a hook arm 20 and a lift arm 21.
The loading arm 3 has a hook arm 20 attached to the tip of a lift arm 21 so as to be able to swing at an angle, and has a generally L-shaped overall shape. A hydraulic cylinder 22 is attached between the hook arm 20 and the lift arm 21, and the angle of the hook arm 20 relative to the lift arm 21 changes when the hydraulic cylinder 22 is extended or retracted.
A hook (engagement portion) 23 is provided at the tip of the hook arm 20 .
The base end of the lift arm 21 is swingably attached to the vehicle section 5, and the loading arm 3 can swing as a whole. A hydraulic cylinder 25 is attached to the lift arm 21, and the loading arm 3 swings as a whole by the hydraulic cylinder 25.

The bumper device 50 has a bumper body 10 and a bumper movement mechanism 52 that moves the bumper body 10 back and forth.
The bumper body 10 is a bar- or plate-shaped member extending in the width direction of the vehicle portion 5. The bumper body 10, like known bumpers, serves to absorb the impact of a collision and to prevent other vehicles from slipping under the vehicle portion 5.

The bumper moving mechanism 52 translates the bumper body 10 in the front-rear direction by means of a hydraulic cylinder 53 .
The bumper moving mechanism 52 has a guide (not shown), and moves the bumper body 10 in parallel in the front-rear direction by extending and retracting the hydraulic cylinder 53 .
The structure of the bumper moving mechanism 52 is not limited, and it may be a mechanism that employs a link mechanism or a mechanism that moves the bumper body 10 by a motor.
Furthermore, the bumper body 10 may not only be moved horizontally but also displaced in the height direction.

The bumper device 50 is capable of changing the position of the bumper body 10 by the bumper movement mechanism 52 between a driving position suitable for driving and a storage position retracted to the vehicle portion 5 side.
In this embodiment, the position in which the hydraulic cylinder 53 is extended and the bumper body 10 projects rearward is the driving position, and the position in which the hydraulic cylinder 53 is retracted and the bumper body 10 is positioned forward is the stored position.

In the loading vehicle 1 of this embodiment, the bumper device 50 is provided with a storage detection means 55 and an extension detection means 56. The storage detection means 55 is a sensor that notifies in advance whether the bumper body 10 is in the storage position. The extension detection means 56 is a sensor that detects whether the bumper body 10 is in the traveling position.
The storage detection means 55 and the extension detection means 56 are known proximity sensors, photoelectric sensors, etc. The storage detection means 55 may be a mechanical switch such as a limit switch.

The hydraulic device 7 is equipped with a known hydraulic pump, solenoid valves, and the like.
The hydraulic pump rotates by receiving power transmission from the engine of the vehicle section 5. That is, the hydraulic device 7 is connected to the PTO shaft of the vehicle section 5, and when an operator operates a PTO switch (not shown), the hydraulic pump rotates and generates hydraulic pressure.
The hydraulic device 7 is provided with a solenoid valve that supplies hydraulic pressure to the hydraulic cylinder 22, a solenoid valve that supplies hydraulic pressure to the hydraulic cylinder 25, and a solenoid valve that supplies hydraulic pressure to the hydraulic cylinder 53 (none of which are shown).

The control device 6 includes a circuit for sending signals to each solenoid valve in accordance with a predetermined procedure. The signals from the control device 6 cause the hydraulic cylinders 22, 25, and 53 to operate in a predetermined sequence.
The control device 6 has a communication means for communicating with a remote control 8 .

The remote controller 8 is equipped with an automatic unloading switch 60, an automatic loading switch 61, a manual unloading switch 65, and a manual loading switch 66 as arm operating switches for operating the loading arm 3.
The remote control 8 is also equipped with a bumper extension switch 67 and a bumper retraction switch 68 as bumper operation switches for operating the bumper moving mechanism 52 .
These switches 60, 61, 65, and 66 are all button switches that are turned on only while the operator is pressing them and turned off when the operator releases their hands.

In this embodiment, as described later, the loading arm 3 and the bumper device 50 can be coordinated to perform an automatic unloading operation in which the container 2 is automatically unloaded. Also, the loading arm 3 and the bumper device 50 can be coordinated to perform an automatic loading operation in which the container 2 is automatically loaded.
The automatic lowering operation is started by pressing the automatic lowering switch 60 and is executed by continuing to press the automatic lowering switch 60.
Therefore, the automatic lowering switch 60 is a lowering switch that executes the lowering operation, and has a function of starting the lowering operation and a function of continuing the lowering operation.
The automatic loading operation is initiated by pressing the automatic loading switch 61 and is executed by continuing to press the automatic loading switch 61 .
Therefore, the automatic loading switch 61 is a loading switch that executes the loading operation, and has a function of starting the loading operation and a function of continuing the loading operation.

In this embodiment, it is also possible to operate only the loading arm 3 by operating the manual unloading switch 65 or the manual loading switch 66.
By operating the manual lowering switch 65, the manual lowering operation can be performed.
The manual lowering operation is started by pressing the manual lowering switch 65 and is executed by continuing to press the manual lowering switch 65 .
Therefore, the manual lowering switch 65 is a lowering switch for carrying out the lowering operation, and has a function of starting the lowering operation and a function of continuing the lowering operation.
The manual load operation is initiated by pressing the manual load switch 66 and is executed by continuing to press the manual load switch 66 .
Therefore, the manual loading switch 66 is a loading switch for carrying out the loading operation, and has a function of starting the loading operation and a function of continuing the loading operation.

Furthermore, in this embodiment, it is also possible to operate the bumper extension switch 67 or the bumper retraction switch 68 to move only the bumper body 10 .
The bumper extension switch 67 and the bumper retraction switch 68 are switches that switch the solenoid valve that supplies hydraulic oil to the hydraulic cylinder 53 of the bumper moving mechanism 52.

When the bumper extension switch 67 is pressed and held, the bumper body 10 moves rearward toward the driving position. When the bumper body 10 leaves the storage position, the storage detection means 55 goes into a non-detecting state. When the bumper body 10 moves rearward and reaches the driving position, the extension detection means 56 goes into a detecting state.
When the bumper storage switch 68 is pressed and held, the bumper body 10 moves forward toward the storage position. When the bumper body 10 moves away from the driving position, the extension detection means 56 goes into a non-detection state. When the bumper body 10 moves forward and reaches the storage position, the storage detection means 55 goes into a detection state.

Next, the operation of the loading arm 3 and the like when loading the container 2 will be described.
When the container 2 placed on the ground is loaded onto the vehicle section 5, as shown in Figures 1 and 2(a), the hook (engagement section) 23 of the loading device 17 is engaged with the engagement pin 27 of the container 2. At this time, the hook arm 20 is in a slightly acute angle position with respect to the lift arm 21.
In this state, the lift arm 21 is swung forward (counterclockwise in the drawing).
As a result, the front side of the container 2 is lifted up as shown in Fig. 2(b), and then, as shown in Fig. 2(c), the container 2 is pulled into the vehicle section 5. Then, as shown in Fig. 3(d), the lift arms 21 are further swung to return the position of the lift arms 21 to a substantially horizontal position.
As a result, the container 2 is placed in a substantially horizontal position, and is loaded onto the loading vehicle 1 with the engagement pin 27 facing forward. Thereafter, as shown in FIG. 3(e), the hook arm 20 is swung to approach a vertical position relative to the lift arm 21, and the container 2 is slid forward.
The state when the loading of the container 2 onto the loading vehicle 1 is completed is as shown in Figure 3 (f), where the hook arm 20 is in an approximately vertical position, the hook arm 20 is close to the protective frame 12, and the initial position detection means 15 detects that the loading arm 3 has returned to its initial position.

Next, the operation of the loading arm 3 and the like when the container 2 is lowered will be described.
When the container 2 is to be lowered from the cargo handling vehicle 1, the hook arm 20 is swung backward (clockwise in the drawing) as shown in Figures 4 and 5, and then the lift arm 21 is changed to an inclined posture. As a result, the container 2 is slowly lowered to the ground.
That is, as shown in FIG. 4(c), the hook arm 20 is swung backward (clockwise in the drawing) to change the position of the lift arm 21 at an acute angle, and the container 2 is slid backward.
Next, as shown in Fig. 5(d), the lift arm 21 is swung backward (clockwise in the drawing) to tilt the attitude of the lift arm 21. As shown in Fig. 5(e), the lift arm 21 is swung further backward (clockwise in the drawing) to land the rear end of the container 2 on the ground.
Then, the lift arm 21 is swung further backward (clockwise in the drawing) and the hook arm 20 is swung slightly forward (counterclockwise in the drawing) until the front end of the container 2 lands on the ground as shown in FIG. 5(f), and the container 2 is lowered to the ground.

Next, the automatic unloading operation of the cargo handling vehicle 1 of this embodiment will be described.
In the automatic lowering operation, the loading arm 3 and the bumper device 50 operate in cooperation with each other. That is, in the automatic lowering operation, the loading arm 3 and the bumper device 50 operate according to a series of sequence controls.
The remote control 8 employed in this embodiment has an automatic lowering switch 60. While the automatic lowering switch 60 is being pressed, a series of bumper operations and lowering operations continues.

When the container 2 is loaded onto the vehicle section 5, the hook arm 20 is in an approximately vertical position as shown in Figure 4 (a), and the loading arm 3 is returned to its initial position, and this state is detected by the initial position detection means 15.
4(a), the hydraulic cylinder 53 of the bumper body 10 is in an extended state, and the bumper body 10 is in a driving position protruding rearward. Therefore, the protruding detection means 56 is in a detecting state. Also, the retracting detection means 55 is in a non-detecting state.

When lowering the container 2 to the ground, the automatic lowering switch 60 is pressed and held down.
The control of the automatic lowering operation will be described below with reference to the flow chart of FIG.
As a prerequisite, an operator operates a PTO switch (not shown), the hydraulic pump rotates, hydraulic pressure is generated, and hydraulic oil can be supplied to each of the hydraulic cylinders 22, 25, and 53 by opening and closing each solenoid valve.
In step 1, the process waits for operation of the automatic lowering switch 60. When the worker presses the automatic lowering switch 60, the automatic lowering switch 60 is turned on and the process moves to step 2.

In step 2, the detection state of the storage detection means 55 is confirmed to confirm whether the bumper body 10 is in the storage position.
Usually, when the automatic lowering operation starts, the bumper body 10 is in the driving position, so in most cases, step 2 is NO and the process proceeds to step 3.
In other words, in the automatic lowering operation, the operation of the loading arm 3 (i.e., the rearward swing of the hook arm 20, which is the first operation of the lowering operation) is controlled to be in a state where it can be started, provided that the storage detection means 55 detects that the bumper body 10 is in the stored position, and if the storage detection means 55 is in a non-detecting state when the automatic lowering switch 60 is operated to start the lowering operation, the lowering operation will not be started.

In step 3, the solenoid valve that supplies hydraulic oil to the hydraulic cylinder 53 of the bumper moving mechanism 52 is switched.
As a result, the hydraulic cylinder 53 of the bumper moving mechanism 52 contracts, and the bumper body 10 moves toward the front side of the vehicle portion 5.
Then, the process proceeds to step 4, where it is determined whether or not a certain period of time has elapsed. If the certain period of time has not elapsed, the process returns to step 2, and steps 3, 4, and 2 are repeated.

When the bumper body 10 moves forward, it reaches the front end and reaches the storage position as shown in FIG. 4(b), and the storage detection means 55 detects that the bumper body 10 is in the storage position.
As described above, the loading and unloading arm 3 is controlled to be in a state in which it can start operating, on the condition that the storage detection means 55 detects that the bumper body 10 is in the storage position. Therefore, when the storage detection means 55 detects that the bumper body 10 is in the storage position, the condition for starting the operation of the loading and unloading arm 3 is satisfied.

When the storage detection means 55 detects that the bumper body 10 is in the storage position, step 2 becomes YES and the process proceeds to step 5. In step 5, a series of lowering operations are carried out. That is, as shown in Figures 4(b) to 5(f), the hook arm 20 is swung backward, and then the lift arm 21 is changed to an inclined position. As a result, the container 2 is slowly lowered to the ground.

When the worker releases the automatic lowering switch 60 during the work, the hydraulic cylinders 22, 25, 53 stop at that point. When the worker presses the automatic lowering switch 60 again, the above-mentioned series of operations is restarted from the stopped state. In other words, the operation of the loading arm 3 has already started, and the worker's release of the automatic lowering switch 60 merely stops the movement of the loading arm 3 temporarily, so when the worker presses the automatic lowering switch 60 again, the above-mentioned series of operations is restarted from the stopped state.
When the lowering operation is completed, step 6 becomes YES, and the series of automatic lowering operations ends.

If the storage detection means 55 does not detect that the bumper body 10 is in the storage position, the subsequent lowering operation will not start in principle.
According to this embodiment, the loading arm 3 is operated after it is confirmed that the bumper body 10 has been moved to the storage position, so that the container will not come into contact with the bumper.

In addition, in this embodiment, if the storage detection means 55 cannot detect that the bumper body 10 is in the storage position for a certain period of time despite the worker continuing to press the automatic lowering switch 60, the process moves from step 4 to step 5, and a series of lowering operations is initiated. The certain period of time is a few seconds after the time (3 to 10 seconds) from when the bumper body 10 starts to be stored until it is completed. For example, the certain period of time is about 4 to 120 seconds.

The reason why such a control method is adopted is to deal with a malfunction of the storage detection means 55, etc.
That is, if the lowering operation does not start for a certain period of time, the worker will check the operating state of the bumper device 50 as a normal action. If the bumper body 10 is sufficiently retracted toward the vehicle side, there is no problem in starting the lowering operation.
Therefore, in this embodiment, sufficient time is ensured for the worker to check the bumper device 50, and if this time has elapsed, the lowering operation can be performed as an exception.
When the storage detection means 55 cannot detect that the bumper body 10 is in the stored position, the start of the lowering operation may be performed automatically after a certain period of time has elapsed, or may be performed after the worker operates a confirmation switch or the like that is pressed when he or she visually confirms that the bumper body 10 is in the stored position.

When loading a container 2 on the ground onto the vehicle section 5, as shown in Figures 1 and 2(a), the hook 23 of the loading device 17 is engaged with the engagement pin 27 of the container 2, and the automatic loading switch 61 is kept pressed.
The control of the automatic loading operation will now be described with reference to the flow chart of FIG.
In step 1, the process waits for operation of the automatic loading switch 61. When the operator presses the automatic loading switch 61, the automatic loading switch 61 is turned on and the process moves to step 2.

In step 2, the storage detection means 55 judges whether or not the bumper body 10 is in the storage position.
Usually, when the automatic loading operation starts, the bumper body 10 is in the storage position, so in most cases, step 2 will be YES, and the process will move to step 5, where the loading operation begins.
If for some reason the storage detection means 55 cannot detect that the bumper body 10 is in the storage position, the process proceeds to step 3.
In other words, even in the automatic loading operation, the loading arm 3 is controlled to be in a state in which it can start operating, provided that the storage detection means 55 detects that the bumper body 10 is in the storage position. When the automatic loading switch 61 is operated to start the loading operation, if the storage detection means 55 is in a non-detecting state, the loading operation (swinging of the lift arm 21 forward) will not start.

In step 3 , the hydraulic cylinder 53 of the bumper moving mechanism 52 contracts, and the bumper body 10 moves toward the front side of the vehicle portion 5 .
Then, the process proceeds to step 4, where it is determined whether or not a certain period of time has elapsed. If the certain period of time has not elapsed, the process returns to step 2, and steps 3, 4, and 2 are repeated.

If the bumper body 10 is in the storage position, step 2 becomes YES and the process proceeds to step 5. In step 5, a series of loading operations are carried out. That is, as shown in Fig. 2(b) to Fig. 3(f), the front side of the container 2 is lifted and pulled into the vehicle section 5, the position of the lift arm 21 is returned to a substantially horizontal position, and the hook arm 20 is further swung to approach a vertical position relative to the lift arm 21, and the container 2 is slid forward. The loading arm 3 then returns to its initial position, which is detected by the initial position detection means 15.

As a result, step 6 becomes YES and the process moves to step 7.
In step 7, the automatic loading switch 61 is electrically self-maintained in the on state, so that even if the operator releases the automatic loading switch 61, the process from step 8 onwards continues.
In the following step 8, the solenoid valve that supplies hydraulic oil to the hydraulic cylinder 53 of the bumper moving mechanism 52 is switched.
As a result, the hydraulic cylinder 53 of the bumper moving mechanism 52 extends, and the bumper body 10 moves to the rear side of the vehicle portion 5, until the bumper body 10 reaches the driving position.
Therefore, it is possible to prevent the loading vehicle 1 from moving away with the bumper body 10 in the storage position.
When the extension detection means 56 detects that the bumper body 10 has reached the driving position, step 9 becomes YES, and the series of automatic loading operations ends.

Even during automatic loading operations, the loading arm 3 is operated after it is confirmed that the bumper body 10 is in the storage position, so the container does not come into contact with the bumper during the loading process.

Even during automatic loading operations, if the storage detection means 55 cannot detect that the bumper body 10 is in the storage position for a certain period of time despite the worker continuing to press the loading switch 61, the process moves from step 4 to step 5, and a series of loading operations begins.

The loading vehicle 1 of this embodiment has a bumper extension switch 67 and a bumper retraction switch 68, and the bumper body 10 can also be moved by operating these switches.
Furthermore, in the cargo handling vehicle 1 of this embodiment, the remote control 8 has a manual unloading switch 65 and a manual loading switch 66, which can be operated to load and unload the container 2. That is, the manual unloading switch 65 can be operated to perform a manual loading and unloading operation. Also, the manual loading switch 66 can be operated to perform a manual loading operation.

Here, in the cargo handling vehicle 1 of this embodiment, there are certain restrictions when starting the manual loading/unloading operation.
Even in the manual loading/unloading operation, the operation of the loading arm 3 can be started on condition that the storage detection means 55 detects that the bumper body 10 is in the storage position.
In other words, in this embodiment, if it is not confirmed that the bumper body 10 is in the stored position when the manual lowering switch 65 is pressed, the manual lowering switch 65 becomes inactive and the loading arm 3 does not operate.
The control of the manual lowering operation will be explained based on the flowchart in Figure 9. In step 2, it is confirmed whether the bumper body 10 is in the stored position or not based on the on/off state of the storage detection means 55, and if the bumper body 10 is not in the stored position, the process ends without performing the subsequent operation (swinging the lift arm 21 rearward (Figure 5d)).

When the worker encounters this situation, he or she presses the bumper storage switch 68 to move the bumper body 10 forward to the storage position, and then changes the storage detection means 55 to a detection state.
Thereafter, when the manual lowering switch 65 is pressed again, step 2 becomes YES, and the process proceeds to step 3 where a series of lowering operations are carried out.
When the lowering operation is completed, step 4 becomes YES, and the series of manual lowering operations ends.

Even during manual lowering, the loading arm 3 operates only when the bumper body 10 is in the storage position, so the container does not come into contact with the bumper during the loading process.

A manual loading operation has similar initiation constraints.
That is, in this embodiment, if it is not confirmed that the bumper body 10 is in the stored position when the manual loading switch 66 is pressed, the manual loading switch 66 becomes inactive and the loading arm 3 does not operate.
The control of the manual loading operation will be explained based on the flowchart of Figure 10. In step 2, it is confirmed whether the bumper body 10 is in the storage position based on the on/off state of the storage detection means 55, and if the bumper body 10 is not in the storage position, the process ends without performing any further operations.

When the worker encounters this situation, he or she presses the bumper storage switch 68 to move the bumper body 10 forward to the storage position, and then changes the storage detection means 55 to a detection state.
Thereafter, when the manual loading switch 66 is pressed again, step 2 becomes YES, and the process proceeds to step 3 where a series of loading operations are carried out.
When the initial position detection means 15 detects that the loading arm 3 has returned to the initial position, step 4 becomes YES, and the series of manual loading operations ends.

Even during manual loading operations, the loading arm 3 operates only when the bumper body 10 is in the storage position, so the container does not come into contact with the bumper during the loading process.

In the embodiment described above, control is adopted in which the operation of the loading arm 3 can be started on condition that the storage detection means 55 detects that the bumper body 10 is in the storage position not only when the unloading operation is performed but also when the loading operation is performed, but this control may be adopted only for the unloading operation.

According to the flow charts shown in Figures 7 and 9, if the bumper body 10 is not in the storage position, in principle, no lowering operation is performed. For example, in the case of the automatic lowering operation shown in Figure 9, the process is interrupted without swinging the hook arm 20 backward or moving the lift arm 21 backward. In the case of the manual lowering operation shown in Figure 9, the process is completed without swinging the hook arm 20 backward or moving the lift arm 21 backward.
Instead of this control, the lowering operation may be performed within a range where no hindrance occurs, and then the control may be interrupted or terminated. Alternatively, the lowering operation may be performed within a range where no hindrance occurs, and then it may be detected whether the bumper body 10 is in the stored position (FIGS. 7 and 9, step 2).
For example, even if the hook arm 20 is swung rearward, a container or the like will not come into contact with the bumper body 10. Therefore, the control may be ended after the hook arm 20 is swung rearward, or it may be detected whether or not the bumper body 10 is in the stored position after the hook arm 20 is swung rearward.
It is not recommended to swing the lift arm 21.

In the control of the automatic lowering flowchart shown in Figure 7 and the control of the automatic loading flowchart shown in Figure 8, if the storage detection means 55 is unable to detect that the bumper body 10 is in the stored position for a certain period of time even though the worker continues to press the automatic lowering switch 60, a series of lowering operations etc. are unconditionally started.
However, other conditions may be added to the conditions for starting the lowering operation, etc. Also, the lowering operation, etc. may be started by satisfying requirements in place of the above-mentioned conditions.

For example, a control may be adopted in which the lowering operation is started on the condition that there is a history of moving the bumper body 10 to the storage position by operating the bumper storage switch 68 for a certain period of time before operating the automatic lowering switch 60 or the automatic loading switch 61.

FIG. 11 is a flow chart showing control taking into consideration the history of whether or not the bumper retracting switch 68 has been in the on state for a certain period of time.
For example, in step 01, the bumper storage switch 68 is turned on, and in step 02 this state is maintained for a predetermined period of time. Only when the process reaches step 2 and the detection state of the storage detection means 55 is confirmed, will the worker continue to press the automatic lowering switch 60 to start a series of lowering operations.
The "predetermined time" in step 02 is based on the time required for the bumper body 10 to reach the storage position by turning on the bumper storage switch 68, and the "fixed time" in step 4 is based on the time required for the bumper body 10 to automatically reach the storage position. Therefore, it is desirable to set the "fixed time" in step 4 longer than the "predetermined time" in step 02.

Although not shown in the flowchart of FIG. 11, if the automatic lowering switch 60 is pressed and step 2 is reached without going through steps 01 and 02, and the storage detection means 55 is off, control is interrupted or terminated at that stage.

FIG. 12 is a flow chart showing control in which the history of whether or not the bumper storage switch 68 has been in the on state for a certain period of time is taken into consideration during manual loading/unloading operation.
If the storage switch 68 is not turned on in step 01, the process proceeds to step 1, and similarly to the above-described flow chart, the process waits for the automatic lowering switch 60 to be operated. Alternatively, the process may proceed to step 1 via steps 01 and 02.

At step 2, the detection state of the storage detection means 55 is confirmed, and if the storage detection means 55 is in the OFF state, the process proceeds to step 03, where the past history is referred to.
If step 02 has been passed through before reaching step 2, the process moves to step 3, where the lowering operation is started.
If step 02 has not been passed through before reaching step 2, the control ends.

In the embodiment described above, the bumper body 10 is driven by the power of the hydraulic cylinder 53 or the like, but the bumper body 10 may be moved by human power.
Even in this case, the storage detection means 55 is essential, and the loading arm 3 is driven (the lift arm begins to swing rearward) on the condition that the storage detection means 55 detects that the bumper body 10 is in the storage position.

When adopting a structure in which the bumper body 10 is moved by human power, it is desirable to provide a driving position side locking mechanism that locks the bumper body 10 in the driving position, and a storage position side locking mechanism that locks the bumper body 10 in the storage position.
Furthermore, in the case of adopting a structure in which the bumper body 10 is moved by human power, it is desirable to drive the storage position side locking mechanism by the power of a cylinder or the like.

The loading arm 3 described above is of a type called a swing type, and both the hook arm 20 and the lift arm 21 can only swing and cannot move linearly.
In contrast to this, a loading arm called a sliding type is known, in which some members of the loading arm move linearly.
The present invention is not limited to those employing a swing-type loading arm 3, but can also be applied to loading vehicles employing a sliding-type loading arm.

In the above-described embodiment, a button switch is used as the switch of the remote control. The button switch used in the above-described embodiment is a type of momentary switch that is turned on only while the operator is pressing it and turns off when the operator releases the button.
However, the present invention is not limited to using this type of switch, and it is also possible to use a switch that, once the on switch is operated, maintains the on state until it is turned off (alternate switch), or a switch that electrically maintains the on state by itself.

Reference Signs List 1: cargo handling vehicle 2: container 3: cargo handling arm 5: vehicle section 6: control device 7: hydraulic device 8: remote control 10: bumper body 11: container placement section 15: initial position detection means 17: loading device 20: hook arm 21: lift arm 23: hook (engagement section)
50 Bumper device 52 Bumper moving mechanism 55 Storage detection means 56 Extension detection means 60 Automatic lowering switch 61 Automatic loading switch 66 Manual loading switch 67 Bumper extension switch 68 Bumper storage switch

Claims (5)

A cargo handling vehicle having a vehicle section and a loading device, the loading device being mounted on the vehicle section,
The loading device is for loading a container, and includes a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm,
The loading arm has an engagement portion that engages with the container,
a loading operation of engaging the engaging portion with the container placed on the ground and driving the loading arm to pull the container onto the vehicle portion;
A loading vehicle capable of performing a lowering operation of lowering the container placed on the vehicle section to the ground by the loading arm,
A bumper device is provided, the bumper device having a bumper body and capable of changing the position of the bumper between a driving position suitable for driving and a storage position retracted to the vehicle side by power,
a projection switch for moving the bumper body to the running position and a storage switch for moving the bumper body to a storage position,
a storage position detection means for detecting that the bumper body is in the storage position;
At least in the loading and unloading operation, the operation of the loading arm is allowed to start on the condition that the storage position detection means detects that the bumper body is in the storage position , and further
The arm actuation switch includes a loading switch for performing the loading operation,
A loading vehicle, characterized in that the bumper body can be returned to a traveling position on the condition that the loading operation is completed . A cargo handling vehicle having a vehicle section and a loading device, the loading device being mounted on the vehicle section,
The loading device is for loading a container, and includes a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm,
The loading arm has an engagement portion that engages with the container,
a loading operation of engaging the engaging portion with the container placed on the ground and driving the loading arm to pull the container onto the vehicle portion;
A loading vehicle capable of performing a lowering operation of lowering the container placed on the vehicle section to the ground by the loading arm,
A bumper device is provided, the bumper device having a bumper body, and the bumper can be manually moved between a driving position suitable for driving and a storage position retracted to the vehicle side;
a storage position detection means for detecting that the bumper body is in the storage position;
At least in the loading and unloading operation, the operation of the loading arm is allowed to start on the condition that the storage position detection means detects that the bumper body is in the storage position , and further
The arm actuation switch includes a loading switch for performing the loading operation,
A loading vehicle, characterized in that the bumper body can be returned to a traveling position on the condition that the loading operation is completed . A cargo handling vehicle having a vehicle section and a loading device, the loading device being mounted on the vehicle section,
The loading device is for loading a container, and includes a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm,
The loading arm has an engagement portion that engages with the container,
a loading operation of engaging the engaging portion with the container placed on the ground and driving the loading arm to pull the container onto the vehicle portion;
A loading vehicle capable of performing a lowering operation of lowering the container placed on the vehicle section to the ground by the loading arm,
A bumper device is provided, the bumper device having a bumper body and capable of changing the position of the bumper between a driving position suitable for driving and a storage position retracted to the vehicle side by power,
a projection switch for moving the bumper body to the running position and a storage switch for moving the bumper body to a storage position,
a storage position detection means for detecting that the bumper body is in the storage position;
At least in the loading and unloading operation, the operation of the loading arm is allowed to start on the condition that the storage position detection means detects that the bumper body is in the storage position , and further
The arm actuation switch includes a lowering switch for starting the lowering operation,
A loading vehicle characterized in that, after the storage switch has been operated for a predetermined time, when the lowering switch is operated to start the lowering operation, if the storage position detection means does not detect that the bumper body is in the storage position, the lowering operation is started automatically or on condition that other requirements are satisfied . A loading device that is mounted on a vehicle and loads a container,
The system includes a container placement section for placing the container thereon, a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm,
The loading arm has an engagement portion that engages with the container,
a loading operation of engaging the engaging portion with the container placed on the ground and driving the loading arm to pull the container into the container placement portion;
A loading device capable of performing a lowering operation of lowering the container placed on the container placement section to the ground by the loading arm,
A bumper device is provided, the bumper device having a bumper body and capable of changing the position of the bumper between a driving position suitable for driving and a storage position retracted to the vehicle side by power,
a projection switch for moving the bumper body to the running position and a storage switch for moving the bumper body to a storage position,
a storage position detection means for detecting that the bumper body is in the storage position;
At least in the loading and unloading operation, the operation of the loading arm is allowed to start on the condition that the storage position detection means detects that the bumper body is in the storage position , and further
The arm actuation switch includes a loading switch for performing the loading operation,
The loading device is characterized in that the bumper body can be returned to a traveling position on condition that the loading operation is completed . A loading device that is mounted on a vehicle and loads a container,
The container loading device includes a container placement section for placing the container thereon, a loading arm, a control device for controlling at least the loading arm, and an arm operation switch for operating the loading arm,
The loading arm has an engagement portion that engages with the container,
a loading operation of engaging the engaging portion with the container placed on the ground and driving the loading arm to pull the container into the container placement portion;
A loading device capable of performing a lowering operation of lowering the container placed on the container placement section to the ground by the loading arm,
A bumper device is provided, the bumper device having a bumper body and capable of changing the position of the bumper between a driving position suitable for driving and a storage position retracted to the vehicle side by power,
a projection switch for moving the bumper body to the running position and a storage switch for moving the bumper body to a storage position,
a storage position detection means for detecting that the bumper body is in the storage position;
At least in the loading and unloading operation, the operation of the loading arm is ready to start on the condition that the storage position detection means detects that the bumper body is in the storage position , and further
The arm actuation switch includes a lowering switch for starting the lowering operation,
A loading device characterized in that, after the storage switch has been operated for a predetermined time, when the lowering switch is operated to start the lowering operation, if the storage position detection means does not detect that the bumper body is in the storage position, the lowering operation is started automatically or on condition that other requirements are satisfied .

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