JP2008195111A - Cargo transportation device - Google Patents

Abstract

A hydraulic cylinder is operated to sequentially retract each floor board group, and then all floor board material groups are simultaneously advanced, and the operating speed of the hydraulic cylinder is changed in accordance with the rotational speed of a traveling engine of a vehicle. The present invention provides a transport device capable of controlling the operating speed of a hydraulic cylinder by changing the rotational speed of a traveling engine of a vehicle according to the situation.
Sensors A1, B1, and C1 for detecting that a floor board group is positioned at a retracted end, and a floor to be moved backward after completion of movement of one floor board group to the retracted end. The hydraulic cylinder of each floor board material group is started based on the detection signals from the sensors A1, B1, C1 so that the backward movement of the board material group is started, and the entire floor board material group starts moving forward after the backward movement of the entire floor board material group is completed. And control means for controlling switching of operations of 13A, 13B, and 13C.
[Selection] Figure 7

Description

  The present invention relates to a load conveying apparatus.

  Conventionally, a load conveying device for conveying a load forward by forming a plurality of floor board material groups by dividing a plurality of floor board materials on which the load is placed and moving each floor board material group back and forth. is there. In such a transport apparatus, in order to transport the load placed on the floor board material forward, a cycle in which each floor board material group is sequentially moved backward to the retracted end and then all the floor board material groups are moved forward simultaneously. Is repeated a predetermined number of times.

  A hydraulic cylinder for advancing and retracting each floor board material group back and forth is disposed in the transport device, and the advancing and retreating direction of each floor board material group is changed by switching the operation direction of the hydraulic cylinder. In the hydraulic circuit to which the hydraulic cylinder is connected, a hydraulic pump for pumping oil stored in the hydraulic tank to the hydraulic cylinder and a position for supplying the oil to the hydraulic cylinder to change the operating direction of the hydraulic cylinder are switched. A control valve is arranged. The hydraulic pump is driven by the driving force of the traveling engine taken out by the power take-off device (PTO). The rotational speed of the hydraulic pump increases as the engine speed increases, and the rotational speed of the hydraulic pump increases. Accordingly, the flow rate of oil supplied from the hydraulic pump to the hydraulic cylinder increases. The hydraulic cylinder operates at a speed corresponding to the flow rate of oil supplied from the hydraulic pump. However, since the flow rate of oil supplied from the hydraulic pump and the engine speed are in the above relationship, The operating speed is proportional to the engine speed.

  In addition, a relief valve is disposed between the hydraulic pump and the control valve, and the relief valve operates when the hydraulic pressure rises to a set pressure.

Here, immediately after the floor board material group reaches the forward end portion or the backward end portion, there is one that controls the switching of the control valve by a timer so that the operation of the next floor board material group is executed (Patent Document). 1). The timer changes the operating direction of the hydraulic cylinder by switching the control valve when the floor plate group is scheduled to reach the forward end or the backward end, and when the arrival is scheduled, the engine is operated at a constant rotational speed. It is calculated based on the speed at which the hydraulic cylinder operates under the condition of rotating at.
JP 2001-39208 A

  However, in the control by the timer described above, when the engine speed changes, the actual operating speed of the hydraulic cylinder does not match the operating speed that is the basis for calculation at the time of the above-mentioned scheduled arrival, and the floor board group is moved forward. There is a difference between the actual time of reaching the part or the retreat end and the above-mentioned scheduled time of arrival. Therefore, when the accelerator cylinder is blown and the operating speed of the hydraulic cylinder is increased, the operation of the hydraulic cylinder is not switched even though one floor board group has reached the retreat end, and the retreat is performed next. Since the movement of the floor board group to be started is not started, there arises a problem that the conveyance efficiency of the load is lowered.

  In this case, in the hydraulic cylinder applied to the floor plate group that has completed the reverse movement, the operation of the hydraulic cylinder is not switched even though the piston rod has reached the cylinder stroke end. A phenomenon occurs in which the hydraulic pressure increases without changing the flow. As a result, when the hydraulic pressure in the hydraulic circuit frequently increases to the set pressure of the relief valve, there is a problem that the relief valve is frequently operated and noise is generated.

  Further, when the relief valve is operated, the valve body of the relief valve is opened in a loaded state. For this reason, when the relief valve is operated frequently, the temperature of the oil passing through the relief valve rises, and there is a problem that the oil whose temperature has risen damages the hydraulic circuit.

  Therefore, with the above-described control by the timer, it is not possible to change the engine speed by blowing the accelerator in order to improve the conveyance efficiency during the conveyance of the load.

  The present invention has been made in view of such a point, and the object of the present invention is to move the floor board group forward at the same time after the floor board group is sequentially retracted by the operation of the hydraulic cylinder, The operating speed of the hydraulic cylinder is changed according to the rotational speed of the traveling engine of the vehicle, and the operating speed of the hydraulic cylinder is changed by changing the rotational speed of the traveling engine of the vehicle according to the situation. It is to provide a controllable transport device.

  In the first aspect of the present invention, after the movement of one floor board group to the retracted end portion is completed, the next floor board group to be moved backward is started, and the entire floor board group is further moved backward. A hydraulic cylinder for each floor board group based on a detection signal of a position sensor that detects that each floor board group is positioned at the forward end or the backward end so that the entire floor board group starts to move forward later. The operation of is switched.

  Specifically, the invention described in claim 1 is such that a plurality of floorboard materials arranged in parallel on which a load is placed belong to a plurality of floorboard material groups, and adjacent floorboard materials belong to different groups. A plurality of floor board materials that are divided and constitute each floor board material group are connected by one horizontal board material, and in order to move each floor board material group in the longitudinal direction, the horizontal board material of each floor board material group includes A hydraulic cylinder whose operating speed is changed according to the number of revolutions of the engine is connected, and by operating the hydraulic cylinder, each floor board group is sequentially moved to the retracted end, and then all floor board groups are advanced all at once. A cargo transportation device for a cargo vehicle that advances the load, and is provided for each floor board group, and detects that each floor board group is positioned at the forward end or the backward end. The movement of one floorboard group to the retracted end is completed. After that, the floor board group to be moved back next is started, and the floor board group starts moving forward after the completion of the backward movement of the entire floor board group. Control means for controlling switching of the operation of the hydraulic cylinders of the plate group.

  According to the present invention, when one floor board material group moves to the retracted end, the position sensor detects that the one floor board material group is positioned at the retracted end, and based on the detection signal, When it is identified that the floor board group has completed the movement to the retracted end, switching of the hydraulic cylinder operation is controlled so that the floor board group to be moved back next is started. Furthermore, when it is identified based on the detection signal of the position sensor whether the floor board group to be moved backward last has completed the movement to the retracted end, the advancement of the entire floor board group is started. Thus, the switching of the operation of the hydraulic cylinder is controlled. That is, according to the present invention, the position of the actual floor board group is detected by the position sensor, and the switching of the operation of the hydraulic cylinder is controlled based on the detection signal. As a result, even when the operating speed of the hydraulic cylinder increases or decreases with the change in the rotational speed of the traveling engine, the operation of the hydraulic cylinder can be switched in accordance with the movement of the floor board group. become. For this reason, for example, in order to increase the speed at which the cargo is transported, the speed of the engine for driving the vehicle is changed depending on the situation, such as blowing the accelerator and increasing the engine speed to increase the operating speed of the hydraulic cylinder. As a result, the operating speed of the hydraulic cylinder can be controlled, and the load carrying efficiency is improved. In addition, since the oil supply is stopped and the oil supply position is accurately changed for the hydraulic cylinders for the floor plate group that has completed the reverse movement, the hydraulic pressure of the hydraulic circuit rises excessively and the hydraulic circuit is destroyed. It can prevent you from doing.

  According to a second aspect of the present invention, a relief valve is further disposed in the hydraulic circuit to which the hydraulic cylinder is connected to prevent a pressure increase that is equal to or higher than a set value of the hydraulic pressure of the hydraulic circuit.

  According to the present invention, it is possible to prevent the hydraulic pressure of the hydraulic circuit from rising excessively even when the position sensor fails, so that it is possible to provide a transport device with higher safety. Further, the valve body of the relief valve does not open frequently, noise is not generated, and the temperature of the oil rises and the hydraulic circuit is not damaged.

  According to the invention of claim 3, a cover member that covers the detected body is arranged while the detected body reciprocates.

  Specifically, an auxiliary shaft that reciprocates in conjunction with the hydraulic cylinder, a cylindrical cover member that is inserted into the auxiliary shaft, and an auxiliary shaft that is attached to an outer surface of the auxiliary shaft. And a detected object disposed at a position on the outer surface of the auxiliary shaft that is not exposed from the inside of the cover member during the reciprocating motion. The plate member group is attached to the cover member so as to detect the object to be detected at a position where the plate member group becomes the forward end portion or the backward end portion.

  According to the present invention, the object to be detected is covered with the cover member during the reciprocating motion by the above-described simple configuration, so that dust is prevented from adhering to the object to be detected. Is further prevented from malfunctioning.

  The invention according to claim 4 calculates the completion time of movement of each floor board material group to the retreat end, and after the movement of one floor board material group to the retreat end is completed, the floor board group to be retreated next In order to switch the operation of the hydraulic cylinder of each floor board material group based on the completion of the calculated movement so that the all floor board material group starts moving forward after the backward movement of the entire floor board material group is completed. It is a thing.

  Specifically, a plurality of floorboard materials arranged in parallel on which a load is placed are divided into a plurality of floorboard material groups and adjacent floorboard materials belong to different groups to constitute each floorboard material group The plurality of floor boards are connected by one horizontal board, and the horizontal board of each floor board group has an operating speed according to the rotational speed of the vehicle traveling engine in order to advance and retract the floor board group in the longitudinal direction. Is connected to a hydraulic cylinder, and the operation of the hydraulic cylinder sequentially moves each floor board group to the retracted end, and then advances all the floor board groups all at once to advance the load. A vehicle load transportation device, provided for each floor board group, and a speed calculation sensor for detecting the backward speed in the middle of movement of each floor board group to the backward end, After completing the movement of the floorboard group to the retracted end, Each floor board material group is started based on the detection signal from the speed calculation sensor so that the floor board material group to be moved starts and further all the floor board material groups start moving after the whole floor board material group has finished moving backward. Control means for calculating the movement completion time required to complete the movement to the backward end and controlling the switching of the hydraulic cylinder operation of each floor board group based on the calculated movement completion time.

  According to the present invention, the actual backward speed is detected by the speed calculation sensor during the movement of the one floor board group to the backward end portion, and one floor is based on the detection signal from the speed calculation sensor. The movement completion time required for the plate material group to complete the movement to the retracted end is calculated. Then, when it is determined that the movement completion time has elapsed, the operation of the hydraulic cylinder is controlled so that the floor plate group to be moved backward is started. Further, during the movement of the floor board group to be retreated last to the retreat end, the retreat speed is detected by the speed calculation sensor, and the last retreat is performed based on the detection signal from the speed calculation sensor. The time required for the floor board group to be moved to complete the movement to the retracted end is calculated. Then, when it is determined that the movement completion time has elapsed, the operation of the hydraulic cylinder is controlled so that the advancement of the entire floor board group is started. That is, according to the present invention, the actual backward speed of the floor board material group is detected by the speed calculation sensor, and the switching of the operation of the hydraulic cylinder is controlled based on the detection signal. Thereby, the action | operation of a hydraulic cylinder will be switched according to a motion of a floor board material group. For this reason, by changing the rotation speed of the traveling engine of the vehicle according to the situation, the operating speed of the hydraulic cylinder can be controlled, and the load carrying efficiency is improved.

  According to the first aspect of the present invention, the actual position of the floor board group is detected by the position sensor, and switching of the operation of the hydraulic cylinder is controlled based on the detection signal. As a result, even when the operating speed of the hydraulic cylinder increases or decreases with the change in the rotational speed of the traveling engine, the operation of the hydraulic cylinder can be switched in accordance with the movement of the floor board group. become. For this reason, it is possible to control the operating speed of the hydraulic cylinder by changing the rotational speed of the traveling engine of the vehicle according to the situation, so that the load carrying efficiency is improved. Further, since the oil supply is stopped and the oil supply position is accurately changed with respect to the hydraulic cylinder, it is possible to prevent the oil pressure of the hydraulic circuit from rising excessively and destroying the hydraulic circuit.

  According to the second aspect of the present invention, even when the position sensor fails, it is possible to prevent an excessive increase in the hydraulic pressure of the hydraulic circuit, which is excellent in safety. Further, the valve body of the relief valve does not open frequently, and it is possible to prevent noise generation and damage to the hydraulic circuit due to an increase in oil temperature.

  According to the third aspect of the present invention, the object to be detected is covered with the cover member during the reciprocating motion thereof, so that dust is prevented from adhering to the object to be detected. Thereby, a malfunction of the position sensor is prevented.

  According to the fourth aspect of the present invention, the actual backward speed is detected by the speed sensor during the movement of one floor board group to the backward end portion, and based on the detection signal from the speed sensor, The movement completion time required to complete the movement of the floor board group to the backward end is calculated. Then, when it is determined that the movement completion time has elapsed, the operation of the hydraulic cylinder is controlled so that the advancement of the entire floor board group is started. That is, according to the present invention, the actual backward speed of the floor board group is detected by the speed sensor, and the operation of the hydraulic cylinder is switched based on the detection signal. For this reason, the operating speed of the hydraulic cylinder can be controlled according to the situation, and the conveyance efficiency of the load is improved.

  Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic plan view of a load carrying device according to the first embodiment.

  The load conveying device (hereinafter simply referred to as a conveying device) in the first embodiment is intended for a cargo vehicle, and slides on a floor surface of a cargo receiving portion of the cargo vehicle with a resin support member, a roller, or the like. The floor board material 10 is provided with a plurality of floor board materials 10 that can be divided into three floor board material groups 11A, 11B, and 11C.

  A plurality of floor board materials 10 constituting the floor board material group 11A are connected to the horizontal board material 12A, and a plurality of floor board materials 10 constituting the floor board material group 11B are connected to the horizontal board material 12B, and a plurality of floors constituting the floor board material group 11C. The plate 10 is connected to the horizontal plate 12C.

  Hydraulic cylinders 13A, 13B, and 13C are connected to the horizontal plate members 12A, 12B, and 12C, respectively, and the floor plate member 10 of each floor plate group is slid simultaneously with the reciprocating motion of the hydraulic cylinders 13A, 13B, and 13C. For example, all the floor board members 10 of the floor board group 11A connected to the horizontal board member 12A slide simultaneously with the reciprocation of the hydraulic cylinder 13A.

  FIG. 2 is an enlarged plan view showing a state in which the hydraulic cylinders 13A, 13B, and 13C are connected to the horizontal plate members 12A, 12B, and 12C.

  In the hydraulic cylinders 13A, 13B, and 13C, the tip portions of the piston rods 130A, 130B, and 130C are connected to the horizontal plate members 12A, 12B, and 12C, respectively.

  The cylinder cases 131A, 131B, 131C of the hydraulic cylinders 13A, 13B, 13C are fixed to the chassis frame 14 disposed below the floor surface of the cargo receiving portion of the truck.

  Here, an outline of the operation of the transfer device during load transfer will be described by taking as an example a case where loading of the load is started when the transfer device is in the state shown in FIG.

  In the following, “front” refers to the direction in which the load is advanced, and “rear” refers to the opposite. Therefore, at the time of carry-in, the driver's seat side (left side shown in FIG. 1) is the front side, and the opposite side of the driver's seat (right side shown in FIG. 1) is the rear side. On the contrary, at the time of carrying out, the driver's seat side is the rear and the opposite side is the front. In the transport apparatus shown in FIG. 1, the floor board material groups 11A, 11B, and 11C are all positioned at the forward ends, and the piston rods 130A, 130B, and 130C are in the most extended state.

  First, the piston rods 130A, 130B, and 130C are moved from the state shown in FIG. 1 to the retracted end portions in the order of the floor board material group 11A, the floor board material group 11B, and the floor board material group 11C. Contracts (see FIGS. 3, 4 and 5). At this time, the load remains stopped because the frictional force generated between the retreating floorboard group and the load is smaller than the frictional force generated between the stopped floorboard group and the load. .

  Next, after each of the floor board material groups 11A, 11B, and 11C completes the retreat, the piston rods 130A, 130B, and 130C extend all at once to advance the floor board material groups 11A, 11B, and 11C all at once (see FIG. 6). ). At this time, the load advances as the whole floor board group advances.

  Thus, in the present embodiment, the above-described cycle of retreating and advancing the floor board group is repeated a predetermined number of times in order to gradually convey the load forward. In this embodiment, in order to distribute the load weight to each floor board material group so as to ensure that the load stops when each floor board material group retreats, The adjacent floorboard materials are divided so as to belong to different floorboard material groups.

  Next, a mechanism for causing the above-described movement of the floor board group will be described.

  FIG. 7 is a circuit diagram of a hydraulic circuit in the transfer device according to the first embodiment.

  In addition to the hydraulic cylinders 13A, 13B, and 13C described above, valves 15A, 15B, and 15C, a hydraulic tank 16, a hydraulic pump 17, a relief valve 18, and a strainer 19 are connected to the hydraulic circuit.

  The hydraulic pump 17 pumps the oil stored in the hydraulic tank 16 by the driving force of the traveling engine of the lorry car taken out by a power take-out device (not shown). The amount of oil pumped by the hydraulic pump 17 is: It is changed according to the rotational speed of the traveling engine.

  The valves 15A, 15B, and 15C are solenoid type three-position 6-port valves. The inlet port is connected to the supply path from the hydraulic pump 17, and the outlet port is connected to the supply path to the hydraulic cylinders 13A, 13B, and 13C. ing.

  When the spools of the valves 15A, 15B, and 15C are shifted to the one extension side position, the oil is supplied to the extension side oil chambers of the hydraulic cylinders 13A, 13B, and 13C. At this time, power in the extending direction is transmitted to the piston rods 130A, 130B, and 130C.

  Further, when the spools of the valves 15A, 15B, and 15C are shifted to the other contraction side position, oil is supplied to the contraction side oil chambers of the hydraulic cylinders 13A, 13B, and 13C. At this time, power in the contraction direction is transmitted to the piston rods 130A, 130B, and 130C.

  When the spools of the valves 15A, 15B, and 15C are shifted to the neutral position, the oil passes through the valves 15A, 15B, and 15C and returns to the hydraulic tank 16. At this time, power is not transmitted to the piston rods 130A, 130B, and 130C.

  The relief valve 18 is for preventing an excessive increase in the hydraulic pressure of the hydraulic circuit, and is interposed between the hydraulic pump 17 and the valves 15A, 15B, 15C, and the hydraulic pressure of the hydraulic circuit has increased to a set pressure. It has a valve element that opens occasionally.

  In the hydraulic circuit described above, when the positions of the spools of the valves 15A, 15B, and 15C are changed while the hydraulic pump 17 is being driven, the movements of the piston rods 130A, 130B, and 130C are switched. The movement of the plate group 11A, 11B, 11C is also switched. Therefore, when the movement of one floor board group to the backward end portion is completed, the position of the spool of the valves 15A, 15B, and 15C is changed, and the floor board group to be moved back next is started. When the retreat of the entire floor board material group is completed, the movement of the floor board material group described above is realized by changing the spool positions of the valves 15A, 15B, and 15C and starting the advance of the entire floor board material group. It will be.

  Here, as described above, the flow rate of the oil pumped by the hydraulic pump 17 is changed according to the rotational speed of the traveling engine of the truck. Therefore, when the hydraulic pump 17 is being driven, the spools of the valves 15A, 15B, and 15C are in the expansion side position or the contraction side position, and oil is supplied from the hydraulic pump 17 to the hydraulic cylinders 13A, 13B, and 13C. In addition, when the rotational speed of the traveling engine is changed, the flow rate of the oil supplied to the hydraulic cylinders 13A, 13B, 13C is changed from this point. Then, with the change in the flow rate of the oil supplied to the hydraulic cylinders 13A, 13B, 13C, the expansion / contraction speed of the piston rods 130A, 130B, 130C is changed from the same point, and further, the floor board material groups 11A, 11B , 11C is changed.

  For this reason, in this embodiment, in order to specify the point in time when the floor board group 11A, 11B, 11C whose movement speed can be changed as described above has reached the forward end or the backward end, the transfer device of the present embodiment Are arranged with sensors A1, A2, B1, B2, C1, C2 (position sensors) for detecting the positions of the floor board group 11A, 11B, 11C. Hereinafter, the sensors A1, A2, B1, B2, C1, and C2 are appropriately referred to as sensors A1 to C2.

  Sensors A1, B1, and C1 detect that the floor board material groups 11A, 11B, and 11C are positioned at the retracted ends, respectively, and react when the piston rods 130A, 130B, and 130C are in the most contracted state. To do.

  The sensors A2, B2, and C2 detect that the floor board material groups 11A, 11B, and 11C are positioned at the forward ends, respectively, and when the piston rods 130A, 130B, and 130C are in the most extended state. React each.

  Next, a state where the sensors A1 to C2 and the detected object are attached to the transport device will be described by taking the sensors A1 and A2 as an example. The following items are similarly applied to the sensors B1, B2, C1, and C2.

  8 is a side view of the hydraulic cylinder 13A and members disposed below the hydraulic cylinder 13A, and FIG. 9 is a front view of the hydraulic cylinder 13A and members disposed below the hydraulic cylinder 13A. In FIG. 8, for convenience of explanation, a part of a connecting member 21 and a cover member 22 to be described later are cut out along the line AA shown in the drawing.

  Below the hydraulic cylinder 13A, it is connected to the piston rod 130A of the hydraulic cylinder 13A, reciprocally moves in conjunction with the piston rod 130A, and has a cylindrical shape. A connecting member is connected to the cylinder case 131A of the hydraulic cylinder 13A. The auxiliary member 20 is inserted into the inside of the cover member 22.

  The outer diameter of the auxiliary shaft 20 is smaller than the inner diameter of the cover member 22. Therefore, the outer surface 20a of the auxiliary shaft 20 and the inner surface 22a of the cover member 22 are separated from each other, and a gap exists between the outer surface 20a and the inner surface 22a. ing. Thus, the metal detected bodies 23 of the sensors A1 and A2 are mounted on the outer surface 20a of the auxiliary shaft 20 in the gap.

  The detected body 23 has a cylindrical shape, and is attached on the outer surface 20a of the auxiliary shaft 20 by inserting the auxiliary shaft 20 through the inside. Thereby, the to-be-detected body 23 reciprocates in conjunction with the piston rod 130 </ b> A together with the auxiliary shaft 20. Furthermore, the detected object 23 is disposed at a position on the outer surface 20a of the auxiliary shaft 20 that is not exposed from the inside of the cover member 22 during the reciprocating motion.

  The sensors A1 and A2 react to the detected body 23 when the separation distance from the detected body 23 becomes a predetermined value or less. That is, the sensors A1 and A2 are so-called proximity sensors and are attached on the inner surface 22a of the cover member 22.

  The sensor A1 is arranged so that the separation distance from the detected object 23 becomes the predetermined value when the piston rod 130A is in the most contracted state, that is, when the floor board group 11A is positioned at the retracted end. ing.

  Further, the sensor A2 is configured such that when the piston rod 130A reaches the maximum extension state, that is, when the floor board group 11A is positioned at the forward end, the separation distance from the detected object 23 becomes the predetermined value. Is arranged.

  As a result, when the floorboard group 11A is positioned at the retracted end, the sensor A1 reacts to the detected body 23 positioned in the radial direction of the auxiliary shaft 20, and the floorboard group 11A is positioned at the forward end. When this occurs, the sensor A2 reacts to the detected object 23 located in the radial direction.

  Then, in order to control the movement of the floor board group based on the detection signals of the sensors A1 to C2, the transport device of this embodiment is connected to the sensors A1 to C2 and receives from the sensors A3, B3, and C3. Based on the detected signal, control means for controlling the operation of the hydraulic cylinders 13A, 13B, 13C is arranged. Specifically, the control unit controls the positions of the spools of the valves 15A, 15B, and 15C based on the detection signals received from the sensors A3, B3, and C3.

  FIG. 10 is a flow showing a flow of processing by the control means at the time of loading and loading of the first embodiment. The process shown in the figure is started when the driver presses the carry-in start button. Prior to the start of the process shown in FIG. 10, the spools of the valves 15A, 15B, and 15C are kept in the neutral position.

  First, it is determined whether or not the sensor A1 has reacted in order to identify whether or not the floor board group 11A is positioned at the retracted end (step S101).

  Since it is determined that the sensor A1 is not reacting because the floor board group 11A is not positioned at the retracted end (NO in step S101), the valve 15A is switched from the neutral position to the contracted side position ( Step S102). By this switching, the piston rod 130A starts to operate in the contracting direction, and the rearward power is transmitted to the floor board group 11A. The case of YES in step S101 will be described later.

  Next, it is determined again whether or not the sensor A1 has reacted (step S103). If it is determined that the sensor A1 has reacted (YES in step S103), the floor board material to which the rearward power is transmitted is determined. Since the group 11A has completed the movement to the retracted end as shown in FIG. 3, the valve 15B is switched from the neutral position to the contraction side position (step S104). By this switching, the piston rod 130B starts to operate in the contraction direction, and the rearward power is transmitted to the floor board group 11B.

  Next, it is determined whether or not the sensor B1 has reacted (step S105). When it is determined that the sensor B1 has reacted (YES in step S105), the floor board group to which the rearward power is transmitted. Since 11B has completed the movement to the retracted end as shown in FIG. 4, the valve 15C is switched from the neutral position to the contraction side position (step S106). By this switching, the piston rod 130C starts to operate in the contraction direction, and the rearward power is transmitted to the floor board group 11C.

  Next, it is determined whether or not the sensor C1 has reacted (step S107). If it is determined that the sensor C1 has reacted (YES in step S107), the floor board group 11C moves backward as shown in FIG. Since the movement to the end has been completed, the valves 15A, 15B, and 15C are switched from the contraction side position to the extension side position (step S108). By this switching, the piston rods 130A, 130B, and 130C start to operate in the extending direction, and forward power is transmitted to the floor board material groups 11A, 11B, and 11C that have finished moving to the retracted ends.

  Next, it is determined whether or not the sensors A2, B2, and C2 have reacted (step 109). When it is determined that the sensors A2, B2, and C2 have reacted (YES in step S109), the vehicle starts moving forward. Since the floor board group 11A, 11B, 11C has completed the movement to the forward end as shown in FIG. 6, the valves 15B, 15C are switched from the extended position to the neutral position, and the valve 15A is moved from the extended position. The position is switched to the contraction side position (step S110). By this switching, the piston rod 130A starts to operate in the contraction direction, and the rearward power is transmitted to the floor board material group 11A positioned at the forward end. Further, the valves 15B and 15C are switched to the neutral position, whereby the transmission of power to the floor board material groups 11B and 11C is stopped.

  Then, when step S110 is executed, the process returns to step S103 again, and thereafter, the process from step S103 to step S110 is repeated until an instruction to stop the process is given. , 11B, 11C repeat the above-described cycle of movement to the backward end and movement to the forward end a predetermined number of times. Note that the above-described process stop instruction is executed by a driver pressing a loading stop button or the like.

  Next, a case will be described in which it is determined in step 101 that the sensor A1 has reacted since the floor board group 11A is positioned at the retracted end as shown in FIG. 3 (YES in step S101).

  In this case, it is determined in subsequent step S111 whether or not the sensor B1 has reacted (step S111). This process is executed to identify whether the floor board group 11B is positioned at the retracted end as shown in FIG.

  Next, since the floor board group 11B is not positioned at the retracted end, when it is determined that the sensor B1 is not reacting (NO in step S111), the valve 15B is moved from the neutral position to the contracted side position. It is switched (step S112). By this switching, the piston rod 130B starts to operate in the contracting direction, and the rearward power is transmitted to the floor board group 11B.

  When the process of step S112 is executed, the floor board material group 11A is positioned at the retracted end, and the rearward power is transmitted to the floor board material group 11B, similarly to the case where step S104 is executed. Since it is in the state, the process proceeds to step S105. And after passing through step S110 from step S105, the process from step S103 to step S110 is repeated until the stop instruction | indication of a process is made, In this period, floor board material group 11A, 11B, 11C was mentioned above. The cycle of moving to the backward end and moving to the forward end is repeated a predetermined number of times.

  On the other hand, if it is determined in step S111 that the sensor board B1 has reacted because the floorboard group 11B is positioned at the retracted end (YES in step S111), it is determined whether or not the sensor C1 has reacted. If it is determined (step S113) and the floorboard group 11C is not positioned at the retracted end as shown in FIG. 5, it is determined that the sensor C1 is not responding (NO in step S113). ), The valve 15C is switched from the neutral position to the contraction side position (step S114). By this switching, the piston rod 130C starts to operate in the contraction direction, and the rearward power is transmitted to the floor board group 11C.

  When this step S114 is executed, as in the case where step S106 is executed, the floor board group 11A, 11B is positioned at the retracted end, and the rear board power is transmitted to the floor board group 11C. The process proceeds to step S107. And after passing through step S108-110, the process from step S103 to step S110 is repeated a predetermined number of times until the process stop instruction | indication is made, In this period, floor board material group 11A, 11B, 11C is the above-mentioned. The cycle of moving to the backward end and moving to the forward end is repeated a predetermined number of times.

  On the other hand, in step S113, since the floor board group 11C is positioned at the retracted end, if it is determined that the sensor C1 has reacted (YES in step S113), all of the valves 15A, 15B, and 15C are turned on. The position is switched from the neutral position to the extended position (step S115). By this switching, the piston rods 130A, 130B, and 130C start to operate in the extending direction, and the forward power is transmitted to the floor board material groups 11A, 11B, and 11C positioned at the retracted ends.

  When the process of step S115 is executed, the forward power is transmitted to the floor board material groups 11A, 11B, and 11C positioned at the retracted end portions, similarly to the case where step S108 is executed. Since the state is entered, the process proceeds to step S109. Then, after passing through step S110, the processing from step S103 to step S110 is repeated a predetermined number of times until an instruction to stop the processing is given, and during this time, the floor board material groups 11A, 11B, and 11C are moved backward as described above. The cycle of moving to the end and moving to the forward end is repeated a predetermined number of times.

  As described above, in the transport device of the present embodiment, when one floor board group moves to the retracted end, it is detected by the sensors A1, B1, and C1 that the one floor board group is positioned at the retracted end. The hydraulic cylinder 13A is detected so that when the one floor board material group is identified as having completed the movement to the retracted end based on the detection signal, the floor board group to be moved backward is started. , 13B and 13C are controlled to be switched. Furthermore, when it is identified based on the detection signals of the sensors A1, B1, and C1 whether or not the floor board group to be moved back last has completed the movement to the retracted end, the advance of all floor board groups. The operation of the hydraulic cylinders 13A, 13B, and 13C is switched so that is started. That is, according to the present invention, the position of the actual floor board group is detected by the position sensor, and switching of the operation of the hydraulic cylinders 13A, 13B, and 13C is controlled based on the detection signal. As a result, the flow rate of the oil supplied to the hydraulic cylinder is changed in accordance with the change in the rotational speed of the traveling engine, and the operating speed of the hydraulic cylinders 13A, 13B, 13C is increased or decreased. In addition, the operation of the hydraulic cylinders 13A, 13B, and 13C is switched in accordance with the movement of the floor board group 11A, 11B, and 11C. For this reason, for example, in order to increase the conveyance speed of the load, the accelerator is blown to increase the rotational speed of the engine to increase the operating speed of the hydraulic cylinders 13A, 13B, 13C. By changing the number, the operating speed of the hydraulic cylinders 13A, 13B, and 13C can be controlled, so that the load carrying efficiency is improved.

  In addition, since the operations of the hydraulic cylinders 13A, 13B, and 13C are switched in accordance with the movement of the floor board material groups 11A, 11B, and 11C, when all the floor board material groups are advanced, all the floor board material groups are surely moved backward. The forward movement is started in a state where it is positioned at the section, and a sufficient amount of forward movement of the entire floor board group is ensured, and the load carrying efficiency is improved.

  In addition, after the movement of one floor board material group to the retracted end is completed, the next floor board material group to be moved backward is started, and after the completion of the backward movement of the entire floor board material group, The spool positions of the valves 15A, 15B, and 15C are controlled so as to start the group advance. For this reason, the oil supply is stopped and the oil supply position is accurately changed for the hydraulic cylinders applied to the floor board group that has completed the reverse movement, so that the hydraulic pressure of the hydraulic circuit rises excessively and the hydraulic circuit Can prevent destruction. Further, when the position sensor fails, the relief valve 18 is provided so that it is safe. Further, the hydraulic pressure of the hydraulic circuit does not frequently increase to the set pressure at which the valve body of the relief valve 18 opens, and the valve body does not open frequently. For this reason, generation | occurrence | production of a noise and the temperature of oil rising are prevented from damaging a hydraulic circuit.

  Here, since the sensors A1 to C2 are sensors that react to the metal detection object 23, the members arranged around the detection object 23 are unlikely to react to the sensors A1 to C2. By using a member formed of a material different from that of the detection target 23, malfunction of the sensors A1 to C2 is prevented. For example, iron is used for the object to be detected 23, and stainless steel is used for members disposed around the object.

  Further, the detected object 23 is always covered with the cover member 22 because it is disposed at a position on the outer surface 20a of the auxiliary shaft 20 that is not exposed from the cover member 22 during the reciprocating motion. Thereby, it is prevented that dust adheres to the detected object 23, and the malfunction of the sensors A1 to C2 is further prevented.

  Next, the process of the control means at the time of loading and unloading according to the first embodiment will be described.

  FIG. 11 is a flowchart showing a flow of processing by the control means at the time of loading and unloading according to the first embodiment.

  The hydraulic cylinders 13A, 13B, and 13C are controlled by the control means so that the order and direction in which the floor board material groups 11A, 11B, and 11C are slid are opposite when loading the cargo as compared to when loading the cargo described above. Is done.

  In this connection, the process shown in FIG. 11 has steps corresponding to the steps of the process shown in FIG. The target valve and the position where the valve is switched are different.

  First, in the process shown in FIG. 10, regarding the step whose switching target is the valve 15 </ b> A, the switching target is the valve 15 </ b> C in the step shown in FIG. 11 corresponding to that step, and in the process shown in FIG. As for the step whose target is the valve 15C, the switching target is the valve 15A in the step shown in FIG. 11 corresponding to the step.

  Further, regarding the step in which the valve is switched to the contraction side position in the process shown in FIG. 10, the valve is switched to the extension side position in the step shown in FIG. 11 corresponding to that step, and the valve is switched in the process shown in FIG. 10. Regarding the step switched to the extended position, the valve is switched to the contracted position in the step shown in FIG. 11 corresponding to the step.

  Further, the process shown in FIG. 11 is different from the process shown in FIG. 10 in the step of determining the presence or absence of a sensor reaction, and the sensor to be determined is different. That is, in the process shown in FIG. 10, regarding the step in which the sensor to be determined is the sensor A1 or sensor A2, the sensor to be determined is the sensor C2 or sensor in the step shown in FIG. 11 corresponding to the step. C1, that is, in the process shown in FIG. 10, regarding the step where the sensor to be determined is the sensor B1 or sensor B2, the sensor to be determined is the sensor in the step shown in FIG. 11 corresponding to that step. B2 or sensor B1, and in the process shown in FIG. 10, regarding the step in which the sensor to be determined is the sensor C1 or C2, the sensor to be determined is the sensor in the step shown in FIG. 11 corresponding to that step. A2 or sensor A1.

  The process shown in FIG. 11 has the above-described relationship with the process shown in FIG. 10 and will not be described in detail. However, the detection signals of the sensors A1 to C2 are also used at the time of loading / unloading as in the case of loading / unloading. Based on this, since the operation of the hydraulic cylinders 13A, 13B, and 13C and the movement of the floor board material groups 11A, 11B, and 11C are controlled, the same effects as those at the time of carrying in can be exhibited.

  In the first embodiment, the positions of the piston rods 130A, 130B, and 130C are detected, and the operation of the hydraulic cylinders 13A, 13B, and 13C is controlled based on the detection results. However, the piston rods 130A and 130B are controlled. , 130C may be detected, and the positions of the floor board groups 11A, 11B, 11C may be detected, and the hydraulic cylinders 13A, 13B, 13C may be controlled based on the detection results.

  In this case, instead of the sensors A1 to C2 and the control means described above, the hydraulic cylinder 13A is based on a sensor for detecting the position of the floor board group 11A, 11B, 11C and a detection signal received from the sensor. , 13B, and 13C are arranged in the hydraulic control system.

  Specifically, for each of the floorboard material groups 11A, 11B, and 11C, a sensor that reacts when each of the floorboard material groups 11A, 11B, and 11C is positioned at the retracted end, and the floorboard material group 11A, A sensor that reacts when each of 11B and 11C is positioned at the forward end and a control unit that controls the positions of the valves 15A, 15B, and 15C based on the detection signals of the sensors are arranged in the hydraulic control system. The

  Next, a second embodiment of the present invention will be described in detail based on the drawings.

  In addition, the conveying apparatus of 2nd Embodiment has the structure similar to the conveying apparatus of 1st Embodiment except the sensors A1-C2 mentioned above and a control means. Therefore, in the following description, differences from the first embodiment will be mainly described, and points common to the first embodiment will be described with the same reference numerals as those in the first embodiment being attached to the drawings. Is omitted.

  Moreover, also in the conveying apparatus of 2nd Embodiment, in order to convey a load gradually ahead like the conveying apparatus of 1st Embodiment, retreat and advance of the floor board material group 11A, 11B, 11C mentioned above are carried out. Is repeated a predetermined number of times.

  FIG. 12 is a circuit diagram of a hydraulic circuit in the transfer apparatus according to the second embodiment. In the hydraulic circuit according to the second embodiment, a predetermined part of the piston rods 130A, 130B, and 130C passes through the detection region as a speed calculation sensor for detecting the reverse speed of the floor board material groups 11A, 11B, and 11C. Sensors A3, B3, and C3 that respond to the above are disposed. When the predetermined portion of the piston rod 130A is positioned on the extension side of the detection region of the sensor A3, the predetermined portion of the piston rods 130B and 130C is also positioned on the extension side of the detection region of the sensors B3 and C3. ing. Further, the state in which the sensors A3, B3, C3 and the detected object are attached to the transport device are the same as the matters described in the first embodiment. Therefore, the description regarding this is abbreviate | omitted.

  Thus, the hydraulic circuit in the second embodiment is connected to the sensors A3, B3, and C3, and controls the operation of the hydraulic cylinders 13A, 13B, and 13C based on the detection signals received from the sensors A3, B3, and C3. A control means is arranged. Specifically, the control unit controls the positions of the spools of the valves 15A, 15B, and 15C based on the detection signals received from the sensors A3, B3, and C3.

  FIG. 13 is a flow showing the flow of processing by the control means at the time of loading and loading of the second embodiment. The flow shown in the figure is started by the driver pressing the carry-in start button, etc., as in the flow shown in FIG.

  Here, the process shown in FIG. 13 is roughly divided into two processes.

  First, the first process is a process from step S301 to step S306 or step S308, which is a process for positioning the floor board group 11A, 11B, 11C at the initial position before the start of retreat. Here, the initial position is a position when a predetermined portion of the piston rods 130A, 130B, and 130C is on the extension side with respect to the detection areas of the sensors A3, B3, and C3, that is, the retreat of the floor board group 11A, 11B, and 11C. This is the position when the predetermined portions of the contracting piston rods 130A, 130B, and 130C pass through the detection areas of the sensors A3, B3, and C3 after the start.

  Thus, the second process is a process from step S309 to step S336, which is a process for causing the floor board group 11A, 11B, 11C to repeat the above-described backward movement and forward movement a predetermined number of times. At the time of the first execution of the second process, the floor board material groups 11A, 11B, and 11C start to retreat in a state where they are positioned at the initial position by the first process. Hereinafter, the first process will be described in order.

  First, it is determined whether or not the sensor A3 is not responding because the predetermined portion of the piston rod 130A is not located in the detection region of the sensor A3 (step S301).

  Since the predetermined portion of the piston rod 130A is not located in the detection region of the sensor A3, when it is determined that the sensor A3 is not responding (YES in step S301), the valves 15A, 15B, and 15C are stretched. The position is switched to the side position (step S302). By this switching, the piston rods 130A, 130B, and 130C start to operate in the extending direction, and the forward power is transmitted to the floor board material groups 11A, 11B, and 11C. Further, when the process of step S302 is executed, the measurement of the elapsed time t after this is started by the timer. Note that the case of NO in step S301 will be described later.

  Following step S302, it is determined whether the elapsed time t measured by the timer is less than 5 seconds (step S303).

  Here, in this embodiment, when 5 seconds have elapsed since the transmission of power in the extending direction to the piston rods 130A, 130B, 130C has started, the predetermined portions of the piston rods 130A, 130B, 130C Regardless of the initial position, the sensor A3, B3, C3 reaches the extension side of the detection region. Based on this, in the process of step S303, in order to identify whether or not the predetermined portions of the piston rods 130A, 130B, and 130C have reached the extension side from the detection areas of the sensors A3, B3, and C3, execute step S302. It is determined whether or not 5 seconds have passed.

  When it is determined that the elapsed time t measured by the timer is 5 seconds or more (NO in step S303), the predetermined portions of the piston rods 130A, 130B, and 130C are detected from the detection areas of the sensors A3, B3, and C3. Also, the valves 15A, 15B, and 15C are switched from the extended position to the neutral position based on the fact that they have reached the extended position (step S308). By this switching, the piston rods 130A, 130B, 130C stop operating in the extending direction, and the transmission of power to the front is stopped to the floor board material groups 11A, 11B, 11C.

  On the other hand, if it is determined in step S303 that the elapsed time t measured by the timer is less than 5 seconds (YES in step S303), it is determined whether or not the sensor A3 is reacting. This is executed to identify whether or not a predetermined portion of the piston rod 130A has entered the detection region of the sensor A3 due to the extension of the piston rod 130A.

  If it is determined that sensor A3 is not responding (NO in step S304), the process returns to step S303 again.

  On the other hand, if it is determined that sensor A3 is reacting (YES in step S304), it is determined in subsequent step S305 whether sensor A3 has stopped the reaction. This is executed to identify whether or not a predetermined portion of the piston rod 130A has reached the extension side from the detection region of the sensor A3. Here, in step S305, the piston rod 130A is focused on when the predetermined portion of the piston rod 130A reaches the extension side from the detection region of the sensor A3, and the predetermined portions of the piston rods 130B and 130C are also detected by the sensor B3. , Based on reaching the extension side from the detection region of C3.

  Then, when it is determined that the sensor A3 has stopped the reaction because the piston rod 130A has reached the extension side (YES in step S305), the valves 15A, 15B, 15C are moved from the extension side position. The position is switched to the neutral position (step S306). By this switching, the piston rods 130A, 130B, 130C stop operating in the extending direction, and the transmission of power to the front is stopped to the floor board material groups 11A, 11B, 11C. When this step S306 is executed, the piston rods 130B and 130C also reach the extension side from the detection areas of the sensors B3 and C3.

  Next, the case where it is determined in step S301 that the sensor A3 is reacting (NO in step S301) will be described.

  In this case, in subsequent step S307, the valves 15A, 15B, and 15C are switched to the extended position. By this switching, the piston rods 130A, 130B, and 130C start to operate in the extending direction, and the forward power is transmitted to the floor board material groups 11A, 11B, and 11C.

  Then, in subsequent step S305, it is determined whether or not the sensor A3 stops the reaction. This process is also executed for the same purpose as described in the description of step S305.

  As described above, if it is determined that the sensor A3 has not stopped the reaction (NO in step S305), the process waits until it is determined that the sensor A3 has stopped the reaction. When it is determined that A3 has stopped the reaction (YES in step S305), the piston rods 130A, 130B, and 130C reach the extension side from the detection areas of the sensors A3, B3, and C3. The valves 15A, 15B, and 15C are switched from the extended position to the neutral position. By this switching, transmission of power to the floor board material groups 11A, 11B, and 11C is stopped.

  As described above, when step S306 or step S308 is executed, the piston rods 130A, 130B, and 130C reach the extension side from the detection areas of the sensors A3, B3, and C3. As a result, when the piston rods 130A, 130B, and 130C start to contract in order to move the floor plate group backward, the detection portions of the piston rods 130A, 130B, and 130C subsequently detect the detection areas of the sensors A3, B3, and C3. It is possible to pass through.

  Then, by executing step S306 or step S308, the first process is completed, and at this time, the floor board group is positioned at the initial position. Then, after the first process is completed, the process proceeds to the second process from step S309. Hereinafter, the second process will be described.

  First, the valve 15A is switched from the neutral position to the contracted position (step S309), the piston rod 130A starts to operate in the contracting direction, and the power in the backward direction is transmitted to the floor board group 11A. Note that the neutral positions of the valve 15B and the valve 15C are maintained, whereby the floor board material groups 11B and 11C are maintained at the positions when step S306 or step S308 is executed.

  Next, it is determined whether or not the sensor A3 has reacted (step S310). If the detection portion of the piston rod 130A has entered the detection region of the sensor A3, if it is determined that the sensor A3 has reacted ( YES in step S310), a process for measuring the contraction speed V1 of the piston rod 130A (retraction speed of the floor board group 11A) is started (step S311). Specifically, measurement of the reaction time of sensor A3 is started.

  Next, it is determined whether or not the sensor A3 has stopped the reaction (step S312). Since the detection portion of the piston rod 130A has left the detection area of the sensor A3, it is determined that the sensor A3 has stopped the reaction. In this case (YES in step S312), the measurement process started from step S311 is ended (step S313). Specifically, measurement of the reaction time of sensor A3 is terminated.

  Next, by dividing the length of the detection region of the sensor A3 by the reaction time of the sensor A3 measured in the process from step S311 to step S313, the contraction speed V1 of the piston rod 130A is calculated and calculated. Based on the contracted speed V1, the t1 time until the piston rod 130A reaches the most contracted state, that is, the t1 time until the floor board group 11A completes the movement to the retracted end as shown in FIG. 3 is calculated. (Step S314).

  Next, it is determined whether or not the elapsed time T since the execution of step S314 has exceeded t1 time (step S315). This process is executed to identify whether or not the floor board material group 11A has completed the movement to the retracted end due to the piston rod 130A reaching the most contracted state.

  If it is determined that the elapsed time T has exceeded t1 time (YES in step S315), the valve 15B is moved from the neutral position to the contracted side position based on the completion of the movement of the floor board group 11A to the retracted end. It is switched (step S316). By this switching, the piston rod 130B starts to operate in the contraction direction, and the rearward power is transmitted to the floor board material group 11B positioned at the forward end. The valve 15C is maintained at the neutral position, and the floor board group 11C is continuously maintained at the position when step S306 or step S308 is executed. Further, the valve 15A is continuously maintained in the contraction side position, and the floor board material group 11A is maintained in the state positioned at the retracted end.

  Next, it is determined whether or not the sensor B3 has reacted (step S317), and when it is determined that the sensor B3 has reacted because the detection portion of the piston rod 130B has entered the detection region of the sensor B3 ( In step S317, YES), a process for measuring the contraction speed V2 of the piston rod 130B (retraction speed of the floor board group 11B) is started (step S318). Specifically, measurement of the reaction time of sensor B3 is started.

  Next, it is determined whether or not the sensor B3 has stopped the reaction (step S319). Since the detection part of the piston rod 130B has left the detection region of the sensor B3, it is determined that the sensor B3 has stopped the reaction. In this case (YES in step S319), the measurement process started from step S318 is terminated (step S320). Specifically, measurement of the reaction time of sensor B3 is terminated.

  Next, by dividing the length of the detection region of the sensor B3 by the reaction time of the sensor B3 measured in the process from step S318 to step S320, the contraction speed V2 of the piston rod 130B is calculated. Based on the contracted velocity V2, t2 time until the piston rod 130B reaches the most contracted state, that is, t2 time until the floor board group 11B completes the movement to the retracted end as shown in FIG. 4 is calculated. (Step S321).

  Next, it is determined whether or not the elapsed time T after the execution of step S321 exceeds t2 time (step S322). This process is executed to identify whether or not the floor board material group 11B has completed the movement to the retracted end due to the piston rod 130B reaching the most contracted state.

  If it is determined that the elapsed time T has exceeded t2 time (YES in step S322), the valve 15C is switched from neutral to contraction based on the completion of the movement of the floor board group 11B to the retracted end ( Step S323). By this switching, the piston rod 130C starts to operate in the contracting direction, and the rear power is transmitted to the floor board group 11C positioned at the forward end.

  Next, it is determined whether or not the sensor C3 has reacted (step S324), and when it is determined that the sensor C3 has reacted because the detection portion of the piston rod 130C has entered the detection region of the sensor C3 ( YES in step S324), a measurement process for calculating the contraction speed V3 of the piston rod 130C (retraction speed of the floor board group 11C) is started (step S325). Specifically, measurement of the reaction time of the sensor C3 is started.

  Next, it is determined whether or not the sensor C3 has stopped the reaction (step S326). Since the detection portion of the piston rod 130C has left the detection region of the sensor C3, it is determined that the sensor C3 has stopped the reaction. In that case (YES in step S326), the measurement process started from step S325 is terminated (step S327). Specifically, measurement of the reaction time of sensor C3 is terminated.

  Next, by dividing the length of the detection region of the sensor C3 by the reaction time of the sensor C3 measured in the process from step S325 to step S327, the contraction speed V3 of the piston rod 130C is calculated and calculated. Based on the contracted contraction speed V3, t3 time until the piston rod 130C reaches the most contracted state, that is, t3 time until the floor board group 11C completes the movement to the retracted end as shown in FIG. 5 is calculated. (Step S328).

  Next, it is determined whether or not the elapsed time T from the end of step S328 has exceeded t3 time (step S329). This process is executed to identify whether or not the floor board group 11C has completed the movement to the retracted end due to the piston rod 130C reaching the most contracted state. In addition, when this t3 time passes, all the floor board material groups 11A, 11B, and 11C including the floor board material group 11C have completed the movement to a backward end part.

  If it is determined that the elapsed time T has exceeded t3 time (YES in step S329), the valve 15A is based on the fact that all of the floor board groups 11A, 11B, and 11C have been moved to the backward end. , 15B, 15C are simultaneously switched from the contraction side position to the expansion side position (step S330). At the time of execution of step S330, the piston rods 130A, 130B, and 130C are all in the most contracted state, but by switching the valve, the piston rods 130A, 130B, and 130C in the most contracted state operate in the extending direction, Forward power is transmitted to the floor board group 11A, 11B, 11C positioned at the retreat end.

  Next, it is determined whether or not the sensor A3 is reacting (step S331), and when it is determined that the sensor A3 has reacted because the detection portion of the piston rod 130A has entered the detection area of the sensor A3. (YES in step S331), measurement processing for calculating the extension speed V4 of the piston rod 130A (the forward speed of the floor board group 11A) is started (step S332). Specifically, measurement of the reaction time of sensor A3 is started.

  Next, it is determined whether or not the sensor A3 has stopped the reaction (step S333). Since the detection portion of the piston rod 130A has left the detection area of the sensor A3, it is determined that the sensor A3 has stopped the reaction. In this case (YES in step S333), the measurement process started from step S332 is ended (step S334). Specifically, measurement of the reaction time of sensor A3 is terminated.

  Next, the extension speed V4 of the piston rod 130A is calculated by dividing the length of the detection region of the sensor A3 by the reaction time of the sensor A3 measured in the process from step S332 to step S334. Based on the extended speed V4, t4 time until the piston rod 130A reaches the maximum extension state, that is, t4 time until the floor board group 11A completes the movement to the forward end as shown in FIG. 6 is calculated. (Step S335).

  Next, it is determined whether or not the elapsed time T from the end of step S335 has exceeded t4 time (step S336). This process is executed to identify whether or not the floor board group 11A has completed the movement to the forward end due to the piston rod 130A reaching its maximum extension state.

  In addition, when the floor board material 11A completes the movement to the forward end, the floor board material groups 11B and 11C also complete the movement to the forward end. From this, the processing from step S331 to step S336 described above is performed to identify whether or not all of the floorboard material groups 11A, 11B, and 11C have moved to the forward end portion. This is executed to determine whether or not the completion of movement to the section has elapsed.

  When it is determined that the elapsed time T has exceeded t4 time (YES in step S336), the floorboard material groups 11A, 11B, and 11C have completed the movement to the forward end, and again, the floorboard material group 11A In order to start the backward movement, the process proceeds to step S309. That is, the valve 15A is switched from the extended position to the contracted position, and the valves 15B and 15C are switched from the extended position to the neutral position.

  Then, after this transition, the processing from step S309 to step S336 is repeated until an instruction to stop the processing shown in FIG. 13 is given, and during this time, the floor board material groups 11A, 11B, and 11C The cycle of movement to the part and movement to the forward end is repeated a predetermined number of times.

  As described above, in the transport device of the present embodiment, the retreat speed of the one floor board material group is calculated based on the detection signal from the speed calculation sensor during the movement of the one floor board material group to the retracted end. Further, based on the retreat speed, the movement completion time of the one floor board group to the retreat end is calculated. Then, when it is determined that the movement completion time has elapsed, the operation of the hydraulic cylinder is controlled so that the floor plate group to be moved backward is started. Furthermore, during the movement of the floor board group to be moved backward to the backward end portion, the backward speed and the movement completion time to the backward end portion are calculated based on the detection signal from the speed calculation sensor. Then, when it is determined that the movement completion time has elapsed, the operation of the hydraulic cylinder is controlled so that the advancement of the entire floor board group is started. That is, according to the present invention, the actual backward speed of the floor board material group is detected by the speed calculation sensor, and the switching of the operation of the hydraulic cylinder is controlled based on the detection signal. Thereby, the action | operation of a hydraulic cylinder will be switched according to a motion of a floor board material group. For this reason, as in the first embodiment, by changing the rotational speed of the traveling engine of the vehicle according to the situation, the operating speed of the hydraulic cylinder can be controlled, and the load carrying efficiency is improved.

  FIG. 14 is a flowchart showing the flow of processing by the control means at the time of loading and unloading according to the second embodiment.

  The hydraulic cylinders 13A, 13B, and 13C are controlled by the control means so that the order and direction in which the floor board material groups 11A, 11B, and 11C are slid are opposite when loading the cargo compared to when loading the cargo. The

  In relation to this, the process shown in FIG. 14 also has steps corresponding to the steps of the process shown in FIG. 13, and the relationship between the steps shown in FIG. This is the same as the relationship between the process shown in FIG. 10 and the process shown in FIG. 11 in the first embodiment.

  Further, the process shown in FIG. 14 differs from the process shown in FIG. 13 in the sensor to be determined in the step of determining the presence or absence of the sensor reaction. That is, in the process shown in FIG. 13, regarding the step in which the sensor to be determined is sensor A3, in the step shown in FIG. 14 corresponding to that step, the sensor to be determined is sensor C3. In the process shown, with respect to the step in which the sensor to be determined is the sensor C3, the sensor to be determined is the sensor A3 in the step shown in FIG.

  Further, in step S303 shown in FIG. 13, the elapsed time since the piston rods 130A, 130B, and 130C started to operate in the extending direction in step S302 is set to 5 seconds, whereas FIG. In step S403, the elapsed time since the piston rods 130A, 130B, and 130C started to operate in the contraction direction in step S402 is set to 3 seconds. This is because, in the hydraulic cylinders 13A, 13B, and 13C of the present embodiment, the contraction-side oil chamber is formed to have a smaller volume than the expansion-side oil chamber, and therefore, the contraction speed of the piston rods 130A, 130B, and 130C. Is based on the fact that it becomes faster than the stretching speed.

  The process shown in FIG. 14 has the above-described relationship with the process shown in FIG. 13 and thus will not be described in detail. However, even when the cargo is carried out, the sensors A3, A3, Since the operation of the hydraulic cylinders 13A, 13B, and 13C and the movement of the floor board material groups 11A, 11B, and 11C are controlled based on the detection signals of B3 and C3, the same effects as those at the time of carrying in can be exhibited.

  In the second embodiment, instead of the sensors A3, B3, C3 and the control means described above, the horizontal plate members 12A, 12B, 12C or the floor plate material are used to detect the retreating speed of the floor plate group 11A, 11B, 11C. Sensors that react when the detection portions of the groups 11A, 11B, and 11C pass through the detection region, and control means for controlling the operation of the hydraulic cylinders based on the detection results of the sensors may be arranged.

It is a schematic plan view of the load conveying apparatus in the first and second embodiments. It is an enlarged plan view showing a state where hydraulic cylinders 13A, 13B, 13C are connected to horizontal plate members 12A, 12B, 12C. It is a schematic plan view which shows the state which the floor board material group 11A completed the movement to a retreat end part. It is a schematic plan view which shows the state which the floor board material group 11B completed the movement to a retreat end part. It is a schematic plan view which shows the state which 11C of floor board material groups completed the movement to a retreat end part. It is a schematic plan view which shows the state which the floor board material group 11A, 11B, 11C completed the movement to an advance end part. It is a circuit diagram of the hydraulic circuit in the conveying apparatus of 1st Embodiment. It is a side view of 13 A of hydraulic cylinders and the member arrange | positioned under it. It is a front view of 13A of hydraulic cylinders and the member arrange | positioned under it. It is a flow which shows the flow of the process by the control means at the time of the cargo loading of 1st Embodiment. It is a flow which shows the flow of the process by the control means at the time of cargo unloading of 1st Embodiment. It is a circuit diagram of the hydraulic circuit in the conveying apparatus of 2nd Embodiment. It is a flow which shows the flow of the process by the control means at the time of the cargo loading of 2nd Embodiment. It is a flow which shows the flow of the process by the control means at the time of cargo unloading of 2nd Embodiment.

Explanation of symbols

10 Floor board material,
11A, 11B, 11C Floor board material group,
12A, 12B, 12C Horizontal plate material,
13A, 13B, 13C Hydraulic cylinder,
130A, 130B, 130C piston rod,
A1, A2, B1, B2, C1, C2 position sensors,
A3, B3, C3 Speed sensor.

Claims (4)

A plurality of floorboard materials arranged in parallel on which a load is placed are divided into a plurality of floorboard material groups, and adjacent floorboard materials belong to different groups, and each floorboard material group constitutes a plurality of floorboard materials Are connected by one horizontal plate material, and in order to advance and retreat each floor plate material group in the longitudinal direction, the horizontal plate material of each floor plate material group has a hydraulic pressure whose operating speed is changed according to the rotational speed of the vehicle running engine. A cylinder is connected, and each hydraulic floor cylinder group is moved sequentially to the retracted end by the operation of the hydraulic cylinder, and then the entire floor board group is advanced all at once, thereby transporting the load of the lorry to advance the load. A device,
A position sensor that is provided for each floor board group and detects that each floor board group is positioned at the forward end or the backward end;
After the movement of one floor board group to the retreat end is completed, the next floor board group to be moved backward starts, and after all the floor board groups complete, the all floor board group starts moving forward. And a control means for controlling switching of the operation of the hydraulic cylinder of each floor board group based on a detection signal from the position sensor.   2. The load according to claim 1, wherein a relief valve is further disposed in the hydraulic circuit to which the hydraulic cylinder is connected to prevent a pressure increase exceeding a set value of the hydraulic pressure of the hydraulic circuit. Transport device. An auxiliary shaft that reciprocates in conjunction with the hydraulic cylinder;
A cover member having a cylindrical shape and having the auxiliary shaft inserted therein;
It is attached to the outer surface of the auxiliary shaft so as to reciprocate in conjunction with the auxiliary shaft, and is detected at a position on the outer surface of the auxiliary shaft that is not exposed from the inside of the cover member during the reciprocating motion. And further having a body,
The said position sensor is attached to the said cover member so that the said to-be-detected body may be detected in the position from which a floor board material group becomes an advance end part or a retreat end part, The Claim 1 or 2 characterized by the above-mentioned. Cargo transport device. A plurality of floorboard materials arranged in parallel on which a load is placed are divided into a plurality of floorboard material groups, and adjacent floorboard materials belong to different groups, and each floorboard material group constitutes a plurality of floorboard materials Are connected to each other by a single horizontal plate member, and the horizontal plate member of each floor plate member group has a hydraulic pressure whose operating speed is changed in accordance with the rotational speed of the traveling engine of the vehicle in order to advance and retract the floor plate member group in the longitudinal direction. A cylinder is connected, and each hydraulic floor cylinder group is moved sequentially to the retracted end by the operation of the hydraulic cylinder, and then the entire floor board group is advanced all at once, thereby transporting the load of the lorry to advance the load. A device,
Provided for each floor board material group, in the middle of movement to the retracted end of each floor board material group, a speed calculation sensor for detecting the backward speed,
After the movement of one floor board group to the retreat end is completed, the next floor board group to be moved backward starts, and after all the floor board groups complete, the all floor board group starts moving forward. And calculating the movement completion time required for each floor board group to complete the movement to the retracted end based on the detection signal from the speed calculation sensor, and based on the calculated movement completion time, And a control means for controlling switching of the operation of the hydraulic cylinder of each floor board group.

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