To provide an unmanned reach-type forklift and a steering instruction angle correction method for the unmanned reach type forklift, which are capable of automatically and accurately correcting a steering instruction angle.SOLUTION: This unmanned reach-type forklift is provided with: a controller that provides a rear wheel steering instruction angle; a gyro sensor that detects the rotational angle of a currently rotated machine base; and a rear wheel encoder that detects the moving amount of a rear wheel. The controller corrects the rear wheel steering instruction angle so that a theoretical distance between a rotational center position and the rear wheel determined on the basis of a machine base size and the rotational center position and a distance between the rotational center position and the rear wheel calculated from the rotational angle of the machine base detected during the rotation of the gyro sensor and the moving amount of the rear wheel detected by the rear wheel encoder match each other.SELECTED DRAWING: Figure 5

    【課題】操舵指示角度の補正を自動で正確に行うことができる無人リーチ式フォークリフト及び無人リーチ式フォークリフトの操舵指示角度の補正方法を提供する。【解決手段】後輪の操舵指示角度を与えるコントローラを備える。旋回動作中の機台の回転角度を検出するジャイロセンサを備える。後輪の移動量を検出する後輪用エンコーダを備える。コントローラは、機台寸法と旋回中心位置から決まる理論的な旋回中心位置と後輪との距離と、ジャイロセンサによる旋回動作中に検出した機台の回転角度と後輪用エンコーダによる後輪の移動量から算出した旋回中心位置と後輪との距離とが、一致するように後輪の操舵指示角度の補正を行う。【選択図】図5


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    Title :

    UNMANNED REACH-TYPE FORKLIFT AND STEERING INSTRUCTION ANGLE CORRECTION METHOD FOR UNMANNED REACH-TYPE FORKLIFT


    Additional title:

    無人リーチ式フォークリフト及び無人リーチ式フォークリフトの操舵指示角度の補正方法


    Contributors:

    Publication date :

    2019-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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