JPH0338200B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a lifting device used for lifting workers or materials and lowering unnecessary parts for work at high places, and in particular, This invention relates to an elevating device that allows an elevating platform to be raised and lowered diagonally by operating from a panel.

[Conventional technology]

Assembly at high places such as highways and building construction,
For painting and repairs, a lifting device was used to raise and lower a lifting platform, and workers and materials were placed on this lifting platform to be lifted and lowered.

The outline of this conventional lifting device is explained with reference to Fig. 1. The middle booms A and B, which are hollow inside, are rotatably connected in an X-shape at the center by a shaft C. Upper booms D and E and lower booms F and G are inserted into the end faces so that they can appear and retract freely, and a lifting platform I is connected to the upper booms D and E, and a base is connected to the lower booms F and G. H
are connected. Between this base H and axis C, there is a pair of hydraulic cylinders J and K arranged in an isosceles triangle.
is interposed.

In this configuration, to raise the platform I, first raise the shaft C using hydraulic cylinders J and K, and then the upper booms D and E and the lower booms F and G are pulled out from the open ends of the middle booms A and B. , the lifting platform I moves upward away from the base H and rises.
Here, in order for the lifting platform I to rise vertically upward with respect to the base H, the amount of movement l required for the upper booms D and E and the lower booms F and G to be pulled out from the opening ends of the middle booms A and B, respectively, is required. must always be the same, and for this reason, a tuning mechanism is provided to regulate the amount of movement of each of the upper booms D, E and lower booms F, G.

[Problem that the invention seeks to solve]

By the way, the total length of the middle boom B, the upper boom E, and the lower boom G is a, the total length of the middle boom A, the upper boom D, and the lower boom F is b, and the base H Letting h be the height from to the lifting platform I, the relationship shown in FIG. 2 holds true. Lifting platform I raised to a height h in this way
As an elevating device for moving a fixed length L in the lateral direction, the one described in Japanese Patent Application No. 124974 of 1982 has generally been proposed. According to such a lifting device, the length of one boom is constant (in this conventional example, length a), and the length of the other boom is shortened (in this conventional example, from length b to length b ₁ )
As a result, the workbench I can be moved by a distance L. However, such a lifting device
If the platform I is moved horizontally by a distance L, the height of the platform I becomes _h1 , which is disadvantageous, and it is not possible to ascend and descend diagonally.

The present invention has been made in view of the above points, and
It is an object of the present invention to provide an elevating device capable of ascending and descending in an oblique direction based on a set value.

[Means to solve the problem]

The lifting device of the present invention that solves the above problems is based on the following principle. Now, the principle of the lifting device of the present invention will be explained using FIGS. 3 and 4. In this figure as well, the same items as in FIG. 2 will be described with the same reference numerals. Here, M is the length of the lifting platform I, and is also the distance between the pivot points of the lower booms G and F.

First, when the elevator platform I is vertically raised by h and then stopped, the following equation holds true. That is, ^a2 = ^h2 + ^M2 , ^b2 = ^h2 + ^{M2∴h2 =} a2 ^{- M2} = ^b2 - ^M2 ...(1) However, a=b.

Furthermore, when the elevator platform I is moved by L in the lateral direction, the following equation holds true.

That is, a _x ² = h ² + (M+L) ² b _x ² = h ² + (M-L) ² ...(2).

Here, using the second equation above, set h and L as variables as shown in Figure 4, calculate a _x and b _x moment by moment, and compare the actual boom lengths using this as a reference. By controlling the length of the boom, it is possible to move up and down diagonally. In other words, by substituting △h for a certain height of height h and △L for a certain distance among horizontal distances into equation (2), △a _x ² = △h ² + (K+△L ) ² △b _x ² = △h ² + (K - △L) ² ...(3) is obtained. Then, compare the actual length of the boom using this value as a reference, and when the comparison result is zero, substitute 2△h and 2△L into the second equation, and get △a _x2 ² = (2 △h) ² + (M+2△L) ² △b _x2 ² = (2△h) ² + (M-2△L) ² ......(4), and based on this, calculate the actual boom length. When the comparison result becomes zero, 3△
By substituting h and 3△L into equation (2) to obtain △a _x3 and △b _x3 and comparing the actual boom lengths, it is possible to ascend in the diagonal direction by repeating this one after another. becomes.

In other words, △a _x ² = (Σ△h) ² + (M+Σ△L) ² △b _x ² = (Σ△h) ² + (M−Σ△L) ² ...(5) is calculated, and this Compare the actual boom length with
If the hydraulic circuit is controlled so that the extension of the boom matches Δa _{x and} Δb _x , and the boom is stopped when ΣΔh=h and ΣΔL=L, it becomes possible to ascend diagonally.

In addition, when descending in the diagonal direction, △a _x ² = (h - Σ△h) ² + {M + (L - Σ△L)} ² △b _x ² = (h - Σ△h) ² + {M −(L−Σ△L)} ² ...(6), subtract constant values △h and △L from h and L, and add the actual boom extension to the values a _x and b _x . The amounts should be controlled so that they match. And h−Σ
It is sufficient to stop when Δh=0 and L−ΣΔL=0.

Therefore, if the height h and the horizontal distance L are given in advance and controlled to match these values, automatic vertical elevation becomes possible.

Based on such knowledge, the lifting device of the present invention has the following features:
A movable vehicle body, a lifting platform located above the vehicle body that can be raised and lowered up and down, and a pair of middle booms that are rotatably supported in the center and combined in an X shape;
A lower boom that moves along the length of each middle boom and whose lower ends are connected to the vehicle body, and an upper boom that moves along the length of each middle boom and whose upper ends are connected to a lifting platform. A lifting device having a boom, a pair of telescoping mechanisms arranged in a V-shape between two spaced positions on the vehicle body and the middle boom to move the lifting platform vertically and horizontally; , a length measurement sensor attached to both of the X-shaped telescopic booms consisting of the upper, middle, and lower booms to measure the telescopic length of each telescopic boom and obtain a telescopic signal, and a desired height and desired horizontal distance. A control panel that can set operation data for moving the platform, movement data from the control panel, and expansion and contraction data from the length measurement sensor are imported, and when the lifting platform is moved up and down based on the data from the control panel, the platform is leveled. a control device that controls hydraulic oil to be supplied to the pair of telescoping mechanisms based on the operation data set on the operation panel and the telescoping data in order to raise and lower the platform vertically, horizontally, or diagonally while maintaining the In preparation, when the operation data set on the operation panel includes both height and horizontal distance, the control device calculates an extension reference value for moving both telescopic booms in a diagonal direction based on these, and calculates an extension reference value for moving both telescopic booms in a diagonal direction. The present invention is characterized in that the lifting platform is configured to be able to move diagonally by controlling the hydraulic oil supplied to the telescoping mechanism according to the deviation between the value and the telescoping data.

[Effect]

When it is desired to move the elevating platform by a desired height and a desired horizontal distance, information regarding the height and distance is set on the operation panel. When the set information is taken into the control device, the control device uses the above formula (5) or
Use equation (6) to find the reference value for boom extension. Then, the control device compares this reference value with the detected expansion and contraction data and controls the supply of hydraulic oil to the expansion and contraction mechanism so that the deviation becomes zero. the result,
The lifting platform will be raised and lowered in an oblique direction.

Also, using equations (1) and (2), the platform rises vertically, stops at the set height, then moves horizontally, stops at the set horizontal distance, and then moves horizontally again to return to its original position. It is also possible to stop at a certain position and then vertically descend.

〔Example〕

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIG. 5 is a side view of an embodiment of the elevating device according to the present invention, showing the elevating mechanism in the lowest position. FIG. 6 is a side view showing the elevating mechanism in a fully extended state. FIG. 7 is a rear view showing the state in FIG. 6.

The reference numeral 1 in the figure is a truck body.A front wheel 2 and a rear wheel 3 are pivotally supported on the front, rear, left, and right sides of the vehicle body 1, respectively.A driver's cab 4 is provided above the front wheels 2. Outriggers 5 are fixed to the center and left and right sides of the rear end, respectively. An elevating mechanism 6 is placed on the upper surface of the vehicle body 1. A elevating table 7 is fixed to the upper part of the elevating mechanism 6, and a handrail 8 is provided around the elevating table 7. The lifting mechanism 6
consists of four telescoping booms, each with 10 middle booms and 1 lower boom.
1. It is composed of an upper boom 12. The center of each of the two middle booms 10 is connected by a connecting shaft 13 so as to be rotatable in an X-shape, and the lower boom 11 and the upper boom 12 each have a connecting piece at their tip. 14 and 15 are fixed to each other, and the connecting piece 14 is connected to the fixed piece 16 fixed on the vehicle body 1.
and are rotatably connected by a pin, and the connecting piece 1
5 is rotatably connected to a fixed piece 17 fixed to the lower surface of the lifting table 7 by a pin.

The intervals between the fixed pieces 16 and the fixed pieces 17 are the same, and the vehicle body 1 and the lifting platform 7 are configured to be parallel even if the telescopic boom is extended in an X-shape. The two sets of the middle booms 10 are arranged parallel to each other with an interval between them, and the middle booms 10 inside each set are connected at the center by an operating shaft 18. The axes of the actuating shaft 18 and the connecting shaft 13 are arranged in a straight line. Both positions close to the fixed piece 16 of the vehicle body 1 and the operating axis 1
Hydraulic cylinders 19 and 20 are arranged between the two hydraulic cylinders 8, respectively, and both the hydraulic cylinders 19 and 20 are arranged to form an isosceles triangle with the operating axis 18 as the apex. Note that the middle booms 10, 10 are provided with length measuring sensors 21, 22 for measuring the length of the booms. The length measurement sensors 21 and 22 have a built-in digital rotation meter, and a belt-shaped body 23 is attached to the rotation axis.
A spiral spring is provided which winds the band-shaped body 23, and one end of the band-shaped body 23 is engaged with the connecting piece 14 of the lower boom 11, so that the band-shaped body 23 moves forward and backward like a tape measure. It's fine if you do it the way you want.

Next, FIGS. 8 and 9 show the internal structure of the above-mentioned telescopic boom, that is, the middle boom 10.
The middle stage boom 10 has a structure in which a thin steel plate is bent to have a hollow square cross section in the length direction, and a lower stage boom 11 is slidably inserted through one end of the middle stage boom 10. The lower boom 11 has a hollow rectangular cross section made by bending a thin steel plate, and the upper boom 12 inserted from the other open end of the middle boom 10 is slidably inserted into the lower boom 11. There is. Fan-shaped shaft support pieces 24 and 25 are fixed to both ends of the middle boom 10, respectively, and a pair of guide rollers 26 and 27 are rotatably supported on the shaft support pieces 24 and 25, respectively. , the guide roller 26 is the lower boom 1
Guide rollers 27 are in contact with both sides of the upper boom 12, respectively. Also,
A gearbox 28 is fixed to the end of the middle boom 10 close to the shaft support piece 25, and two sprocket wheels 2 are installed in the gearbox 28.
9 and 30 are pivotally supported. The tip of the lower boom 11 (the deepest position in the middle boom 10) and the tip of the upper boom 12 are connected by a chain 31. It is rolled to form a letter shape. The chain 31 coordinates the expansion and contraction of the lower boom 11 and the upper boom 12, so that the lower boom 11 and the upper boom 12 move in and out of the middle boom 10 by the same amount of expansion and contraction.

Further, FIG. 9 shows a cross section of the center of the middle boom 10. Now, the configuration of the length measurement sensor 21 or 22 will be explained with reference to FIGS. 8 and 9.
The rotating shaft 33 is provided with a spiral spring 34 for winding the band 23 around the rotating shaft 33. A band-shaped holder 35 is wound around and fixed to the center outer periphery of the middle boom 10, and a cylindrical connecting shaft 13 is fixed to the side surface of one of the holders 35, and the other The engaging piece 3 is fixed to the holding body 35 with a screw 36.
7 is fixed, and the engaging piece 37 is fitted into the engaging groove 38 formed on the outer periphery of the connecting shaft 13, so that the two middle booms 10 are connected in an X-shape and their rotation is limited. Freely maintained. and,
Connection shaft 13 of holder 35 of one middle boom 10
A support shaft 39 is projected on the opposite side, and the operating shaft 18 is connected to this support shaft 39.

FIG. 10 is a system diagram showing a schematic configuration of a hydraulic control system according to an embodiment of the present invention. In this figure, parts unrelated to the control system, such as the driver's cab 4, are omitted.

In the figure, it is attached to the middle boom 10,
A length measurement sensor 21 that can measure the amount of boom extension;
The detection signal from 22 is taken into the control device 50. The control device 50 includes a processing unit 51 that takes in various information, performs arithmetic processing on the information, and outputs a control signal, and a storage unit 52 that stores predetermined data and the like.
and an external operation panel 53. A control signal from the control device 50 is given to a first hydraulic control section 55 and a second hydraulic control section 56 of the hydraulic circuit 54, respectively. First hydraulic control section 55 and second hydraulic control section 5
The pressure oil controlled by 6 is supplied to hydraulic cylinders 19 and 2.
It is designed to flow in and out between 0 and 0.

FIG. 11 is a system diagram showing the detailed configuration of the hydraulic control system. The output of the engine 57 is transmitted to a pump 58, the suction side of the pump 58 is connected to a tank 59 filled with pressure oil, and the discharge side of the pump 58 is connected to switching valves 60, 61. The switching valves 60 and 61 are electromagnetic valves that can switch between three positions at high speed, and are connected to two oil passages 62, 63, 64, and 65, respectively. 19 and 20 are connected to each other, and a check valve 6 is connected to the oil passages 63 and 65.
The operating sides of the cylinders 19 and 20 are connected through a parallel circuit of the control valves 6 and 68 and the control valves 67 and 69.

The processing unit 51 of the control device 50 includes a microprocessor unit (MPU) 70 that performs various calculation processes,
A read-only memory (ROM) 71 that stores predetermined programs, etc., and a random access memory (RAM) 72 that stores processing programs, etc.
A digital input section (DI) 73 that takes in detection signals from the length measurement sensors 21 and 22, and a digital input/output section (DIO) that takes in signals from the operation panel 53 and lights up the display section of the operation panel 53. 74
, a digital output unit (DO) 75 that outputs a control signal for switching the switching valves 60 and 61, and a backup unit that stores various data that should not be erased.
RAM (Bu-RAM) 52, MPU70, ROM7
1, RAM72, ADC73, Bu-RAM52,
Bus line 76 connecting DIO74 and DO75
It consists of Furthermore, the storage section 52 also serves as a backup RAM for the processing section 51.

The operation panel 53 includes a selection switch 80 for selecting manual operation or automatic operation, and a rise switch 81, a fall switch 82, a horizontal forward switch 83, a horizontal reverse switch 84, and a horizontal reverse switch 84 used during manual operation. , a height digital switch 85 for setting the height h, a horizontal distance digital switch 86 for setting the horizontal distance including forward or backward, and a confirmation switch 87 for checking whether the values set on the digital switches 85 and 86 are correct. and 88, a mode switch 89 for selecting whether to ascend or descend in an oblique direction, a start button 90 for starting automatic handling, a stop button 91 for emergency stop, and display devices 92 and 93 for displaying height h and horizontal distance L. These are connected to the DIO 74 of the processing section 51.

Next, the operation of this embodiment will be explained.

First, the engine 57 attached to the vehicle body 1 is operated, and the engine 57 drives the pump 57 to generate oil pressure. This oil pressure is the switching valve 60,6
However, when the switching valves 60 and 61 are in a stationary state, the hydraulic pressure is recovered to the oil tank 59 by a circuit (not shown).

Next, the operation will be explained using the flowchart shown in FIG.

FIG. 12 is an explanation of the operation when the selection switch 80 is selected for manual operation.

The program is started at step 100. At step 101, when the lift switch 81 of the operation panel 53 is turned on, the process moves to step 102. Step 102
Then, when the DIO 74 takes in this and gives it to the MPU 70, the MPU 70 outputs an upward control signal to the switching valves 60 and 61 via the DO 75. As a result, hydraulic pressure is applied to the hydraulic cylinders 19 and 20 via the oil passages 62 and 64, and both hydraulic cylinders 1
9, 20 are supplied with pressure oil. In step 103, the signals from the length measurement sensors 21 and 22 are sent to the DI 73.
The data is taken into the Bu-RAM 52 via. step
104, the captured length measurement sensors 21 and 22
If there is a deviation in the comparison result, a control signal corresponding to the deviation is output to one of the switching valves 60 or 61. In step 105, the switching valves 60 and 61 are switched and controlled so that a predetermined amount of oil is supplied to the hydraulic cylinder 19 or 20 so that the deviation is eliminated. As a result, pressure oil is supplied to both hydraulic cylinders 19 and 20, causing the hydraulic cylinder 19 to extend and at the same time, the hydraulic cylinder 2
0 expands in synchronization with the hydraulic cylinder 19. The pressure oil discharged by the hydraulic cylinders 19 and 20 is collected into the oil tank 59 through the control valves 67 and 69. When the hydraulic cylinders 19 and 20 are operated and their cylinder rods are projected, the middle boom 10 is lifted upward, and the lower boom 11 and the upper boom 12 are accordingly pulled out by the middle boom 10. Since the lower boom 11 and the upper boom 12 are connected by a chain 31, when the lower boom 11 comes out of the middle boom 10, the chain 31 fixed to the tip of the lower boom 11 rotates the sprocket wheels 29 and 30. As the chain 31 moves, the lower end of the upper boom 12 is pulled, and the upper boom 12
is pulled out from the upper end opening of the middle boom 10. Moreover, since the chain 31 does not extend, the amount of extension of the lower boom 11 and the upper boom 12 is the same, and the amount of extension of each of the lower boom 11 and the upper boom 12 in a pair is the same.
The middle boom 10 rotates around the connecting shaft 13 in an X-shape to lift the lifting platform 7. When the middle boom 10 is pushed up by the hydraulic cylinders 19 and 20, since the hydraulic cylinders 19 and 20 are both arranged to form an isosceles triangle with the connecting shaft 13 as the center, the amount of extension of each cylinder rod is the same. If so, the connecting shaft 13 will always rise in a direction perpendicular to the vehicle body 1. Both hydraulic cylinders 1
9 and 20 are synchronized so that the amount of expansion is the same, and the expansion of the cylinder rod is the same at any point in time. The relationship between this amount of movement is
To explain with reference to FIG. 3, the respective extension amounts W of both hydraulic cylinders 19 and 20 are the same, and the connecting shaft 13 is raised in a straight line, and the lower boom 11,
The extrusion amounts Z of the upper booms 12 are all the same, and all the booms 11 and 12 are synchronized with their movement amounts.

In step 106, both hydraulic cylinders 1
9 and 20, the operator determines whether or not the lifting platform 7 has reached the predetermined height h. If it has not reached the predetermined height h, the operator returns to step 101, and if it has reached it, stops the lift switch 81 (step 107).
As a result, the switching valves 60, 61 return to their neutral positions, and the hydraulic circuits of the respective hydraulic cylinders 19, 20 are closed while they are in the extended state, and the elevator platform 7 is not lowered (step 108). When stopped at a predetermined height, the MPU 70 calculates the height h using the detection signals of the length measurement sensors 21 and 22 and the above equation (1) in step 109, and calculates this height h by the Bu-RAM 52.
to be memorized.

In step 110, when the horizontal movement advance switch 83 is pressed, the process moves to step 111, where a _x and b _x are calculated moment by moment by the MPU 70 based on equation (2).
The value is stored in Bu-RAM52.

In step 112, a control signal is given to the switching valves 60, 61 via the DO 75 so that the detection signals from the length measurement sensors 21, 22 match the above-determined _ax , _bx , and here, ax, _{bx are} determined. A comparison is made between b _x and the detection signal, and if they do not match, step 112 is repeated until they match. In step 113, the operator determines whether the platform 7 has moved to a predetermined horizontal distance L. If it has not moved, the process returns to step 110, and if it has moved, the process proceeds to step 114.
Next, in step 114, the switch 83 is stopped, and in step 115, the horizontal movement of the lifting platform 7 is stopped, and this distance L is stored in the Bu-RAM 52.

At step 116, the backward switch 84 for horizontal movement is activated.
When you press , the value stored in Bu-RAM52 is read out in reverse, and the length measurement sensor 2 is set based on that value.
The switching valves 60 and 61 are controlled so that the detection signals from 1 and 22 match. At step 117, distance L
It is determined whether the lifting platform 7 has moved to the original position, and if it has moved, the process moves to step 118 and stops, and if it has not moved, the process moves to step 116.
Next, in step 118, when the lowering switch 82 is pressed, in step 119, the switching valve 60,
A control signal is output to 61. As a result, the switching valves 60 and 61 are switched in the opposite direction, and the pressure oil from the pump 58 is transferred to the oil passages 63 and 65 and the check valves 66 and 68.
The liquid is injected into the hydraulic cylinders 19, 20 through the process, and the hydraulic cylinders 19, 20 contract. Hydraulic cylinder 1
The hydraulic oil discharged by 9 and 20 flows through oil passages 62 and 6.
4 returns to the oil tank 59. Even during the contraction operation of both hydraulic cylinders 19 and 20, the MPU 70
Both hydraulic cylinders 1
The reduction amounts of 9 and 20 are synchronized, and the connecting shaft 13 of the middle boom 10 descends perpendicularly to the vehicle body 3. If the bottom has not been reached at step 120, step 118
Return to step 121 if it has been reached. In step 121, everything is brought to a halt state, and this routine ends.

The above is the operation in the case of manual operation.

Next, the automatic handling operation will be explained using FIG.

First, the selection switch 80 is switched to "auto".
Next, the height h is set on the digital switch 85 (step 201). This setting value is displayed on the display device 92 via the MPU 70 (step 202).
If the set value of h displayed on the display device 92 is not the desired value, return to step 201 and set it again, but if it is the desired value, press the confirmation switch 87 (step 204) and this will be stored in the Bu-RAM 52. (Step 205). Next, a horizontal movement distance L including forward or backward movement is set in the digital switch 86 (step 206). This setting value is displayed on the display device 92 via the MPU 70 (step 207).
If this setting value is not the desired value, the step
Returning to step 206, the settings are made again, but when the desired value is reached, the confirmation switch 88 is pressed (step 209), and this is stored in the Bu-RAM 52 (step 210).
Here, steps 201-205 and steps 206-210 may be reversed.

Then, the mode switch 89 is pressed (step 211), and it is determined whether or not it is ascending or descending in an oblique direction (step 212). Hereinafter, the case of ascending and descending in an oblique direction in step 212 will be explained.

When the "start button 80" is pressed in step 213, a suitable minute value of △h,
ΔL is calculated by the MPU 70 (step 214). Next, the boom extension reference values △a _x and △b _x are determined from equation (5) (step 215). In addition, the length measurement sensor 21,
The detection signal from 22 is taken in (step 216).
In step 217, the detected reference values a _x and b _x are compared with the detected signal, and a control signal corresponding to the deviation is output to the hydraulic circuit 54 . Then,
In step 218, the changeover valves 60 and 61 of the hydraulic circuit 54 are switched in accordance with the control signal to determine whether the deviation has become zero, and if it is not zero, the step is continued.
Returns to 216, but if it is zero, moves to the next step. In step 219, when Σ△h=h and Σ△L=L, the process moves to step 220 and the lifting of the platform 7 is stopped; however, in other cases, the process continues.
Return to 215 and process further steps again. This completes the oblique rise.

Here, when the work etc. is finished and you want to descend diagonally, press the "start button 90" again (step 221), the equation (6) is calculated and the extension standard of the boom △a _x , △b Find _x (step 222). Capturing the detection signals of the length measurement sensors 21 and 22 (step
223). Using the above-determined Δa _x and Δb _x as a reference, the detection signal is compared with this, and the hydraulic circuit 54 is controlled according to the deviation (step 224). In step 225, it is determined whether the deviation has become zero as a result of controlling the switching valves 60, 61 using the deviation signal, and if it is not zero, the process returns to step 223, but if it is zero, the process moves to step 226. In step 226, h−Σ△h=
0, L-ΣΔL=0, that is, when it reaches the lowest position, it moves to step 227 and stops, but otherwise it returns to step 222 and processes again. By repeating this, you will be able to descend diagonally.

The above is the diagonal vertical movement.

Next, the automatic operation will be explained in the order of vertical rise → stop → horizontal movement → stop → horizontal movement → vertical descent. In this case, the mode switch 89 is selected to a direction other than the oblique direction. In step 230, △a _x and △b _x (where △a _x =△b _x ) are determined from the above equation (1).
In step 231, detection signals from the length measurement sensors 21 and 22 are acquired. In step 232, △a _x , △b _x
The detection signal is compared with the reference signal. Here, if there is a deviation, the process returns to step 231, but if there is no deviation, the process moves to step 233. In step 233, it is determined whether the set value h has been reached. If the set value h has not been reached, the process returns to step 230, but if it has been reached, the process moves to step 234 and stops there. step 235
Now, calculate △a _x and △b _x by calculating equation (5). In step 236, detection signals from the length measurement sensors 21 and 22 are acquired. In step 237, the length measurement sensor 21,
The hydraulic circuit 54 is controlled so that the detection signals of 22 match Δa _x and Δb _x . In step 238, if there is no match, the process returns to step 236, but if there is a match, the process moves to step 238. In step 238, Σ△
It is determined whether h=h and ΣΔL=L have been reached. If not, the process returns to step 235, but if they have been reached, the process moves to step 239 and stops. Note that when the "start button 90" is pressed in this stopped state (step 240), step 235 is replaced with equation (6), and step 239 is replaced with h-Σ△h=0,
Horizontal return processing (step 241) that is the same as steps 235 to 240 with L−Σ△L=0
is executed and stops in a vertical position. Next, a _x = b _x
A descending return process (step 242) is performed to gradually return the pressure oil, and it stops when it reaches the lowest position.

According to this embodiment, the digital switches 85, 8
6, set the height h and horizontal distance L in advance, calculate △a _x and △b _x using equations (5) and (6) above, use these as a reference, and set the length measurement sensor 21, 2
The switching valve 60,
Since it is controlled by the control signal 50 at 61,
The lifting platform 7 will move up and down diagonally.

In the above embodiment, since the switching valves 60 and 61 are capable of opening and closing in a pulsed manner, it is easy to finely adjust the amount of movement. In addition, length measurement sensors 21, 2
2 may be of an analog type, in which case it is necessary to input the detection symbol to the MPU 70 via an AD converter. Furthermore, although a digital switch is used in this embodiment to set the height h and horizontal distance L on the operation panel, a numeric keypad or other input device may be used instead.

〔Effect of the invention〕

As described above, by setting the horizontal distance and height, the present invention can calculate the movement distance of each telescoping mechanism, and based on this, the hydraulic cylinder can be controlled to perform not only vertical movement and horizontal movement. , it has the effect of being able to automatically move up and down diagonally.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing an outline of a conventional lifting device;
Fig. 2 is a schematic diagram shown to explain the operation of a conventional lifting device, Figs. 3 and 4 are schematic diagrams shown to explain the principle of the present invention, and Fig. 5 is a schematic diagram shown to explain the principle of the present invention. FIG. 6 is a side view showing an example of the elevating mechanism in the state shown in FIG. Fig. 8 is a side sectional view showing the inside of the middle boom, Fig. 9 is a longitudinal sectional view of the middle boom near the operating axis, and Fig. 10 is a system diagram showing the control system of an embodiment of the lifting device of the present invention. , Fig. 11 is a system diagram showing Fig. 10 in detail, Fig. 12 is a flowchart shown to explain the manual operation of the control system, and Fig. 13 is a schematic diagram showing the relationship between the lifting mechanism and the hydraulic expansion and contraction mechanism. , FIG. 14 is a flow chart shown to explain the automatic operation of the control system. 1... Vehicle body, 6... Lifting device, 7... Lifting platform,
10...middle boom, 11...lower boom, 12
...Upper boom, 19,20...Hydraulic cylinder,
21, 22...Length measurement sensor, 50...Control device, 54...Hydraulic circuit.

Claims (1)

[Scope of Claims] 1. A movable vehicle body, a lifting platform located above the vehicle body that can be raised and lowered up and down, a pair of middle stage booms rotatably supported at the center and combined in an X shape, and each middle stage. A lower boom that moves along the length of the boom and whose lower end is connected to the vehicle body, and an upper boom that moves along the length of each middle boom and whose upper end is connected to the lifting platform. a pair of telescoping mechanisms arranged in a V-shape between two spaced apart positions on the vehicle body and the middle stage boom to move the platform vertically and horizontally; , a length measurement sensor attached to both sides of the X-shape of the telescopic boom consisting of the middle and lower booms, which measures the telescopic length of each telescopic boom and obtains a telescopic signal, and moves the boom to a desired height and horizontal distance. A control panel that can set operation data for the operation, movement data from the control panel, and expansion and contraction data from the length measurement sensor are captured, and when the platform is moved up and down based on the data from the control panel, it can be adjusted while keeping the platform horizontal. a control device that controls hydraulic oil to be supplied to the pair of telescopic mechanisms based on the operation data set on the operation panel and the telescopic data in order to vertically, horizontally, or diagonally move the elevating platform vertically, horizontally, or diagonally; When the operation data set on the operation panel includes both height and horizontal distance, the control device calculates an extension reference value for moving both telescopic booms in the diagonal direction based on these, and uses this reference value and the above-mentioned An elevating device characterized in that the elevating platform is configured to be able to move diagonally by controlling the hydraulic oil supplied to the elongating mechanism according to the deviation from the elongating data.