JPH0637278B2 - lift device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is designed to move an elevating table up and down from a vehicle body,
The present invention relates to a Z-shaped lifting device that can lift materials to a high place, and more particularly to a lifting device that can move vertically up and down after moving a desired amount in the horizontal direction.

[Conventional technology]

Assembly, painting at high places such as highways and building construction,
A lifting device for raising and lowering an elevator is often used for work such as repair, and the above-mentioned work is performed by placing a worker or material on the elevator and lifting or lowering it. In this conventional lifting device, a pair of arms are pivotally attached at the center to form one set, and a pantograph-shaped expansion / contraction mechanism in which the plurality of sets of arms are vertically connected is used (so-called scissors type). In this mechanism, in order to increase the maximum lifting height of the lifting device, either increase the length of each arm,
It was necessary to increase the number of arms to be connected. For this reason, when designing a lifting device that can increase the rising height, a large number of pantographs must be used,
The height of the lifting device becomes high when the telescopic mechanism is folded, and it is troublesome for a worker to get on and off the lifting platform, and to load and unload materials.

For this reason, an elevating device has been devised in which a plurality of booms are telescopically inserted inside the arm so that one arm can be extended in its length direction (for example, Japanese Patent Application No. 56487/134487). , Japanese Patent Application No. 191065, Sho 56). In this newly proposed lifting mechanism, a pair of two booms are rotatably combined in an X shape around the center, two booms are arranged in parallel, and four upper and lower arms are used to raise and lower the body. The stand was connected.

[Problems to be solved by the invention]

According to the apparatus having the above-described lifting device, the required number of booms to be used is inevitably large, the number of components is extremely large, the manufacturing and assembling are complicated, and the cost is high. In addition, the sliding parts between the boom and the arm are extremely large, and normally, because sliding parts such as MC nylon are attached to these sliding points, the number of parts that must be replaced on a regular basis increases, and inspection and maintenance costs are required. With that, the work was troublesome. For this reason, an elevating device has been devised in which a single telescopic boom body is interposed between the vehicle body and the elevating table to simplify the structure and facilitate manufacturing and inspection. No. 64803 in 1960). But,
In this elevating device, the elevating table could not be raised vertically unless the amount of expansion and contraction of the telescopic boom and its depression angle were controlled at the same time, which made control extremely difficult.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a lifting device capable of vertically moving a lifting platform vertically by electronically controlling the expansion and contraction of a telescopic boom body and the elevating operation of depression. It is what

[Means for solving problems]

The present invention solves the above problems by applying the following principle. That is, as shown in FIG. 11, a pair of shaft support pieces N are fixed to the upper surface of a vehicle body M as a base, and the lower outer boom P is rotatably connected to the shaft support piece N by a pin O. The lower boom P, the middle boom Q, the front boom R, and the cover body S constitute a telescopic boom body (P, Q, R), and the cover body S is provided with an elevating table V provided with a shaft support piece U and a pin W. It is rotatably connected with.

Here, it is assumed that the telescopic boom body (P, Q, R) is moved from the reference position in the horizontal direction by the distance D. Next, the tip of the telescopic boom body (P, Q, R) shall rise to the height H ₄ . When the distance L _{4 is} extended, cos ^-1 [(C + D) / L ₄ ] is calculated, and if the angle θ ₄ is adjusted to this value, the lift V can rise vertically by the height H _4. become. Similarly, if cos ^-1 [(C + D) / L ₅ ] is finely adjusted to θ _{5 such} that, the lift table V will rise vertically. Alternatively, cos ^-1 [(C + D) / L] may be set with θ as a reference, and the values may be matched.

The lifting apparatus according to the present invention, which solves the above-mentioned problems and applies the above-mentioned principle, has a movable vehicle body M and a flat lifting platform V having substantially the same floor area as the vehicle body M arranged above the vehicle body M.
And a plurality of booms P, Q, R, and S having different outer diameters, which are telescopically combined with each other, and a telescopic boom body (P, Q, R) which is telescopic in its length direction. P, Q, R) has a first hydraulic cylinder for expanding and contracting, and the base of a boom P having a large outer diameter of the telescopic boom body (P, Q, R) is pivotally supported in the upper front part of the vehicle body M, A boom R with a small diameter at the uppermost stage of this telescopic boom body (P, Q, R)
The upper end of the cover body S is fixed to the upper end of the
Is extended downward from the upper end of the uppermost boom R so as to cover the telescopic boom body (P, Q, R), and the lower end of the cover body S is a boom (Q, P) other than the uppermost boom R. A roller which rolls in contact with the upper surface of the cover body R, and at the upper end of the cover body R, at least two rear parts of the lower part of the lift table V are pivotally supported so that the entire body has a Z shape when viewed from the side. Then, a second hydraulic cylinder that raises the telescopic boom body (P, Q, R) is interposed between the upper surface of the vehicle body M and the boom P having a large outer diameter, and the lower surface of the lifting platform V and the cover body S are connected to each other. In a lifting device, in which at least two third hydraulic cylinders for horizontally holding the lifting table are interposed between them, the lifting device is attached to the telescopic boom body (P, Q, R), and its length is detected to extend. An extension sensor for obtaining digital data, and the telescopic boom body (P, Q R) an angle sensor which is provided in the vicinity of a shaft support with respect to the vehicle body M and detects the angle thereof to obtain angle analog data; and a drive sensor which detects the operation content of an operation lever for performing an operation of raising, stopping and lowering. An elongation control button that gives a command to move the lifting platform in the horizontal direction, a counter that counts the elongation digital data from the elongation sensor, an analog-digital converter that digitizes the angle analog data from the angle sensor, and the The count data from the counter, the digital data from the analog-digital converter, the operation content data from the drive sensor, and the command from the extension control button are fetched, and the horizontal movement command from the extension control button is input and When the up or down command from the drive sensor is input, the first When only the control signal for driving the hydraulic cylinder is formed, or when only the rise or fall command is input from the drive sensor, the reference value based on the digital data obtained from one of the sensors and the other sensor are used. Comparing with a comparison value based on the obtained digital data, while forming the first hydraulic cylinder drive control signal, the second hydraulic cylinder drive control signal so that the comparison value matches the reference value, A control circuit including a processing device that forms a third hydraulic cylinder drive control signal so that the amount of hydraulic oil is proportional to the amount of hydraulic oil supplied to the second hydraulic cylinder; Each cylinder is controlled by a hydraulic cylinder drive control signal, a second hydraulic cylinder drive control signal, and a third hydraulic cylinder drive control signal. A first on-off solenoid valve, a second on-off solenoid valve, and a third on-off solenoid valve for controlling on-off of the supplied hydraulic oil,
And a hydraulic device including a switching valve that switches the supply direction and supply stop of the hydraulic oil by the operation lever, and the control circuit has a horizontal movement command when the extension control button is operated, and the operation lever moves up or down. When the drive sensor detects that the actuator has been lowered, it outputs the first cylinder drive control signal to turn on and off only the first on / off control valve of the hydraulic system, and also operates the operation lever or control button. After stopping at the desired position,
When the drive sensor detects that the operating lever has been raised or lowered, and when the lift base is in a position where it can be moved, a raise or lower command from the drive sensor causes
By vertically comparing the digital data obtained from the extension sensor with the value calculated by the total distance of the length of the boom at the lowermost position of the lifting platform and the horizontal movement distance, the lifting platform is vertically moved to a predetermined height. As described above, the first cylinder drive control signal, the second cylinder drive control signal and the third cylinder drive control signal are formed and output, and the first on-off solenoid valve and the second on-off solenoid valve of the hydraulic device are output. It is characterized in that it can be driven on and off.

[Action]

As for the horizontal movement of the lift V, a horizontal movement command given by operating the control button is given, and the operating lever is operated to move upward, so that the hydraulic oil is supplied only to the first cylinder. The lift table V can be moved in the horizontal direction. If this is done in the basic position (lowermost storage position), the elevator V will only move horizontally.

In addition, when the telescopic boom body (P, Q, R) is diagonally stopped and the control button and the operation lever are operated as described above, the lifting platform V moves horizontally while diagonally moving. It will be done.

In this way, when the horizontal movement reaches the desired point, the control button or the operating lever is operated to give a command to stop the horizontal movement, and then the vertical movement is repeated, the operation is performed again. Operate the lever vertically. The operation of the operation lever is detected by the drive sensor and input to the processing device of the control circuit. Further, the switching valve supplies hydraulic oil to the on / off solenoid valve side in accordance with the operation of the operation lever. When the operation lever operation data from the drive sensor is input to the processing device, the processing device captures the detection signal from the elongation sensor into the processing device via the counter and converts the detection signal from the angle sensor into an analog-digital signal. Incorporated into the processing unit via a container. The processing unit of the control circuit forms the cylinder drive control signals and supplies them to the hydraulic system. The hydraulic device expands and contracts the telescopic boom body (P, Q, R). The processing device takes in the distance L from the elongation sensor, and the value L and the distance (C +
Ds) and cos ^-1 [(C + D) / L] are calculated. Next, the processing device supplies the calculated result to the hydraulic device as a cylinder drive control signal. In the hydraulic system, the telescopic boom body (P, Q,
R) is tilted. Further, the detection signal θ from the angle sensor is input to the processing device, and the processing device is cos ⁻¹ [(C + D)
/ L], a control signal for driving each cylinder is formed so as to adjust the tilt angle so that the signal θ coincides with / L] and is output to the hydraulic device. The hydraulic device supplies hydraulic oil to each cylinder based on the control signal for driving each cylinder. In this way, the elevating platform V is vertically moved by synchronizing the expansion and contraction of the telescopic boom bodies (P, Q, R) and the inclination of the telescopic boom bodies (P, Q, R).

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing an embodiment of the lifting device according to the present invention. FIG. 2 is a side view showing a state in which the lift is lowered to the lowest position. FIG. 3 is a side view when the lift is raised to the maximum position. FIG. 4 is a side view showing the structure of the telescopic boom body. FIG. 5 is a perspective view showing a configuration example of the length measuring sensor used in this embodiment.

In these figures, a front wheel 2 and a rear wheel 3 are axially supported on the front, rear, left and right of the vehicle body 1, respectively, so that the vehicle body 1 can move freely. The stored source box 4 is attached. A pair of shaft support pieces 5 are fixed to one end of the upper surface of the vehicle body 1 with a space therebetween, and a lower boom 6 having a hollow section having a square cross section is inserted between the shaft support pieces 5. The piece 5 and the lower boom 6 are rotatably connected by a pin 7. The car body 1
A pair of pin stoppers 8 are fixed to the upper and lower sides of the upper and lower sides of the shaft support piece 5 respectively, and between the pin stoppers 8 and the outer side of the lower boom 6, a hydraulic cylinder for depression is provided. 9 is interposed. The tip end of the lower boom 6 is opened in a square shape, and an inner hollow middle boom 10 having a square cross section is slidably inserted into this opening. The inside hollow tip boom 11 is slidably inserted therethrough. At the tip of the tip boom 11, a cover body 12 having a U-shaped cross section and opened downward is fixed,
The inner surface of the upper part of the cover body 12 is spaced in parallel with the outer side of the lower boom 6, and a space is formed between the front boom 11 and the cover body 12 so that the lower boom 6 can be inserted. The lower boom 6 is set to a length that is about the length of the vehicle body 1, and the middle boom 10 and the front boom 11 are also set to substantially the same length as the length of the vehicle body 1. A telescopic boom body 13 is formed by the tip boom 11 and the tip boom 11. Reference numeral 16 is a flat lifting platform having substantially the same floor area as the vehicle body 1,
A pair of shaft support pieces are provided at one end of the lower surface of the lifting table 16 with a space therebetween.
14 are fixed, a cover body 12 is inserted between both shaft support pieces 14, and the shaft support piece 14 and the cover body 12 are rotatably connected by a pin 15. In addition, a pair of pins are fixed on both sides of the lower surface of the lifting table 16 opposite the shaft support piece 14.
17 are fixed, a hydraulic cylinder 18 is interposed between each pin 17 and both sides of the cover body 12, and a hand rub 19 is planted around the upper surface of the lift table 16.

Further, an extension sensor 20 is fixed to the side surface of the cover body 12, a belt-like body 21 is extended from the extension sensor 20, and is fixed to a side surface of the lower boom 6 with an attaching device 22, and a telescopic boom body 13 is provided. With the expansion and contraction of the belt 21, the belt-like body 21 can be paid out from the stretch sensor 20 or stored. An angle sensor 29 is fixed to the shaft support piece 5, and its detection drive unit is connected to the pin 7 so that the angle of the telescopic boom body 13 can be detected. As shown in FIG. 5, the elongation sensor 20 has a belt-shaped body 21 wound around a shaft 25 rotatably fixed to a support piece 24 provided on a base 23.
A shaft 25 is connected to the revolving shafts of a rewinding device 26 for rewinding the strip 21 and a digital encoder 27 for elongation measurement, and these are covered with a cover 28.

Reference numeral 29 is an angle sensor, and the angle sensor 29 is fixed to the shaft support piece 5, and its detection drive unit is connected to the pin 7 so that the angle of the telescopic boom body 13 can be detected.
The angle sensor 29 can easily obtain a signal according to the angle by using, for example, a potentiometer.

FIG. 4 shows the structure of the telescopic boom body 13 described above. The lower boom 6, the middle boom 10, and the front boom 11 are telescopically inserted so that they can be expanded and contracted. Tip boom 11
The cover body 12 attached to the tip of the cover has an upper side of about 2/3 of the total length of the lower boom 6 and a lower side of about 1/3, and the left side of the figure is formed obliquely. . A pin hole 30 for connecting the hydraulic cylinder 9 is provided at the upper part of the lower boom 6 and at a position about 1/3 from the left end, and at the lower part of the cover body 12 which is about 1/2 of its total length. A pin hole 31 for directly connecting the hydraulic cylinder 18 is provided at the position.
A shaft support portion 32 is fixed to the upper portion of the cover body 12 at the left end thereof, and a roller 33 that comes into contact with the upper surface of the lower boom 6 is pivotally supported on the shaft support portion 32.

FIG. 6 is a sectional view showing the inside of the telescopic boom body 13,
Each of the lower boom 6, the middle boom 10, and the front boom 11 has a pipe shape with a quadrangular cross section, and the lower boom 6 has a quadrangular pipe shape with an outer peripheral shape slightly smaller than the inner peripheral shape of the lower boom 6. The middle boom 10 that has been inserted is slidably inserted, and the pipe-shaped tip boom 11 having an outer peripheral shape slightly smaller than the inner peripheral shape of the middle boom 10 is inserted into the middle boom 10.
The tip boom 11 and the cover body 12 are connected and fixed by a screw 34 at the upper end thereof. The inside of the front boom 11 is hollow over its entire length, and the inside of the front boom 11 is parallel to the length of the hydraulic cylinder 35.
, The base of the hydraulic cylinder 35 is fixed to the lower boom 6, and the adapter 37 is fixed to the cylinder rod 36 of the hydraulic cylinder 35 at a right angle. The adapter 37 is parallel to the hydraulic cylinder 35. The rod 38 is fixed so that
The lower ends of 10 are connected. Further, a hydraulic cylinder 40 is housed inside the front boom 11, the base of the hydraulic cylinder 40 is fixed to the lower end of the middle boom 10 and fixed to the block 41, and the cylinder rod 42 of the hydraulic cylinder 40 is fixed to the cylinder rod 42. pulley
43 is pivotally supported, and a wire 44 having one end connected to the hydraulic cylinder 40 and the other end connected to the lower end of the front boom 11 is wound around the pulley 43.

FIG. 7 shows an example of the configuration of a hydraulic control device.
It is composed of 50 and a hydraulic device 60.

The control circuit 50 may be composed of a microcomputer device. The microcomputer device includes a processing device (CPU) 51 that performs arithmetic processing of each cormorant, a read-only memory (ROM) 52 that stores a program that realizes the control of the present embodiment, fixed constants, and the like, and a program that executes the program. Memory (RAM) 53 for storing variables and variables, digital signal input / output device (DIO) 54 for capturing digital signals, digital output device (DO) 55 for outputting digital signals, and converting analog signals into digital signals Analog-digital converter
(ADC) 56 and interrupt input device that accepts interrupt signals
(IRI) 57 and a bus line 58 connecting them.

Here, the DIO 54 of the microcomputer device has a counter for counting the detection sensors from the elongation sensor 20.
The output of 59 is connected, and the angle sensor is connected to the ADC56.
29 is connected, a drive sensor 88 and an expansion control button 89, which will be described later, are connected to the IRI 57, and the DO thereof is connected.
On / off solenoid valves 72, 79, 86 are connected to 55.

In the hydraulic device 60, oil is stored in the oil tank 61, and this oil is supplied to the switching valve 64 as pressure oil by the hydraulic pump 63 driven by the engine 62. A return pipe 65 is connected to the switching valve 64, and is arranged so as to guide the return oil to the oil tank 61. The switching valve 64 is switched by a switching lever 66 so that pressure oil can be supplied to either of the hydraulic circuits 67 and 68.

The cylinder 35 and the cylinder 40 are connected in series, the cylinder 40 is connected to a hydraulic circuit 68 via a hydraulic circuit 69, and the cylinder 35 is a parallel circuit of a pressure regulating valve 70 and a check valve 71, and Hydraulic circuit with on-off solenoid valve 72 installed in series
It is connected to the hydraulic circuit 67 via 73. Cylinder 9, 9
Is connected in parallel with a hydraulic circuit 74 and a hydraulic circuit 77 having a pressure regulating valve 75 and a check valve 76, the hydraulic circuit 74 is connected to a hydraulic circuit 68 via a hydraulic circuit 78, and the hydraulic circuit 77 is connected to a hydraulic circuit 80. Is connected to the hydraulic circuit 67 via. The cylinders 18 and 18 have a hydraulic circuit 84 including a hydraulic circuit 81, a pressure regulating valve 82, and a check valve 83.
Are connected in parallel with each other, the hydraulic circuit 81 is connected to the hydraulic circuit 68 via the hydraulic circuit 85, and the hydraulic circuit 84 is connected to the hydraulic circuit 67 via the hydraulic circuit 87 having the on / off solenoid valve 86. A drive sensor 88 is connected to the lever 66 so that it can be detected whether the position of the lever 66 is stopped, raised, or lowered.

Next, the operation of this embodiment will be described with reference to FIGS.

(When vertically moving the lifting platform 16) FIG. 2 shows a state in which the lifting boom body 13 is contracted and the lifting platform 16 is lowered to the lowest position. In this state, a worker is placed on the lifting platform 16. After the boarding and the placement of the materials, the lifting platform 16 is raised. In order to raise the lift table 16, the engine 62 in the source box 4 is operated to drive the hydraulic pump 63 to generate pressure oil (step S100), and the lever 66 is set to the raised position (step S101). ). At this time, the drive sensor 88 detects the operating position of the lever 66 to detect the IRI.
The CPU 51 is informed via the 57 that the hydraulic device 60 has moved upward (step S102). As a result, the CPU 51 starts reading the detection signals from the sensors 20 and 29 (step S103) and opens the on / off solenoid valves 72, 79 and 86 (step S104). As a result, the hydraulic pressure is supplied to the hydraulic cylinders 9, 18, 35 and 40 via the hydraulic circuit 73, the hydraulic circuits 87 and 84, and the hydraulic circuits 80 and 77, respectively.
(Step S105), the lift 16 starts to move up.

When pressure oil is supplied to the hydraulic cylinders 35 and 40, the hydraulic cylinder rods 32 and 38 respectively extend to slide the middle boom 10 out of the lower boom 6 and pull it out, as well as the front boom 11
Is slid out from the middle boom 10 and pulled out to increase the distance between the pins 7 and 15. This expansion amount is detected by the elongation sensor 20, and this detection signal is given to the counter 59 and is counted here. Further, when the hydraulic cylinder 9 extends, the lower boom 6 is rotated around the pin 7 and the telescopic boom body 13 is lifted so as to be inclined with respect to the vehicle body 1.
This tilt angle is detected by the angle sensor 29, and the detection signal is supplied to the ADC 56.

Here, the CPU 51 calculates the following expression (1) based on the detection signals from the sensors 20 and 29 (step S106). That is, when the detection signal from the elongation sensor 20 is L and the detection signal from the angle sensor 29 is θ, A = Lcosθ (1) Therefore, the value A obtained from the equation (1) is compared with the distance C between the pin 7 and the pin 15 at the lowermost position of the lift 16 (step S107), and the comparison result is within a certain width. If so, the process proceeds to step S108. In step S108, it is determined whether or not the lever 66 has been converted, and if not changed, step S10.
Go to 3. If it is determined that there is a change in step S108, the process proceeds to step S109, and in step S109, "rise",
Determine the "stop" and "down" positions.

If the position of the lever 66 is "stop" in this step S109, it is stopped in step S110. Lever in step S111
When 66 is operated, it is determined in step S112 whether or not it is rising. When it is determined to be elevated in step S112, the process proceeds to step S113, where it is input to the IRI 57 that the lever 66 is elevated, and then it is determined whether or not the lifting platform 16 has come to the uppermost position (step S114). If it is the uppermost position, the process proceeds to step S110. Otherwise, the process proceeds to step S102. On the other hand, if it is determined in step S112 that the lever 66 is in the lowered position, the process proceeds to step S115. In step S115, it is input to the IRI 57 that the lever 66 is in the lowered position, and then in step S116, it is determined that the lift table 16 is at the lowest position. If it is the lowest position, the process moves to the stop, and all the processes are completed. If not, the process moves to step S103. When it is determined in step S109 that the "elevated position" is reached, step S1
Moving to step 13, when it is determined that the position is the "down position", step S115
Will move to.

When the calculation result A is different from C in step S107 and does not fall within the predetermined range, the process proceeds to step S118. In this step S118, a control signal from the DO 55 is given to the on / off solenoid valve 72 by the instruction of the CPU 51, and the on / off control is performed to reduce the extension amount of the telescopic boom body 13 (the contraction amount when descending), and the control signal from the DO 55. Control signal on / off solenoid valve 79,
Giving to 86, the amount of expansion of each cylinder 9, 18 (the amount of contraction when descending)
Adjust the angle to optimize the angle. In step S119, the detection signals from the sensors 20 and 29 are sent to the counter 59, DI
It is taken in through O59 and ADC56, and the equation (1) is calculated. In step S120, it is determined whether the calculation result A matches C. If they do not match, the process proceeds to step S118, and if they match, the process proceeds to step S103.

By performing the series of operations as described above, the extension speed of the telescopic boom body 13 by the hydraulic cylinders 35 and 40 and the tilting speed of the telescopic boom body 13 by the hydraulic cylinder 9 are synchronized with each other. Pin 15 of boom 12 is body 1
It will rise vertically to. Further, the lifting force of the hydraulic cylinder 18 causes the lifting platform 16 to rotate about the pin 15 to act to increase the angle between the upper and lower booms 12 and the lifting platform 16, and to extend the hydraulic cylinder 9 and the hydraulic cylinder 18. Since the amounts are synchronized, the lifting platform 16 is parallel to the vehicle body 1, and the vehicle body 1, the telescopic boom body 13, and the lifting platform 16 are formed in a Z shape when viewed from the side. When the lift table 16 rises to a predetermined height position, the operator sets the lever 66 to the stop position to stop the operation of the hydraulic cylinders 9, 18, 35, 40, and the lift table 16 moves to the height position. Held in position (step S10
(8, 110), work at high places such as assembly, repair, painting, etc. can be performed.

In order to lower the lift table 16, the lever 66 is set to the lowered position in step S111, the set position is determined in step S112, the process proceeds to steps S115 and 116, and the same steps S103 to S120 as the above-described order are performed. Retract the hydraulic cylinders 9, 18, 35, 40 and retract the boom boom 13 in the reverse order.
If is reduced, the elevating table 16 descends while being parallel to the vehicle body 1. It should be noted that when the process goes through step S115, it is determined in step S116 whether or not the process is completed. When the process reaches the lowest position, the process is completed, and otherwise the process proceeds to step S103.

(When Lifting Table 16 is Positioned Forward of Vehicle Body 1 and Moves Up and Down) Next, as shown in FIG. 11, the lifting table V is extended forward with respect to the vehicle body M, and the lifting table V is kept as it is. A case of moving vertically up and down will be described with reference to FIG.

In order to move the lift table 16 diagonally and then to raise it vertically, the engine 62 in the source drive box 4 is operated to drive the hydraulic pump 63 to generate pressure oil (step S200), and the pressure oil is extended. Press the control button 89 (step S20
1) The CPU 51 of the control circuit 50 is notified via the IRI 57 that only the telescopic boom body 13 is being extended. This allows
In the CPU 51, only the solenoid valve 72 is opened and the other solenoid valves 79, 86 are opened.
Is still closed (step S202), then lever 6
When 6 is set to the ascending position (step S203), the drive sensor 88 detects the operating position of the lever 66 and informs the CPU 51 via the IRI 57 that the ascending operation is performed (step S2).
04), hydraulic pressure is supplied to the hydraulic cylinders 35 and 40, and the telescopic boom body 13 performs a stretching operation (step S205). When the telescopic boom body 13 has extended by the required length, the extension control button 89 is released (step S206), and the extension length of the telescopic boom body 13 is stopped at that position. In this case, the extension control button 89 is released by detecting that the operation lever 66 is at the stop position by the drive sensor 88, but may be released by pressing the control button 89 again. The state in which only the extension boom body 13 is extended is the position shown by the solid line in FIG.

Next, when the lift table 16 is to be lifted vertically from the state shown by the solid line in FIG. 10, the lever 66 is set to the lift position (step S2
07). At this time, the drive sensor 88 detects the operating position of the lever 66 and informs the CPU 51 via the IRI 57 that the hydraulic device 60 has moved upward (step S208). This gives C
The PU 51 starts reading the detection signals from the respective sensors 20, 29 (step S209), and the on / off solenoid valves 72, 79, 8
6 is opened (step S210). This allows the hydraulic circuit 7
3. The hydraulic pressure will be supplied to the hydraulic cylinders 9, 18, 35, 40 via the hydraulic circuits 87, 84 and the hydraulic circuits 80, 77, respectively (step S211), and the lifting platform 16 starts to rise. become.

When pressure oil is supplied to the hydraulic cylinders 35, 40, the hydraulic cylinder rods 32, 38 respectively expand to slide the middle boom 10 out of the lower boom 6 and pull it out, as well as the front boom.
11 is slid from the middle boom 10 and pulled out, and pins 7 and 15
Increase the spacing between. This expansion amount is detected by the elongation sensor 20, and this detection signal is given to the counter 59,
It is counted here. Further, when the hydraulic cylinder 9 extends, the lower boom 6 is rotated around the pin 7 and the telescopic boom body 13 is lifted so as to be inclined with respect to the vehicle body 1. This inclination angle is detected by the angle sensor 29, and the detection number is supplied to the ADC 56.

Here, the CPU 51 calculates the following formula (2) based on the detection signals from the sensors 20 and 29 (step S212). That is, if the detection signal from the elongation sensor 20 is L and the detection signal from the angle sensor 29 is θ, then B = L cos θ (2) Therefore, the value B obtained from the equation (2) is set to the pin 7 and the pin 7 when the telescopic boom body 13 is extended at the lowermost position of the lift table 16.
It is compared with the distance (C + D) from 15 (step S213), and if the comparison result is within a certain width, the process proceeds to step S214. In step S214, it is determined whether the lever 66 has been converted, and if not changed, the process proceeds to step S209. If it is determined that there is a change in step S214, step S2
Moving to 15, in step S215, "rise", "stop",
Determine the "down" position.

When the position of the lever 66 is "stop" in this step S215, it is stopped in step S216. Then telescopic boom body 1
If 3 is to be reduced, the process proceeds to step S227, and if not, the process proceeds to step S218. Lever in step S218
When 66 is operated, it is determined in step S219 whether or not it is rising. When it is determined that the lift is raised in step S219, the process proceeds to step S220, where it is input to the IRI 57 that the lever 66 is raised, and then it is determined whether the lifting platform 16 has come to the uppermost position (step S221). If it is the uppermost position, the process proceeds to step S216. Otherwise, the process moves to step S208. On the other hand, if it is determined in step S219 that the lever 66 is in the lowered position, the process proceeds to step S222. In step S222, the IRI 57 is input that the lever 66 is in the lowered position, and then in step S223, it is determined that the lift table 16 is at the lowest position. If it is the lowest position, it is determined whether or not the retractable boom 13 is to be contracted. If not, step S
Move to 209. If it is determined to be the "up position" in step S215, the process proceeds to step S222, and if it is determined to be the "down position", the process proceeds to step S221.

When the calculation result B is different from (C + D) in step S213 and does not fall within the fixed width, the process proceeds to step S214. In this step S224, the control signal from the DO 55 is turned on and off and given to the solenoid valve 72 by the instruction of the CPU 51, and this is controlled to be turned on and off to reduce the extension amount (the amount of contraction when descending) of the telescopic boom body 13. , DO55 is applied to the solenoid valves 79 and 86 by turning them on and off to adjust the expansion amount (contraction amount when the cylinders are lowered) of each cylinder 9 and 18 to optimize the angle. In step S225, the detection signals from the sensors 20 and 29 are fetched via the counter 59, DIO 59 and ADC 56, and the equation (2) is calculated. In step S226, it is determined whether the calculation result B matches (C + D). If they do not match, the process proceeds to step S224, and if they match, the process proceeds to step S209.

By performing the series of operations as described above, the extension speed of the telescopic boom body 13 by the hydraulic cylinders 35 and 40 and the tilting speed of the telescopic boom body 13 by the hydraulic cylinder 9 are synchronized, and the cover body The pin 15 of 12 will rise vertically to the horizontal line of the vehicle body 1. Also,
The lifting force of the hydraulic cylinder 18 causes the lifting platform 16 to rotate about the pin 15 so as to expand the angle between the upper and lower booms 12 and the lifting platform 16, and the expansion amounts of the hydraulic cylinder 9 and the hydraulic cylinder 18 are Since they are synchronized, the lifting table 16 is parallel to the vehicle body 1, and the vehicle body 1, the telescopic boom body 13, and the lifting table 16 are formed in a Z shape when viewed from the side. When the lift table 16 rises to a predetermined height position, the operator sets the lever 66 to the stop position to stop the operation of the hydraulic cylinders 9, 18, 35, 40, and the lift table 16 moves to the height position. Held in position
(Steps S214 and 215), work such as assembling, repairing and painting at a high place can be performed. In order to lower the lift table 16 as it is, the lever 66 is set to the lowered position in step S218, the setting position is determined in step S219, the process proceeds to steps S222 and 223, and steps S209 to
The processing of S226 is performed, and each hydraulic cylinder 9, 18, 35, 40
If the telescopic boom body 13 is contracted in the reverse order, the elevating table 16 is made parallel to the vehicle body 1 and descends while protruding forward from the vehicle body 1. It should be noted that when the process goes through step S222, it is determined in step S223 whether or not the process is completed. When the process reaches the lowest position, the process is completed, and otherwise the process proceeds to step S209.

Next, when the length of the extension boom body 13 that has been extended is reduced, step S217 is performed in step S223 and step S227 is performed in step S227.
You can do this by selecting. That is, when the extension boom body 13 is contracted, the extension control button 89 is pressed (step S227), whereby only the solenoid valve 72 is turned on and the other solenoid valves 79 and 86 are turned off (step S228). After that, when the lever 66 is set to the descending side (step S229), the IRI 57
CPU 51 is notified via lever (step S230) that the pressure oil remaining in hydraulic cylinders 35, 40 is pushed out, and cylinder rods 36, 42 of hydraulic cylinders 35, 40 are contracted. Then (step S231), the length of the telescopic boom body 13 is shortened. The length of this telescopic boom body 13 is constantly measured by the extension sensor 20,
When the length of 13 is the shortest, that is, when the entire lengths of the middle boom 10 and the front boom 11 are stored in the lower boom 6, the contraction operation is stopped, and otherwise the contraction operation is continued. (Step S232).

With this series of operations, the lift table 16 can be moved up and down with the lift table 16 protruding forward from the body 1, and the locus of the pin 15 at the tip of the telescopic boom body 13 is in the plane of the body 1. It becomes vertical to it. For this reason, when a work such as painting is performed on a wall surface or the like that is far from the tip of the vehicle body 1, the lifting table 16 can be brought close to the wall surface to perform the work.

〔The invention's effect〕

Since the present invention is configured as described above, it is possible to move vertically in a state where the lifting platform is popped out with respect to the vehicle body, so that it is possible to move up and down even at a high position at a horizontal distance from the vehicle body. The efficiency of construction and repair at high places will be improved, and the efficiency of materials and personnel transportation to high places will also be improved.

Further, according to the present invention, the length and angle of the telescopic boom body are digitally taken into the processing device, and the on / off solenoid valve of the hydraulic circuit is driven on / off by the control signal formed based on the calculation result in the processing device. Since it is configured to finely control the amount of hydraulic oil supplied, it is possible to accurately move horizontally and vertically.

Further, according to the present invention, there is provided a flat lifting platform having a floor area substantially the same as that of the vehicle body, which is disposed above the vehicle body, and includes at least two third cylinders and at least two locations behind and below the lifting platform. The cover body provided at the tip of the shaft is pivotally supported, the angle is digitally taken into the processing device, and the second hydraulic cylinder of the hydraulic circuit is supplied with the control signal formed based on the calculation result in the processing device. Since the third on-off solenoid valve is turned on and off so that the amount of hydraulic oil is proportional to the amount of hydraulic oil to be used, the floor area of the elevator is large and the elevator with a large load can be kept horizontal at all times. .

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a side view showing a state where the elevator is lowered to the lowermost position, and FIG. 3 is a side view showing a state where the elevator is extended to the uppermost position. FIG. 4 is a side view showing the structure of the telescopic boom body, FIG. 5 is a perspective view showing the structural example of the extension sensor used in this embodiment, FIG. 6 is a longitudinal sectional view of the telescopic boom body, and FIG. Is a diagram showing a configuration example of the hydraulic control device of the present embodiment, FIG. 8 is a flow chart shown for explaining the operation of the present embodiment, FIG. 9 is an explanatory diagram showing the principle of the present invention, and FIG. FIG. 11 is a flowchart showing another operation example of the invention, and FIG. 11 is an explanatory view showing the operation principle of the same. 1 …… vehicle body, 6 …… lower boom, 10 …… middle boom, 11 ……
Tip boom, 12 ... Cover body, 13 ... Telescopic boom body, 16 ...
… Elevating table, 20 …… Extension sensor, 29 …… Angle sensor,
50 ... control circuit, 60 ... hydraulic circuit.

Claims (1)

[Claims] 1. A movable vehicle body, a flat lifting platform having a floor area substantially the same as that of the vehicle body arranged above the vehicle body, and a plurality of booms having different outer diameters combined in a telescopic manner in a longitudinal direction thereof. It has a telescopic boom body that is telescopic, and has a first hydraulic cylinder that telescopes the boom body, and the base of the boom with a large outer diameter of the telescopic boom body is pivotally supported in the upper front part of the vehicle body. Secure the upper end of the cover body to the upper end of the boom with the smallest diameter of the telescopic boom unit and extend the cover unit downward from the upper end of the uppermost boom to cover the telescopic boom unit. At the lower end of the, the roller that rolls in contact with the upper surface of the boom other than the uppermost boom is pivotally supported, and at the upper end of the cover body, at least two locations behind the lower part of the lifting platform are pivotally supported. The whole is Z-shaped A second hydraulic cylinder that raises the telescopic boom body is interposed between the upper surface of the vehicle body and the boom with a large outer diameter, and the lifting platform is placed horizontally between the lower surface of the lifting platform and the cover body. In an elevating device having at least two third hydraulic cylinders to be held, an extension sensor attached to the telescopic boom body to obtain extension digital data by detecting the length thereof, and the vehicle body of the telescopic boom body. An angle sensor installed near the shaft support to detect the angle to obtain angle analog data, a drive sensor that detects the operation contents of the operating lever that performs ascending, stopping, and descending operations, and the lifting platform moves horizontally. Elongation control button for giving a command to cause, a counter for counting elongation digital data from the elongation sensor, and angle analog data from the angle sensor And an analog-digital converter for digitizing the data, and count data from the counter, digital data from the analog-digital converter, operation content data from the drive sensor, and a command from the expansion control button, and expansion control When a horizontal movement command is input from the button and an up or down command from the drive sensor is input, only a first hydraulic cylinder drive control signal is formed, or an up or down command from the drive sensor. When only is input, the reference value based on the digital data obtained from one of the two sensors is compared with the comparison value based on the digital data obtained from the other sensor, and the comparison value is set to the reference value. The first hydraulic cylinder drive control signal and the second hydraulic cylinder -A control circuit including a processing device that forms a drive control signal and forms a third hydraulic cylinder drive control signal so that the amount of hydraulic oil is proportional to the amount of hydraulic oil supplied to the second hydraulic cylinder And a first hydraulic cylinder drive control signal, a second hydraulic cylinder drive control signal, and a third hydraulic cylinder drive control signal from the control circuit, which control ON / OFF of the hydraulic oil supplied to each cylinder. One on-off solenoid valve, second on-off solenoid valve, and third on-off solenoid valve,
And a hydraulic device including a switching valve that switches the supply direction and supply stop of the hydraulic oil by the operation lever, and the control circuit has a horizontal movement command when the extension control button is operated, and the operation lever moves up or down. When the drive sensor detects that the actuator has been lowered, it outputs the first cylinder drive control signal to turn on and off only the first on / off control valve of the hydraulic system, and also operates the operation lever or control button. After stopping at the desired position,
When the drive sensor detects that the operating lever has been raised or lowered, and when the lift base is in a position where it can be moved, a raise or lower command from the drive sensor causes
By vertically comparing the digital data obtained from the extension sensor with the value calculated by the total distance of the length of the boom at the lowermost position of the lifting platform and the horizontal movement distance, the lifting platform is vertically moved to a predetermined height. As described above, the first cylinder drive control signal, the second cylinder drive control signal and the third cylinder drive control signal are formed and output, and the first on-off solenoid valve and the second on-off solenoid valve of the hydraulic device are output. An elevating device having a structure capable of on / off driving.