JPH0637279B2 - lift device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to a lifting device capable of vertically moving a lifting platform upward from a vehicle body to lift personnel and materials to a high place, and particularly to a lifting position. The present invention relates to an elevating device which, when stored, allows the elevating table to move horizontally at that position.

[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 the mechanism, in order to increase the maximum lifting height of the lifting device, it is necessary to lengthen each arm or increase the number of arms to be connected. For this reason, when designing an elevating device that can increase the ascending height, a large number of pantographs must be used, and the height of the elevating device when the telescopic mechanism is folded becomes high, so that the worker can get on the platform. It was troublesome to go down, load materials, and unload them.

For this reason, a lifting device has been devised in which a plurality of beams are telescopically inserted into the arm so that one arm can be extended in its length direction (for example, Japanese Patent Application No. 134487/1983). , 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. Also, the number of sliding parts between the boom and arm is extremely large. Normally, sliding parts such as MC nylon are attached to this sliding point, so the number of parts that must be replaced on a regular basis is large, and inspection and maintenance costs are high. It was both tedious and laborious. 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,
When this elevating device requires a certain level of skill to operate in the horizontal direction when it is to be moved in the horizontal direction, it has been difficult to move the device horizontally in a stable manner.

The present invention has been made in view of the above problems, and an object thereof is to provide an elevating device that can easily move in a horizontal direction at a constant height.

[Means for solving problems]

The present invention, which solves the above problems, applies the following principles. That is, as shown in FIG. 9 (1), a pair of shaft support pieces N are fixed to the upper surface of the vehicle body M as a base,
The lower boom P is rotatably connected to the shaft support piece N by a pin O, and the lower boom P, the middle boom Q, the front boom R, and the cover body S.
The telescopic boom body T is constituted by the
A lift table V provided with is rotatably connected by a pin W. Here, the operating principle of the vertical movement of the lift V will be described first with reference to FIG. The telescopic boom body T is extended by a distance L _n (where n is an arbitrary integer, n = 1, 2, 3, ...
The same applies hereinafter), and when tilted by an angle θ _n , the distance C is always
If it is controlled so that the elevator V is vertically moved up and down.

That is, A = L _n cos θ _n (1) may be obtained so that this A always coincides with C.

For example, A ₁ = L ₁ cos [theta] ₁ becomes when n = 1, the addition to adjusting the distance L ₁ or theta ₁ such that A ₁ = C to H _1. By L _2, L ₃ also in the same manner as this, the height H _2, H _3, and the the elevating table V rises vertically.

Next, the operation principle of the horizontal movement of the lift V will be described with reference to FIG.

This is because if the telescopic boom body T is extended by a distance L _m (where m is an arbitrary integer) and is tilted by an angle θ _m , the height V is always controlled to be the height H, so that the lifting platform V can be set. It can be moved horizontally while maintaining the height H.

In other words, B = L _m sin θ _m (2) is calculated, and the calculated value B always matches the height H.

For example, when n = 1, B ₁ = L ₁ sin θ ₁ , and if L ₁ or θ ₁ is adjusted so that B ₁ = H, then C ₁ can be moved in the horizontal direction. Similarly, when L ₂ is selected, C _{2 is} moved.

The lifting device of the present invention, which solves the above problems, has a movable vehicle body, a flat lifting table having substantially the same floor area as the vehicle body arranged above the vehicle body, and a plurality of booms having different outer diameters in a telescopic shape. And a first hydraulic cylinder for expanding and contracting the boom body, and the base of the boom having a large outer diameter is attached to the vehicle body. It is pivotally supported in the upper front, and the upper end of the cover is fixed to the upper end of the boom with the smallest diameter in the uppermost stage of this telescopic boom unit.This cover unit moves the telescopic boom unit downward from the upper end of the uppermost boom. Extend so as to cover, and at the lower end of the cover body, pivotally support a roller that rolls in contact with the upper surface of the boom other than the uppermost boom,
At least two lower rear parts of the lifting table are provided on the upper end of the cover body.
A part is pivotally supported, and it is configured so that the whole is Z-shaped when viewed from the side, and 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, A lifting device comprising at least two third hydraulic cylinders for horizontally holding the lifting table between the lower surface of the lifting table and the cover body, which is attached to the telescopic boom body to detect its length. An elongation sensor that obtains elongation data, an angle sensor that is provided in the vicinity of a shaft support of the telescopic beam body and the vehicle body and that detects the angle to obtain angle data, and an operation of a first switching lever that commands an ascending / descending operation. A first drive sensor that detects the content and obtains an operation detection signal; a second drive sensor that detects the operation content of the second switching lever that commands the forward / backward movement and obtains an operation detection signal; Of the reference signal based on the data obtained from one of the extension sensor or the angle sensor and the other sensor when the up or down command from the first drive sensor is input. A comparison value based on the obtained data is compared, and a first hydraulic cylinder drive control signal, a second hydraulic cylinder drive control signal, and a third hydraulic cylinder drive so that the comparison value matches the reference value. When a forward or backward command is input from the second drive sensor after the control signal is formed or after the vertical movement is completed, the height of the lift table after the completion of the movement is stored and the extension sensor is stored. And the control for driving the first hydraulic cylinder such that the result of predetermined arithmetic processing on the detection signal from the angle sensor falls within a certain width based on the memory height. Signal, a process for forming a second hydraulic cylinder drive control signal, and forming a third hydraulic cylinder drive control signal so that the hydraulic oil amount is proportional to the hydraulic oil amount supplied to the second hydraulic cylinder. A control circuit including a device, and hydraulic oil supplied to each cylinder by the first hydraulic cylinder drive control signal, the second hydraulic cylinder drive control signal, and the third hydraulic cylinder drive control signal from the control circuit. A first on / off solenoid valve for controlling the on / off of the oil, a second on / off solenoid valve and a third on / off solenoid valve, and a first switching valve for switching the supply direction of rising / falling of the hydraulic oil by the first operation lever, and a supply stop, A hydraulic device including a second switching valve for switching between forward and backward supply directions of hydraulic oil and a supply stop by two operation levers. Is.

[Action]

Detection signals from the elongation sensor, the angle sensor, the first drive sensor and the second drive sensor are input to the control circuit. When the first operation lever is operated, the control circuit receives an operation content selection signal from the first drive sensor.
The control circuit forms a first cylinder drive control signal, a second cylinder drive control signal, and a third cylinder drive control signal based on the detection signals from the elongation sensor and the angle sensor, and controls the hydraulic system. Output. The hydraulic device turns on and off the first on-off solenoid valve, the second on-off solenoid valve, and the third on-off solenoid valve based on the cylinder drive control signals to extend and retract the telescopic boom body T. Thereby, the telescopic boom body T is tilted. The extension of the telescopic boom body T is detected by the extension sensor, and the detection signal (distance L) is input to the control circuit. The control circuit takes in the detection signal θ _n from the angle sensor and A = L _n cos θ _n
Then, the first cylinder drive control signal, the second cylinder drive control signal, and the third cylinder drive control signal are formed so as to match the calculation result with the constant distance C. The signals for driving each cylinder are input to the hydraulic device. In the hydraulic device, the first on-off solenoid valve, the second on-off solenoid valve and the third on-off solenoid valve are turned on and off based on the control signals for driving each cylinder, and a predetermined amount of hydraulic oil is supplied to the first cylinder and the second cylinder. Supply to cylinder and third cylinder. Thereby, the length and angle of the telescopic boom body T are adjusted. In this way, the elevating table V is vertically moved up and down by synchronizing the expansion and contraction of the telescopic boom body T and the inclination of the telescopic boom body T.

On the other hand, when the second operation lever is operated when the height reaches the constant height H, the content of this operation is detected by the second drive sensor and the detection signal is input to the control circuit. The control circuit calculates B = L _m sin θ _m based on the detected detection signals from the extension sensor and the angle sensor, and drives the first cylinder so that the calculation result B matches the height H. A control signal, a second cylinder drive control signal, and a third cylinder drive control signal are formed. In the hydraulic device, the first on / off solenoid valve, the second on / off solenoid valve, and the third on / off solenoid valve are turned on / off based on the control signals for driving each cylinder, and a predetermined amount of hydraulic oil is supplied to the first cylinder and the second cylinder. Supply to cylinder and third cylinder. Thereby, the length and angle of the telescopic boom body are adjusted. Therefore, at the height H, the lifting platform moves in the horizontal direction.

As described above, according to the present invention, it is possible to obtain an elevating device which has a simple structure and is capable of vertically moving an elevating table vertically and moving it horizontally while maintaining a constant height.

〔Example〕

 An embodiment 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 an inner hollow lower boom 6 having a quadrangular 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 rotating 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 upper side of the cover body 12 attached to the tip of the is about ⅔ of the total length of the lower boom 6, and the lower side is ⅓.
The left side in 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 at a position about 1/3 from the left end, and at the lower part of the cover body 12 at 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 configured by a microcomputer device, and the microcomputer device includes a processing device (CPU) 51 for performing various arithmetic processes and a read-only memory (ROM) 52 for storing a predetermined program, fixed constants, and the like. And a memory (RAM) 53 that stores programs to be executed and variables.
And a digital signal input / output device that captures digital signals
(DIO) 54, a digital output device (DO) 55 for outputting a digital signal, and an analog-to-digital converter (AD) which converts the input analog signal into a digital signal and captures it.
C) 56 and interrupt input device (IR
I) 57 and a bus line 58 connecting them.
In addition, the output of the counter 59 that counts the detection sensor from the elongation sensor 20 is connected to the DIO 54 of the microcomputer device, the angle sensor 29 is connected to the ADC 56, and the drive sensor described later in IRI 57.
88 and extension control button 89 are connected, and on / off solenoid valves 72, 79, 86 are connected to DO55 thereof.

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 hydraulic cylinder 35 and the hydraulic cylinder 40 are connected in series, the hydraulic cylinder 40 is connected to the hydraulic circuit 68 through the hydraulic circuit 69, and the hydraulic cylinder 35 is connected to the pressure adjusting valve 70 and the check valve.
A parallel circuit with 71 and an on / off solenoid valve 72 are connected to a hydraulic circuit 67 via a hydraulic circuit 73 provided in series. The hydraulic cylinders 9 and 9 include a hydraulic circuit 74, a pressure adjusting valve 75, and a check valve.
Is connected in parallel with a hydraulic circuit 77 equipped with a hydraulic circuit 77, the hydraulic circuit 74 is connected to a hydraulic circuit 68 via a hydraulic circuit 78,
Is connected to a hydraulic circuit 67 via a hydraulic circuit 80. The hydraulic cylinders 18, 18 include a hydraulic circuit 81, a pressure adjusting valve 82, and a check valve.
83 is connected in parallel with the hydraulic circuit 84, and the hydraulic circuit 81 is connected to the hydraulic circuit 68 via the hydraulic circuit 85.
Is connected to a hydraulic circuit 67 via a hydraulic circuit 87 having an on / off solenoid valve 86. A drive sensor 88 is connected to the switching lever 66 so that it can detect whether the position of the switching lever 66 is stopped, raised or lowered.

Reference numeral 90 denotes a horizontal movement switching valve. The switching valve 90 is supplied with pressure oil from a hydraulic pump 63, and a return pipe 65 is connected to the switching valve 90. The switching valve 90 is switched by a switching lever 91 so that the pressure oil is supplied to either of the hydraulic circuits 67 and 68. A drive sensor 92 is connected to the switching lever 91, and the position of the switching lever 91 is “stop”.
It can detect whether it is "forward" or "backward". Further, the switching valve 64 and the switching valve 90 are the switching lever 66,
It is equipped with a mechanical interlock mechanism to prevent simultaneous operation of the 91.

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 telescopic boom 13 is contracted and the lifting platform 16 is lowered to the lowest position. 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 switching lever 66 is set to the raised position (step S100). S101). At this time, the drive sensor 88 detects the operating position of the switching lever 66 and informs the CPU 51 via the IRI 57 that the hydraulic device 60 has moved upward (step S102). This allows CPU5
1 starts reading the detection signals from the elongation sensors 20 and the angle sensors 29 (step S103) and opens the on / off solenoid valves 72, 79, 86 (step S104). As a result, the hydraulic circuit 73, the hydraulic circuits 87, 84, the hydraulic circuits 80, 77
The hydraulic pressure is supplied to each of the hydraulic cylinders 9, 18, 35, and 40 via (step S105), and the lifting platform 16 starts to move up.

When pressure oil is supplied to the hydraulic cylinders 35, 40, the hydraulic cylinder rods 36, 42 respectively extend to slide the middle boom 10 out of the lower boom 6 and pull it out, and at the same time, 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 by the ADC 56.

Here, the CPU 51 is each extension sensor 20, angle sensor 29.
Based on the detection signal from the formula (1), that is the following (3)
The formula is calculated (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 (3) Therefore, the value A obtained from the equation (3) 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, the switching lever 66
Is converted, and if not changed, the process proceeds to step S103. When it is determined in step S108 that "there is a change", the process proceeds to step S109, and in step S109, the positions of "up", "stop", and "down" are determined.

When the position of the switching lever 66 is "stop" in this step S109, it is stopped in step S110. When the switching lever 66 is operated in step S111, it is determined in step S112 whether or not it is raised. 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 switching 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, to step S102. On the other hand, if it is determined in step S112 that the switching lever 66 is in the lowered position, the process proceeds to step S115, in which the switch lever 66 is input to the IRI 57 in step S115, and then step S116.
Then, it is determined that the lift table 16 is placed at the lowest position, and if it is at the lowest position, the process moves to stop, and all the processes are completed, and otherwise moves to step S103. If it is determined to be the "up position" in step S109, the process proceeds to step S113, and if it is determined to be the "down position", the process proceeds to step S115.

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,
It is given to 86 to adjust the extension amount (contraction amount when descending) of each hydraulic cylinder 9, 18 to optimize the angle. In step S119, the detection signals from the elongation sensor 20 and the angle sensor 29 are fetched via the counter 59, DIO 54 and ADC 56, and the equation (3) is calculated. In step S120, it is determined whether the calculation result A matches C. If they do not match, step S
If 118, the process moves 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, and the cover body The pin 15 of 12 will rise vertically to the vehicle body 1. Also hydraulic cylinder
The lifting force of 18 causes the lift table 16 to rotate about the pin 15 to increase the angle between the cover body 12 and the lift table 16, and the expansion amounts of the hydraulic cylinder 9 and the hydraulic cylinder 18 are synchronized. So the lift 16 is parallel to the car body 1,
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 is lifted to a predetermined height position, the operator sets the switching lever 66 to the stop position to stop the operation of the hydraulic cylinders 9, 18, 35 and 40, and the lift table 16 is moved to its high position. Held in position (step S10
(8, 110), work at high places such as assembly, repair, painting, etc. can be performed.

To lower the lift table 16, the switch lever 6 is pressed in step S111.
When 6 is set to the lowered position, 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 to reduce the hydraulic cylinders 9, 18, 35 and 40. Let the telescopic boom body in reverse order
If 13 is reduced, the lift 16 is lowered 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 Platform 16 is Positioned at a Constant Height Above the Vehicle Body 1 and Moved in the Horizontal Direction) Next, as shown in FIG. 11, the lifting platform V is positioned at a constant height with respect to the vehicle body M. A case where the lifting table V is moved horizontally in the vertical direction in this state will be described with reference to FIG. In this case, it is assumed that the control button 89 is pressed.

A state in which the lifting platform 16 is vertically lifted as described above and the lifting platform 16 is stopped at a certain height is shown by a solid line in FIG.

Next, when the elevator 16 is moved horizontally from the state shown by the solid line in FIG. 11, the switching lever 91 is set to the forward or backward position (step S200). At this time, the drive sensor 92 detects the operating position of the switching lever 91 and sends the CPU via the IRI 57.
Informs 51 that hydraulic system 60 has been activated horizontally
(Step S201). As a result, the CPU 51 causes the switching lever 91 to
Is set to the forward position or the reverse position, and if it is forward, the telescopic boom body 13 is contracted to increase the angle θ.
2, 79, 86 are controlled (step S203), and if retracted, the on / off solenoid valves 72, 79, 86 are controlled so as to extend the telescopic boom body 13 and reduce the angle θ (step S204). As a result, the hydraulic pressure is supplied to the hydraulic cylinders 9, 18, 35, 40 via the hydraulic circuit 73, the hydraulic circuits 87, 84, and the hydraulic circuits 80, 77, respectively (step S205), and the extension sensors 2
0, the detection signal from the angle sensor 29 is read (step S206), and the lifting platform 16 starts to move in the horizontal direction.

When pressure oil is supplied to the hydraulic cylinders 9, 18, 35, 40,
Each of the hydraulic cylinder rods 36, 42 expands and contracts to slide the middle boom 10 out of the lower boom 6 to pull out or retract it, and the front boom 11 to slide out of the middle boom 10 to pull out or retract, so that the pin 7 , 15 to increase or decrease the interval. The amount of enlargement / reduction is detected by the elongation sensor 20, and this detection signal is given to the counter 59 and counted here. Further, as the hydraulic cylinder 9 expands and contracts, the lower boom 6 is rotated around the pin 7 and the telescopic boom body 13 is tilted with respect to the vehicle body 1. This tilt angle is detected by the angle sensor 29, and the detection number is supplied to the ADC 56.

Here, the CPU 51 is each extension sensor 20, angle sensor 29.
Based on the detection signal from the above equation (2), that is, the following equation
Equation (4) is calculated (step S207). 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 = Lsinθ (4) Therefore, the value B obtained from the equation (4) is compared with the height H of the lift 16 (step S207), and if the comparison result is within a certain width, the process proceeds to step S209. Step S209
Then, it is determined whether the switching lever 91 has been changed. If not, the process proceeds to step S202. If it is determined in step S209 that the switching lever 91 has been changed, step S209
In step S210, it is determined whether the switching lever 91 is in the "forward", "stop" or "reverse" position.

When the position of the switching lever 91 is "stop" in this step S210, it is stopped in step S211. When the switching lever 91 is operated in step S212, it is determined in step S213 whether the vehicle is moving forward. When it is determined that the vehicle is moving forward in step S213, the process proceeds to step S214 and the IRI 57 is switched to the switching lever 66.
Is entered, then it is determined whether or not the lifting platform 16 has come to the foremost position (step S215). If it is at the foremost position, the process proceeds to step S211, and if not, the process proceeds to step S202.

On the other hand, if it is determined that the switching lever 91 is in the retracted position in step S213, the process proceeds to step S216, and the IR
Input to I57 that the switching lever 91 is in the retracted position, then in step S217, it is determined whether the lifting platform 16 is in the final retracted position. If it is in the final retracted position, the elevator is stopped. If not, the process proceeds to step S202. If it is determined to be the "up position" in step S210, the process proceeds to step S214, and if it is determined to be the "down position", the process proceeds to step S216.

When the calculation result B is different from the height H and does not fall within the fixed width in step S208, the process proceeds to step S218. In this step S218, the control signal from the DO 55 is given to the on / off solenoid valve 72 by the command of the CPU 51, and the on / off control is performed to change the extension amount (contraction amount) of the telescopic boom body 13 and the control signal from the DO 55. It is given to the on / off solenoid valves 79 and 86 to turn them on and off to adjust the expansion amount (contraction amount) of each hydraulic cylinder 9 and 18 to optimize the angle. Step S
At 219, the detection signals from the elongation sensor 20 and the angle sensor 29 are fetched through the counter 59, DIO 54 and ADC 56, and the calculation of the equation (4) is performed at step S220. In step S221, it is determined whether the calculation result B matches the height H,
If they do not match, the process moves to step S218, and if they match, the process moves to step S202.

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 cover body 12 and the lifting platform 16, and the stretching amounts of the hydraulic cylinder 9 and the hydraulic cylinder 18 are synchronized. Therefore, 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 is lifted to a predetermined height position, the operator sets the switching lever 66 to the stop position to stop the operation of the hydraulic cylinders 9, 18, 35 and 40, and the lift table 16 is moved to its high position. It is held at a high position, and work such as assembling, repairing and painting at a high place can be performed. In addition, since the lift table 16 can be moved in the horizontal direction while being held at a constant height position, it becomes very convenient for various work on a plane such as a ceiling at a high position.

〔The invention's effect〕

Since the present invention is configured as described above, it is possible to move the lifting platform in the direction perpendicular to the plane of the vehicle body, and
After the elevating table reaches a certain height, it is possible to move horizontally while maintaining the height, which has the effect of significantly improving work efficiency such as construction work and repair work.

Further, according to the present invention, the length and angle of the telescopic boom body are taken into the processing device, and the on / off solenoid valve of the hydraulic circuit is driven on / off finely by the control signal formed based on the calculation result in the processing device. Since it is configured to control the supply amount of hydraulic oil and the like, it is possible to accurately move the lifting table forward or backward after the lifting table moves vertically and moves to a certain height.

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. Oil that is axially supported by the cover provided at the tip of the processing device, takes in the angle into the processing device, and is supplied to the second hydraulic cylinder of the hydraulic circuit by the control signal formed based on the calculation result in the processing device. Since the third on-off solenoid valve is driven on and off so that the amount of hydraulic oil is proportional to the amount, the floor of the elevator is large, and the elevator that may receive a large load is moved vertically or horizontally. You can always keep it horizontal while moving.

[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. FIG. 8 is a diagram showing a configuration example of a hydraulic control device of the present embodiment, FIG. 8 is a flow chart shown for explaining the vertical lifting 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 shown for explaining the horizontal movement operation of the present embodiment, 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 ... Lifting platform, 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. A roller that rolls in contact with the upper surface of a boom other than the uppermost boom is rotatably supported at the lower end of the, and at least two locations at the lower rear of the lifting platform are rotatably supported at the upper end of the cover body. The whole becomes Z-shaped The 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 detect the length thereof to obtain extension data, and the vehicle body of the telescopic boom body. An angle sensor installed near the shaft support that detects the angle to obtain angle data, a first drive sensor that detects the operation content of the first switching lever that commands the up and down movement, and an operation detection signal, and a forward movement A second drive sensor that obtains an operation detection signal by detecting the operation content of the second switching lever that commands the backward movement, and the detection signal from each sensor, and the first drive sensor When an ascending or descending command from is input, the reference value based on the data obtained from one of the elongation sensor or the angle sensor and the comparison value based on the data obtained from the other sensor are compared, Form the first hydraulic cylinder drive control signal, the second hydraulic cylinder drive control signal and the third hydraulic cylinder drive control signal so that the comparison value matches the reference value, or complete vertical movement. After that, when a forward or backward command is input from the second drive sensor, the height of the lifting platform after completion of the movement is stored, and a predetermined calculation process is performed on the detection signals from the extension sensor and the angle sensor. The control signal for driving the first hydraulic cylinder and the control signal for driving the second hydraulic cylinder are shaped so that the result falls within a certain width based on the memory height. And a control circuit including a processing device that forms a third hydraulic cylinder drive control signal so that the hydraulic oil amount is proportional to the hydraulic oil amount supplied to the second hydraulic cylinder; A first on / off solenoid valve for controlling on / off of hydraulic oil to be supplied to each cylinder by one hydraulic cylinder drive control signal, a second hydraulic cylinder drive control signal, and a third hydraulic cylinder drive control signal, a second on / off valve Solenoid valve and third on-off solenoid valve, first and second operating levers for supplying and lowering hydraulic oil, first switching valve for switching supply and stop, and second operating lever for forward and backward supply of hydraulic oil And a hydraulic device including a second switching valve for switching supply stoppage.