JPH0637280B2 - 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,
Regarding the lifting device that can lift materials to high places,
In particular, the present invention relates to a lifting device capable of storing a position once raised to an obliquely upper position and thereafter automatically moving the elevator to an obliquely upper position.

[Conventional technology]

Assembly, painting at high places such as highways and building construction,
A lifting device for raising and lowering an elevating table is often used for repair work or moving work in a high place such as a building. I was working.

In this conventional lifting device, a pair of arms is 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.
In this mechanism (so-called scissors type), in order to increase the maximum lifting height of the lifting device, it was 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, 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.

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).

[Problems to be solved by the invention]

However, in the case of the lifting device having one telescopic boom body as described above, it is necessary to control the amount of telescopic boom body extension and contraction and its elevation angle at the same time no matter which position the elevator base is moved to. However, it was actually extremely difficult to manually operate in order to control it. In particular, in the case of repeatedly reciprocating the lifting table between a certain fixed position and the basic position, the manual operation is
It was even more difficult.

In view of the above problems, the present invention provides a lifting device that remembers a position once moved up and moved in the horizontal direction and can automatically move the lifting platform between this position and the basic position thereafter. It is intended.

[Means for solving problems]

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, the lifting device being attached to the telescopic boom body to detect its length. An extension sensor that obtains extension data, an angle sensor that is provided near the pivot of the telescopic boom and the vehicle body and that detects the angle to obtain angle data, and an operating lever that is manually operated to move up or down or move forward. Or an operation box that outputs a manual operation command for backward movement, an automatic operation panel that outputs a memory command, an automatic operation mode or an instruction for automatic ascent or descent, and detection signals from both sensors A manual operation command from the operation box and a command from the automatic operation panel can be taken in. When there is an instruction from the operator to manually operate the operation box, a predetermined calculation process is performed on the detection signals from both sensors. The calculated result is compared with the length of the telescopic boom at the lowest position of the lifting table, and the first, second and third hydraulic cylinder drive control signals and the first And a second hydraulic direction switching control signal is generated, or when the elevator platform reaches a desired height based on a manual operation command from the operation box, the memory operation command is given from the automatic operation panel to increase the height. The horizontal position and the horizontal position are stored in the storage means, and the storage position and the lift are stored in the storage means in accordance with an operation mode from the automatic operation panel, or an operation mode other than the oblique operation command. Predetermined detection processing from the both sensors is performed between the lowest position and the first, second and third hydraulic cylinder drive control so that the calculation result matches the storage position. A control circuit for generating a signal and a first and second hydraulic pressure direction switching control signal, and a switching operation according to a first hydraulic pressure direction switching control signal from the control circuit, so that pressure oil from a hydraulic pump is transferred to a first hydraulic cylinder. A first hydraulic directional switching solenoid valve capable of supplying to the hydraulic circuit for use and controlling the supply direction thereof, switching operation is performed by a second hydraulic directional switching control signal from the control circuit, and pressure oil from the hydraulic pump is supplied to the second and A second hydraulic directional switching solenoid valve that can supply to the third hydraulic cylinder hydraulic circuit and control the supply direction, and is turned on by the first hydraulic cylinder drive control signal from the control circuit. A first on / off solenoid valve that is turned off and adjusts the flow rate of the pressure oil supplied from the first hydraulic direction switching solenoid valve to supply it to the first hydraulic cylinder, and a second hydraulic cylinder drive from the control circuit. Second ON / OFF solenoid valve which is turned on / off by a control signal for control, adjusts the flow rate of the pressure oil supplied from the second hydraulic direction switching solenoid valve and supplies the second hydraulic cylinder, and the third ON / OFF solenoid valve from the control circuit. ON / OFF operation is performed by the control signal for driving the hydraulic cylinder of, and the flow rate of the pressure oil supplied from the second hydraulic direction switching solenoid valve is adjusted to the amount of pressure oil proportional to the amount supplied to the second hydraulic thinner. And a hydraulic device including a third on-off solenoid valve for supplying to a third hydraulic cylinder.

The present invention, which has solved the problems as described above, applies the following principle.

The principle of the present invention will be described first with reference to FIG. That is, as shown in FIG. 9, a pair of shaft support pieces N are fixedly attached to the upper surface of a vehicle body M as a base, and the lower outer boom P has a pin O.
And a lower boom P, a middle boom Q, a front boom R, and a cover body S, which are rotatably connected to a shaft support piece N, constitute a telescopic boom body T. The cover body S is provided with a shaft support piece U. A lift table V is rotatably connected by a pin W. Further, the OW distance at the basic position is C.

First, the vertical operation will be described.

Distance telescopic boom body T with adjusting the angle θ _i L _i (however, i = 1, 2, 3, ......) and extended only obtains the L _0i = Ccosθ _i from the angle theta _i, and the L _0i If the telescopic boom body T is adjusted to the distance L _i so that, the lift base V is vertically moved up by the height H _i . Thereafter, similar control may be performed.
Note that θ may be matched with L as a reference, and L and θ may be matched with C as a reference.

Next, the horizontal operation will be described with reference to FIG.

To move horizontally from a certain height H ₀ , the angle θ _i
Then, L _hi = H ₀ / sin θ _i is obtained, and if the telescopic boom body T is adjusted to the distance l _i so as to be L _hi , the elevator V moves horizontally in the horizontal direction by the distance l _i . Thereafter, similar control may be performed. Note that θ may be matched based on L, or L and θ may be matched based on C. The above principle is used to control the movement in the vertical and horizontal directions.

[Action]

First, the lifting platform is raised and moved to the required height and horizontal position. When the operator issues a memory command, the height and only the horizontal position are stored. Next, when the operation is switched to the automatic operation, the lifting platform moves up and down between the stored position and the basic position only by the command operation of the up and down movement. In the automatic operation at this time, there are only two stored values, the height and the horizontal position, and the reference value is obtained from the stored value.

Here, there are two types of movements of the vertical movement.

One is vertical movement to horizontal movement, and horizontal movement to vertical fall (see Fig. 13 (I)). The other one is to lift the boom body by a certain angle and then extend the boom body or contract the boom body so that the angle becomes zero when it reaches a certain length (Fig. 13 ( See II)).

〔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 where the lifting platform is lowered to the lowest position (basic 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 supporting piece 5 respectively, and between the pin stoppers 8 and the outer side of the lower boom 6, there is a hydraulic cylinder 9 for elevation. 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 of the vehicle body 1. A pair of shaft support pieces 14 are fixed to one end of the lower surface of the lifting platform 16 at intervals, and between the shaft support pieces 14. The cover body 12 is inserted, and the shaft support piece 14 and the cover body 12 are rotatably connected by a pin 15. In addition, it is the lower surface of the lifting table 16
A pair of pin stoppers 17 are fixed on both sides at positions opposite to 14, and hydraulic cylinders 18 are interposed between the pin stoppers 17 and both sides of the cover body 12.
Hand rubs 19 are planted around the upper surface of the.

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, in which 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.
It is slidably inserted into 10, and 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 consists of 50 and hydraulic system 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) that stores a predetermined program, fixed constants, and the like. 52 and a memory (RAM) that stores the programs and variables to be executed
53 and digital signal input / output device that captures digital signals
(DIO) 54, a digital output device (DO) 55 that outputs a digital signal, an analog-digital converter (ADC) 56 that converts an analog signal into a digital signal and captures it, and an interrupt input device (IRI) that receives an interrupt signal. ) 57, a second digital input / output device (DIO) 58, and a bus line for connecting them,
The output of the counter 59 that counts the detection sensor from the elongation sensor 20 is connected to the IO 54, the angle sensor 29 is connected to the ADC 56 thereof, and the IRI 57 and DIO thereof are connected.
An operation box 88 and an automatic operation panel 89, which will be described later, are connected to 58, and electromagnetic switching valves 64 and 65 and on / off electromagnetic valves 74, 80 and 86 are connected to the DO 55 thereof. The operation box 88 is provided with a lever 90, and the operation lever 90 has “up”, “down”, “forward”, “backward”, and “stop” positions.
When the lever 90 is moved to a position other than "stop", it can be immediately read by the CPU 51 via the IRI 57 and DIO 58. The automatic operation panel 89 has a memory button 91, a mode button 92 for selecting a form of automatic operation, and an automatic lift button.
There are 93 and an automatic lowering button 94. When these are pressed, the CPU 51 immediately makes a determination process via the IRI 57 and the DIO 58.

In the hydraulic device 60, oil is stored in the oil tank 61, and this oil is supplied as pressure oil by the hydraulic pump 63 driven by the engine 62 to the electromagnetic switching valves 64, 65. Return pipes are connected to the electromagnetic switching valves 64 and 65, and are arranged to guide return oil to the oil tank 61. The electromagnetic switching valve 64 is switched by the switching signal from the DO55 so that the pressure oil can be supplied to either of the hydraulic circuits 67 and 68. Similarly, the electromagnetic switching valve 65 controls the DO55.
The pressure oil is switched by the switching signal from the hydraulic circuit 69,
It can be supplied to any of the 70.

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 71, and the hydraulic cylinder 35 is connected to the pressure adjusting valve 72 and the check valve.
A parallel circuit with 73 and an on / off solenoid valve 74 are connected to a hydraulic circuit 67 via a hydraulic circuit 75 provided in series. The hydraulic cylinders 9 and 9 are connected in parallel by a hydraulic circuit 78 and a hydraulic circuit 79 including a pressure adjusting valve 77 and a check valve 76.
Is connected to the hydraulic circuit 70, and the hydraulic circuit 79 is an on-off solenoid valve.
It is connected to the hydraulic circuit 69 via 80. Hydraulic cylinder
18, 18 are connected in parallel with a hydraulic circuit 81 and a hydraulic circuit 84 including a pressure regulating valve 82 and a check valve 83, the hydraulic circuit 81 is connected to the hydraulic circuit 70, and the hydraulic circuit 84 is an on-off solenoid valve 86. Is connected to the hydraulic circuit 69 via.

Next, the operation of this embodiment will be described with reference to FIGS. 1 to 11.

(When vertically moving the lifting platform 16) In Fig. 2, the telescopic boom unit 13 is contracted to lower the lifting platform 16 to the lowest position.
This shows the state of being lowered to the (basic position), and in this state, the worker is placed on the elevator 16 and the materials are placed, and then the elevator 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 90 of the operation box 88 is set to the raised position. Yes (step S101). At this time, the sensor in the operation box 88 detects the operating position of the lever 90 to detect the IRI 57 and DI.
The CPU 51 is informed via O58 that the hydraulic device 60 is to be lifted (step S102). As a result, the CPU 51 instructs to switch the electromagnetic switching valves 64 and 65 via the DO 55 (step S103), starts reading the detection signals from the extension sensors 20 and the angle sensor 29 (step S104), and turns on / off the electromagnetic valve. Open 74, 80, 86
(Step S105). As a result, the hydraulic circuit 75, the hydraulic circuit 7
The hydraulic pressure is supplied to the hydraulic cylinders 9, 18, 35, 40 via the shafts 9, 84, respectively (step S106), 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 to the ADC 56.

Here, the CPU 51 is each extension sensor 20, angle sensor 29.
The following formula (1) is calculated based on the detection signal from (step S107). That is, the detection signal from the elongation sensor 20 is set to L
And the detection signal from the angle sensor 29 is θ, then A = Lcos θ (1) Therefore, the value A obtained from the equation (1) is used as the distance C between the pin 7 and the pin 15 at the lowermost position (basic position) of the lifting table 16.
(Step S108), and if the comparison result is within a certain range (basically, it matches), step S10
Go to 9. In step S109, it is determined whether the lever 90 has been converted, and if not changed, the process proceeds to step S104.
When it is determined in step S109 that "there is a change", the process proceeds to step S110, and in step S110, the positions of "up", "stop", and "down" are determined.

When the lever 90 position is "stop" in step S110, the solenoid switching valves 64 and 65 are switched to the stop positions in step S111 to stop the operation. Lever 9 in step S112
When 0 is operated, it is determined in step S113 whether or not it is rising.
When it is determined to be elevated in step S113, the process proceeds to step S114, where it is input to the IRI 57 and the DIO 58 that the lever 90 is elevated, and then it is determined whether or not the lifting platform 16 has come to the uppermost position (step S115). If not, the electromagnetic switching valves 64, 65 are switched to the raised position (step S116), and the process proceeds to step S104.

On the other hand, if it is determined in step S113 that the lever 90 is in the lowered position, the process proceeds to step S117, the lever 90 is input to the IRI 57 and the DIO 58 in step S117, and then the lifting platform 16 is placed at the lowest position in step S118. If it is the lowest position, the electromagnetic switching valves 64 and 65 are switched to the stop position to move to the stop, and all the processing is terminated. Otherwise, the electromagnetic switching valves 64 and 65 are switched to the descending position (step S11).
9) Then, move to S104. "Up position" in step S110
If it is determined to be, the process proceeds to step S114, and if it is determined to be the "lower position", the process proceeds to step S117.

When the calculation result A is different from C in step S108 and does not fall within the predetermined range, the process proceeds to step S120. In this step S120, a control signal from the DO 55 is given to the on / off solenoid valve 74 by the command of the CPU 51, and this is on / off controlled to reduce the extension amount (the contraction amount when descending) of the telescopic boom body 13 and also from the DO 55. Control signal on / off solenoid valve 80,
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 S121, 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 (1) is calculated. In step S122, it is determined whether the calculation result A matches C. If they do not match, step S122
The process moves to 120, and if they match, the process moves to step S104.

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 is covered. The pin 15 of 12 will rise vertically to the vehicle body 1. Also hydraulic cylinder
The lifting force of 18 causes the lifting platform 16 to rotate about the pin 15 to act to expand the angle between the cover body 12 and the lifting platform 16, and the extension 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 has risen to a predetermined height position, the operator sets the lever 90 to the stop position to set the electromagnetic switching valves 64 and 65 to the stop position and operate the hydraulic cylinders 9, 18, 35 and 40. When stopped, the elevating table 16 is held at its height position (steps S108, 110), and operations such as assembling, repairing and painting at a high place can be performed. here,
When the memory button 91 on the automatic operation panel 89 is pressed, the height H ₀ is stored.

In order to lower the lift table 16, the lever 90 is set to the lowered position in step S112, the setting position is determined in step S113, the process proceeds to steps S117, S118, and S119, and the same processes in steps S104 to S122 as the above-described order are performed. When the hydraulic cylinders 9, 18, 35, 40 are contracted and the telescopic boom body 13 is contracted in the reverse order, the lift table 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 S104.

With reference to FIGS. 10 and 11 for the case of moving horizontally forward or backward lifting table 16 (when moving horizontally back and forth a lifting table 16 from the predetermined height H ₀₎ from a predetermined height H ₀ explain.

In step S200, the lever 90 of the operation box 88 is set to the forward or backward position. In step S201, the position of the lever 90 is determined. If the lever 90 moves forward, the process proceeds to step S202. If the lever 90 moves backward, the process proceeds to step S203. If the lever 90 stops, the process proceeds to step S204. In step S202, the CPU 51 sets the electromagnetic switching valve 64 to the raised position via the DO 55,
Move 65 to the down position. In step S203, the CPU 51 sets D
The solenoid operated directional control valve 64 is set to the lowered position via the O55, and the solenoid operated directional control valve 65
To the raised position. In step S204, the CPU 51 causes DO5
The solenoid operated directional control valves 64 and 65 are brought to the stop position via 5 and stopped. Next, in step S205, the detection signals from the respective extension sensors 20 and angle sensors 29 are loaded into the CPU 51 and RA
Store in M53. In step S206, the on / off solenoid valves 74, 80, 86 are controlled to open and close. In step S207, hydraulic pressure is supplied to the hydraulic cylinders 9, 18, 35 and 40. In step S208, the CPU 51 calculates the following equation (2).

B = L sin θ (2) In step S209, it is determined whether or not B is within a certain range with H ₀ as a reference. If it is determined in step S209 that the width is within a certain range, the process proceeds to step S210, where it is determined whether the maximum diagonal position is reached. If it is the maximum width in step S210, the process proceeds to step S211, and the CPU 51 switches the electromagnetic switching valves 64 and 65 to the stop positions and stops them. At this time, the vehicle stops at the constant height H ₀ and the maximum horizontal distance l _max . On the other hand, if the width is not the maximum width in step S210, the process returns to step S200, and the series of processes (steps S200 to S210) is continued again. If it is not within the predetermined width in step S209, the process moves to step S205 again, and the processes of steps S205 to S209 are continued.

By performing the processing of steps S200 to S210, the movement in the horizontal direction can be performed. When the recording switch 91 of the automatic operation panel 89 is pressed at the stop position (steps S204, S211), the horizontal distance 1 of the stop position is stored.

Next, the automatic operation will be described with reference to FIGS. 12 and 13.

First, the mode button 92 on the automatic operation panel 89 is pressed (step S300), and it is determined in step S301 whether or not the vehicle is diagonally raised.

When it is not possible to raise diagonally, the process proceeds to step S400, and it is assumed that either the automatic raising button 93 or the automatic lowering button 94 is pressed in step S400. At this time, if it is invalid according to the current position of the lifting platform 16, the process returns to step S400. Here, when the automatic lift button 93 is pressed and the lift table 16 is at the basic position, the steps S401 and S402 are performed to the step S
Move to 403. In step S403, the electromagnetic switching valves 64 and 65 are switched to the raised position. Next, in step S404, the raising operation is performed. The ascending operation in step S404 is the same as steps S104 to S109 and S120 to S122 in FIG. Then, the flow proceeds to step S405 when YES in step S209, the elevation frame 16 is determined it came to H ₀ position stored is again proceeds to step S404 and if not H _0, goes to H ₀ if the step S406.

In step S406, the CPU 51 switches the electromagnetic switching valve 64 to the lowered position and the electromagnetic switching valve 65 to the raised position. Then, the process proceeds to step S407, and steps S205 to S in FIG.
Performs step 209. If YES in step S209, it is determined whether or not the stored horizontal position is 1. If it is not l, the process proceeds to step S407, and if l, the process proceeds to step S409, and the electromagnetic switching valves 64 and 65 are stopped at the stop positions. As a result, the AT1 of FIG. 13 (I) is operated in steps S403 to S405, and the AT2 of FIG. 13 (I) is executed in steps S406 to S408.
By performing the operation of, it is automatically raised to the diagonal position.

Next, in steps S400 to S402, when it is determined that the lifting platform 16 is at the diagonally upper position (H ₀ , l ₀ ), and it is going to descend, the process proceeds to step S410. In step S410, C
In response to a command from PU51, move the solenoid operated directional control valve 64 to the raised position,
The electromagnetic switching valve 65 is switched to the lowered position. Next, in step S411, steps S205 to S209 in FIG.
When the determination in step S209 is YES, the process proceeds to step S412, and it is determined whether or not the stored l ₀ has reached the position of l. When l is not zero, step S41 is executed again.
Although the process returns to 1, when l is zero, the process proceeds to step S413. In step S413, the solenoid switching valve 6 is instructed by the CPU 51.
Both 4 and 65 are switched to the lowered position, and then step S414
Move on to. In step S414, steps S120 to S in FIG.
If the determination at step S122 is YES, the process proceeds to step S415 to determine the lowest position. If not the lowest position, the process proceeds to step S414. If the lowest position,
In step S409, the electromagnetic switching valves 64 and 65 are set to the stop position. Steps S410 to S412 correspond to the operation of the AT3 shown in FIG. 13 (I), and steps S413 to S415 correspond to the operation of the AT4 shown in FIG. 13 (I), whereby the automatic lowering from the oblique position can be performed.

Next, the operation when it is determined to be diagonal up and down movement in steps S300 and S301 will be described.

In step S500, automatic up button 93 or automatic down button 9
Suppose you press 4. In step S501, it is determined whether the automatic raising button 93 and the automatic lowering button 94 are valid or invalid according to the position of the lifting platform 16, and if invalid, the process proceeds to step S500. When it is valid, when the automatic lift button 93 is pressed, the lift table 16 is at the lowest position, in which case only the electromagnetic switching valve 65 is switched to the lift position in step S503, and step S50
The on / off solenoid valves 80 and 86 are controlled to open / close with 4.

Then, in step S505, θ _A = tan ⁻¹ {H ₀ / (C + l ₀ )} (3) where, l ₀ : memorized horizontal distance, H ₀ : memorized vertical distance, in the above formula (3) It is determined whether the obtained θ _A and the detected symbol angle θ from the angle sensor 29 match. If they do not match in step S505, the process returns to step S504, but if they match, the process moves to step S506.

In step S506, the electromagnetic switching valve 65 is switched to the stop position and the electromagnetic switching valve 64 is switched to the raised position.
Next, the on / off solenoid valve 74 is controlled to be opened and closed to extend the telescopic boom body 13.

In step S508, (4) the following _{equation, L A = {(C +} l 0) 2 + H 0 2} and L _A obtained in ^1/2 ... (4), the actual elongation L obtained from the elongation sensors 20 If they do not match, the process proceeds to step S507, but if they do match, the process proceeds to step S509 to set the electromagnetic switching valve 64 to the stop position and stop.

As a result, steps S503 to S505 are executed in the AT of FIG. 13 (II).
The movement is 11, and the steps S506 to S508 are movements of the AT 12 shown in FIG. 13 (II), which allows an oblique ascent.

Next, description will be made regarding a case where the elevator table 16 is at the elevated position in steps S500 to S502 and is lowered.

If it is determined in steps S500 to S502 that the automatic lowering button 94 has been pressed, the process proceeds to step S510. Step S510
Then, only the electromagnetic switching valve 64 is switched to the lowered position. In step S511, the on / off solenoid valve 74 is controlled to open and close. In step S512, the length L from the elongation sensor 20
Is determined to be C. If L = C, the process proceeds to step S513. If L ≠ C, the process proceeds to step S511. In step S513, the electromagnetic switching valve 64 is switched to the stop position, and the electromagnetic switching valve 65 is moved to the down position. In step S514, the on / off solenoid valves 80 and 86 are opened / closed. Step S51
In step 5, if the lift 16 is at the lowest position, the process proceeds to step S509. If not, the process returns to step S514.

As a result, the processing of steps S510 to S512 is shown in FIG.
The AT13 is operated, and the processing is performed in steps S513 to S515.
The AT14 shown in Fig. 13 (II) is operated and it descends diagonally.

〔The invention's effect〕

Since the present invention is configured as described above, it is possible to vertically move the lifting platform diagonally, and further, it is possible to automatically perform diagonal vertical movement between the stored height and the horizontal position and the basic position. is there.

Further, as described above, the present invention enables automatic operation of diagonal up and down movement as described above, which improves work such as construction and repair, and facilitates vertical movement between the same positions such as moving to improve work efficiency. It has the excellent effect of

Further, according to the present invention, the length and the 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 previous processing device. Since the configuration is such that the supply amount of hydraulic oil is controlled, there is an effect that it is possible to accurately perform automatic operation of vertical and horizontal movement of the lifting platform and diagonal vertical movement.

In addition, 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 arranged above the vehicle body, the telescopic boom including at least two third cylinders and at least two places behind and below the lifting platform. It is axially supported by the cover provided at the tip of the body, and the detection signal from the sensor is taken into the processing device.
And the third on-off solenoid valve is driven on and off so that the amount of hydraulic oil is proportional to the amount of hydraulic oil supplied to the second hydraulic cylinder of the hydraulic circuit by the control signal formed based on the calculation result in the processing device. With this configuration, the floor area of the lifting table having a large floor area and a possibility of being subjected to a large load can be kept horizontal during vertical and horizontal movements, diagonal movements, and even automatic movements.

[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 a vertical operation by a manual operation of the present embodiment, and FIG.
The figure is an explanatory view shown for explaining the same action, and FIG. 10 is a flow chart showing an example of horizontal operation by a manual operation of this embodiment,
FIG. 11 is an explanatory diagram shown for explaining the operation of the above. FIG. 12 is a flow chart for explaining the automatic operation of this embodiment, and FIGS. 13 (I) and (II) are explanatory views for explaining the same operation. 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. 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 its length to obtain extension data, and a body of the telescopic boom body. An angle sensor installed near the shaft support that detects the angle and obtains angle data, an operation box that outputs a manual operation command for raising or lowering, or moving forward or backward by manually operating the operating lever, memory command, automatic An automatic operation panel that outputs an operation mode or an automatic rising or lowering command, detection signals from both sensors, manual operation commands from the operation box, and automatic operation It is designed so that commands from the work board can be taken in, and when there is a manual operation command for the operation box by the operator, the detection signals from both sensors are subjected to predetermined calculation processing, and the calculation results and the lift table Compare the length of the telescopic boom at the lowest position and set the first, second and third hydraulic cylinder drive control signals and the first and second hydraulic direction switching control signals so that they match. Formed, or, when the elevator reaches a desired height based on a manual operation command from the operation box, stores the height and horizontal position in the storage means by giving a storage command from the automatic operation panel, And, depending on the operation mode other than the oblique operation command or the oblique operation command from the automatic operation panel, between the storage position stored in the storage means and the lowest position of the elevator, the sensors from the both sensors are The output signal is subjected to predetermined arithmetic processing, and the first, second and third hydraulic cylinder drive control signals and the first and second hydraulic direction switching control signals are applied so that the arithmetic result matches the storage position. The control circuit to be formed and a first hydraulic pressure direction switching control signal from the control circuit perform a switching operation to supply pressure oil from the hydraulic pump to the first hydraulic cylinder hydraulic circuit and control the supply direction. A first hydraulic directional switching solenoid valve, switching operation is performed by a second hydraulic directional switching control signal from the control circuit, and pressure oil from the hydraulic pump can be supplied to the second and third hydraulic cylinder hydraulic circuits, and A second hydraulic direction switching solenoid valve capable of controlling the supply direction thereof, which is turned on and off by a first hydraulic cylinder drive control signal from the control circuit, and the first hydraulic direction switching solenoid valve. The first on-off solenoid valve that adjusts the flow rate of the pressure oil supplied from the first hydraulic cylinder and supplies it to the first hydraulic cylinder, and the second hydraulic cylinder drive control signal from the above-mentioned control circuit is turned on and off to operate the second hydraulic pressure. A second on-off solenoid valve that adjusts the flow rate of pressure oil supplied from the direction switching solenoid valve and supplies it to the second hydraulic cylinder.
The third hydraulic cylinder drive control signal from the control circuit is turned on and off, and the flow rate of the pressure oil supplied from the second hydraulic direction switching solenoid valve is proportional to the amount supplied to the second hydraulic cylinder. And a hydraulic device including a third on / off solenoid valve that adjusts the amount of pressure oil and supplies the hydraulic oil to a third hydraulic cylinder.