JPS61188398A - Lifting apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a lifting device used for lifting workers or materials and lowering unnecessary parts for work at heights, and particularly relates to The middle boom is pivoted in an X-shape, and an upper boom and a lower boom that expand and contract in the axial direction are inserted into each middle boom, and the hydraulic pressure of a pair of hydraulic cylinders that lift the middle boom is adjusted to move the platform up and down. And it relates to an elevating device which, after moving in the lateral direction and memorizing the height and horizontal distance, automatically adjusts the hydraulic pressure of a hydraulic cylinder based on the stored distance information so that the elevating platform can be raised and lowered diagonally.

[Conventional technology]

Lifting devices that raise and lower platforms are used for assembly, painting, and repairs at high places such as highways and building construction, and workers and materials are placed on these platforms and lifted and lowered.

The outline of this conventional lifting device will be explained with reference to FIG.
The middle booms A and B, which are hollow inside, are rotatably connected at the center by a shaft C in an X-shape.
Upper boom D, E, lower boom F,
G is inserted so that it can appear and retract freely, and the upper boom D,
A lifting platform (■) is connected to H, and a base H is connected to lower booms F and G. A pair of hydraulic cylinders J and K are interposed between the base H and the axis C so as to form an isosceles triangle.

In this configuration, in order to raise the lifting platform (■), first raise the shaft C using the hydraulic cylinders J and
, E, the lower booms F, , G are pulled out from the open ends of the middle booms A and H, and the lifting platform (2) moves away from the base H and rises upward. Here, in order for the lifting platform ■ to rise vertically upward with respect to the base H, the upper booms D and E and the lower booms F and G must be moved by l, which are pulled out from the opening ends of the middle booms A and H, respectively. must always be the same, and for this reason, a tuning mechanism is provided to regulate the amount of movement of each upper boom D, E and lower boom F, G.

[Problem that the invention seeks to solve]

By the way, the total length of the middle boom B2, the upper boom E, and the lower boom G is a, and the total length of the middle boom A5, the upper boom D, and the lower boom F is b. If the height to the stand I is h, the relationship shown in FIG. 2 holds true. As a lifting device for moving the lifting platform I raised to the height h in the horizontal direction by an arbitrary length, the one described in Japanese Patent Application Laid-open No. 124972 of 1982 is generally provided. . According to such a lifting device, the length of one boom is kept constant (in this conventional example, length a), and the length of the other boom is shortened (in this conventional example, from length b to length bl). (shorter), the workbench I can be moved by the distance. However, such an elevating device has the disadvantage that if the elevating table I is moved horizontally by a distance [L, the height of the elevating table I will be raised.
, it was not possible to raise and lower it diagonally up to the horizontal distance.

The present invention has been made in view of the above-mentioned problem, and after the lifting platform is moved to a desired height and a desired horizontal distance and the height and horizontal distance are memorized, the lifting platform is moved based on the stored distance information. An object of the present invention is to provide an elevating device that enables diagonal elevating between a base and a desired height and desired horizontal distance.

[Means to solve the problem]

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

First, when the elevator platform I is vertically raised by h and then stopped, the following equation holds true. That is, a”=h”+M”
,b"=h"+M",',h"=a"-M
”= b ” M”However, a=b
-...-flll.

Next, when the elevator platform I is moved in the lateral direction, the following equation is established.

In other words, all"= h"+ (M-L)" b, l"= h"+ (M-L)" -・-・-
・-(2) When substituting the fll expression into this equation (2), ax"=a"-M"+M"+2ML+L"= a"
+ 2 M'L + L" b, I" = a t-M"+ M"-2M L + L
”= a ” −2M L + L t−−−−−(3
It becomes 1.

Therefore, based on the above equation (3), using the distance as a variable, a
X, b, and I are determined and horizontal movement is performed based on these values. That is, take a predetermined height ΔL of L and set it as the (3rd
) and substitute it into the equation △aX=a”+2M△L+ΔL2, Δb
Calculate X=a ``2M ΔL + △L'', use the calculated △a8, △bx as a reference, compare this with the actual extension of the boom, and when this becomes zero, use the above formula again. Find Δal+%ΔbX, compare this with the actual elongation amount, set the comparison result to zero, repeat this one after another, Σ△L=L, Σ△aM=aX, Σ△b,
By stopping when =bX, it is possible to horizontally move an arbitrary distance while maintaining the height h. Here, the height h and the horizontal distance will be memorized and used for the calculation of the next diagonal movement. Furthermore, using the above equation (2), as shown in Figure 4, with h and L as variables, aX%bX is calculated moment by moment, and the actual boom length is compared using this as a reference. By controlling the length of the boom, it is possible to move up and down diagonally. In other words, by substituting the constant height of the height h as Δh and the constant distance of the horizontal distance as ΔL into equation (2), we get 8al11''=△h''+(M+ΔL)''△ b111t=
Δh寞+(M−ΔL)2−・−・・−(41 is obtained.

Then, when the actual boom length is compared using these as a reference and the comparison result is zero, 2△h, 2△L
Substituting into equation (2), △a*t”=<2△h)”+
(L to M+2)2△bxt"=c2△h)"+(M-2
ΔL ) ” -...-(5) is calculated, and the actual boom length is compared using this as a reference. When the comparison result is zero, 3△h and 3△L are calculated as (2). By substituting into the formula one after another and comparing the actual length of the boom, it becomes possible to ascend diagonally.In other words, △aIl′=(Σ△h)”+(M+ΣΔL)2△b, !
= (Σ△h)"+(M-Σ△L)" −−−−−−1~−(6) is calculated and compared with the actual low position of the boom, and the throughput of the boom is Δa8, If it is controlled so that it loses once to Δb8 and stops when ΣΔh=h and ΣΔL=L, it becomes possible to ascend diagonally. Furthermore, when lowering the
It is sufficient to stop when h-ΣΔh=o and L-ΣΔL=O.

Based on this knowledge, the elevating device of the present invention connects a pair of internally hollow middle booms in an X-shape in a rotatable manner approximately at the center of each boom, and has an upper boom that expands and contracts at each end. The boom and the lower boom are slidably inserted, each end of the lower boom is pivoted to the base at intervals, each end of the upper boom is pivoted to the lifting platform at intervals,
It consists of at least a pair of hydraulic cylinders arranged in an inverted ■ shape between the approximate center of the middle boom and two points spaced apart from the base, and by expanding and contracting both hydraulic cylinders, the middle boom can be moved. In a lifting device that raises and lowers a platform by moving up and down and simultaneously sliding the upper and lower booms in synchronization with the middle boom, the length of both X-shaped booms is measured and output as a detection signal. A length measurement sensor that can be used is installed on the boom, and a hydraulic circuit that can individually supply pressure oil to each of both cylinders is installed, and a control signal that receives detection signals from the length measurement sensor and drives and controls the hydraulic circuit based on these. The control device is provided with a storage device that stores the height and horizontal movement distance of the lifting platform, and the controller outputs the height and horizontal distance when the lifting platform is moved a desired horizontal distance at a desired height. After the information is stored in the storage device, a control signal for raising and lowering the elevator platform in an oblique direction can be output based on the stored information.

[Effect]

When the control device outputs a lift command, the hydraulic circuit operates and pressure oil is supplied to both cylinders.

At this time, the control device compares the detection signals from the length measurement sensors, and the hydraulic circuit is controlled by the control device so that the control result becomes zero. As a result, the amounts of expansion and contraction of both cylinders are synchronized.

When the lifting platform reaches the desired height, a stop control signal is supplied from the control device to the hydraulic circuit, so that the pressure oil is trapped in the circuit and both cylinders remain extended. The height of the lifting platform at this time is stored in the storage device of the control device,
Based on this height, the length of the boom corresponding to the horizontal movement distance is determined. Is it controlled so that the detection signal from the length measurement sensor is lost to this determined value? The hydraulic circuit is controlled by the fll i position. As a result, the elevator platform moves horizontally by a desired horizontal distance while maintaining its height. Since the height and horizontal movement distance have been given to the storage device in this way, the reference length of the boom is determined one after another using Equation (6) etc. based on these, and the actual boom length is determined from this. If controlled so that they match, it will be possible to ascend and descend in the diagonal direction.

〔Example〕

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

FIG. 5 is a side view of an embodiment of the elevating device according to the present invention, showing the elevating mechanism in the lowest position.

FIG. 6 is a side view showing the elevating mechanism in a fully extended state. FIG. 7 is a rear view showing the state in FIG. 6.

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

The intervals between the fixed pieces 16 and the fixed pieces 17 are the same, and the structure is such that the vehicle body 1 and the lifting platform 7 are parallel to each other even when the telescopic boom is extended in an X-shape.

The two sets of the middle booms 10 are arranged parallel to each other at intervals, and the inner middle booms 10 of each set are connected at the center by an operating shaft 18. The axes of the connecting shaft 18 and the connecting shaft 13 are arranged in a straight line. Hydraulic cylinders 19 and 20 are provided between the repositioning of the vehicle body 1 close to the fixed piece 16 and the operating shaft 18, respectively.
are arranged, and both hydraulic cylinders 19 and 20 are connected to the operating shaft 1.
They are arranged to form an isosceles triangle with 8 as the vertex. Incidentally, the middle boom 10, 10 is provided with length measuring sensors 21, 22 for measuring the length of the boom. The length measurement sensors 21 and 22 have a built-in digital tachometer, and the belt-like body 23 is wound around the rotation shaft thereof, and a spring spring that winds the belt-like body 23 is provided, and one end of the belt-like body 23 is attached to the lower boom. It may be configured such that it engages with eleven connecting pieces 14, and the band-shaped body 23 moves forward and backward like a tape measure.

Next, FIGS. 8 and 9 show the internal structure of the above-mentioned telescopic boom, that is, the middle boom 10.
It has a structure in which a thin steel plate is bent to have a hollow cross-sectional shape in the length direction, and a lower boom 11 is slidably inserted through one end of the middle boom 10. The lower boom 11 has a hollow cross-sectional shape made by bending a thin steel plate, and the upper boom 12 inserted from the other open end of the middle boom IO is slidably inserted into the lower boom 11. It is.

At both ends of the middle boom 10 are fan-shaped shaft support pieces 24.
．． 25 are fixed to each other, and this shaft support piece 24.25
A pair of guide rollers 26 and 27 are rotatably supported on each of the lower boom 1.
The guide rollers 27 are in contact with both sides of the upper boom 12, respectively. In addition, middle boom 1
A gearbox 28 is fixed to the end close to the shaft support piece 25 of 0, and two sprocket wheels 29, 30 are supported in this gearbox 28. The tip of the lower boom 11 (the deepest position in the middle boom 10) and the tip of the upper boom 12 are connected by a chain 31, and this chain 31 forms an S-shape around the outer circumference of the sprocket wheel 29, 30. It is rolled like this.

The chain 31 coordinates the expansion and contraction of the lower boom 11 and the upper boom 12, so that the lower boom 11 and the upper boom 12 move in and out of the middle boom 10 by the same amount of expansion and contraction. The length measurement sensor 21 or 22 is configured by winding the belt-like body 23 around a rotating shaft 33 of a digital tachometer 32, and is provided with a spiral spring 34 for winding the belt-like body 23 around the rotating shaft 33. There is.

Further, FIG. 9 shows a cross section of the center of the middle boom 10, and a band-shaped holder 35 is wrapped around and fixed to the center outer periphery of the middle boom 10, and the side surface of one holder 35 is A cylindrical connecting shaft 13 is fixed to the other holding body 35, and a retaining piece 37 fixed with a screw 36 is fixed to the other holding body 35. By fitting into the matching grooves 38, the two middle booms 10 are connected in an X-shape and their rotation is maintained freely. And the holding body 35 of one middle boom 10
A supporting shaft 39 is protruded on the opposite side of the connecting shaft 13,
The operating shaft 18 is connected to this support shaft 39 .

FIG. 10 is a system diagram showing a schematic configuration of a hydraulic control system according to an embodiment of the present invention. In this figure, parts not related to the control system, such as the driver's cab 4, are omitted.

In the figure, detection signals from elongation sensors 21 and 22 attached to the middle boom lO and capable of measuring the amount of extension of the boom are taken into the control device 50. The control device 50 is
It consists of a processing section 51 that takes in various information, executes arithmetic processing on the information, and outputs a control signal, a storage section 52 that stores predetermined data, etc., and an external operation panel 53. A control signal from the control device 50 is given to a first hydraulic control section 55 and a second hydraulic control section 56 of the hydraulic circuit 54, respectively.

Pressure oil controlled by the first hydraulic control section 55 and the second hydraulic control section 56 flows in and out between the hydraulic cylinders 19 and 20.

FIG. 11 is a system diagram showing the detailed configuration of the hydraulic control system. The output of the engine 57 is transmitted to the pump 58,
The suction side of the pump 58 is connected to a tank 59 filled with pressure oil, and the discharge side of the pump 58 is connected to switching valves 60, 61. The switching valves 60.61 are electromagnetic valves that can switch between three positions at high speed, and each of these is connected to two oil passages 62.63.64.65, and the oil passage 62.64 is connected to a hydraulic cylinder. The operating side of cylinder 19.20 is connected to oil line 63.65 through a parallel circuit of check valve 66.68 and control valve 67.69.
The working side of the is connected.

The processing unit 51 of the control device 50 includes a microprocessor unit (MPU) 70 that performs various calculation processes, and a read-only memory (ROM) that stores predetermined programs and the like.
71, a random access memory (RAM) 72 that stores processing programs, etc., and a digital input section (DI) 73 that takes in detection signals from the length measurement sensors 21 and 22.
Digital input/output unit (DIO) for capturing signals from the operation panel 53 and lighting up the display section of the operation panel 53
74, a digital output section (Do) 75 that outputs a control signal for switching the switching valves 60 and 61, and a backup RAM (Bu
-RAM) 52, MPU70, ROM71, RAM7
2, DI73, Bu-RAM52, DI074 & D0
75 and a pass line 76 connecting the two. Furthermore, the storage unit 52 also serves as a backup RAM for the processing unit 51.

The operation panel 53 includes a rising switch 80, a descending switch 81, a horizontal movement switch 82 for inputting forward and backward commands, a height memory switch 83, and a switch 84 for selecting manual operation or automatic operation. These are connected to DI074 of the processing section 51.

Next, the operation of this embodiment will be explained.

First, the engine 57 attached to the vehicle body 1 is operated, and the engine 57 drives the pump '57 to generate oil pressure. This oil pressure is transmitted to the switching valve 60.61,
When the switching valves 60, 61 are in a stationary state, hydraulic pressure is recovered to the oil tank 59 by a circuit (not shown).

Next, the operation of storing the height and horizontal movement distance will be explained using the flowchart of FIG.

FIG. 12 shows the result of manual operation.

At step 100 the program is started. Step 1
01, when the lift switch 80 of the operation panel 53 is turned on, the process moves to step 102. In step 102, D
When I074 takes this in and gives it to MPU70, M
An upward control signal is output from the PU 70 to the switching valves 60 and 61 via D075. As a result, oil passage 62.64
Hydraulic pressure is applied to the hydraulic cylinders 19.20 via the hydraulic cylinders 19.20 to supply pressurized oil into both hydraulic cylinders 19.20. In step 103, the signals from the length measurement sensors 21 and 22 are transferred to DI7.
3 to the Bu-RAM 52.

In step 104, the captured length measurement sensor 21.
22, and if there is a deviation in the comparison result, a control signal corresponding to the deviation is sent to one of the switching valves 60.
Or output to 61. In step 105, the switching valve 60.
61 is switched and controlled, and a predetermined amount of oil is supplied to the hydraulic cylinder 19 or 20 so that the deviation is eliminated. As a result, pressure oil is supplied to both hydraulic cylinders 19 and 20, and the hydraulic cylinder 19 is extended, and at the same time, the hydraulic cylinder 20 is extended in synchronization with the hydraulic cylinder 19. The pressure oil discharged by the hydraulic cylinders 19,20 is collected into the oil tank 59 through the control valves 67,69. When the hydraulic cylinders 19 and 20 are operated and their cylinder rods are projected, the middle boom 10 is lifted upward, and the lower boom 11 and the upper boom 12 are accordingly pulled out by the middle boom 10. However, since the lower boom 11 and the upper boom 12 are connected by a chain 31, when the lower boom 11 is removed from the middle boom 10, the chain 31 fixed to the tip of the lower boom 11 rotates the sprocket wheel 29.30. As the chain 31 moves, the lower end of the upper pool 12 is pulled, and the upper pool 12 is pulled out from the end opening of the middle pool 10. Moreover, since the chain 31 does not stretch, the amount of extension of the lower boom 11 and the upper boom 12 is the same, and the amount of extension of the lower boom 11 and the upper boom 12, which are a set of two, is the same, and the amount of extension of the lower boom 11 and the upper boom 12 is the same. 10 rotates around the connecting shaft 13 in an X-shape to lift the lifting platform 7.

When the middle boom 10 is pushed up by the hydraulic cylinders 19.20, the hydraulic cylinders 19.20 are arranged in an isosceles triangle shape with the connecting shaft 13 as the center, so the amount of extension of each cylinder rod is the same. In this case, the connecting shaft 13 will always rise in a direction perpendicular to the vehicle body 1. Both hydraulic cylinders 19, 20 are synchronized so that they extend the same amount, so that the cylinder rod extends the same amount at any time. To explain the relationship between the amount of movement with reference to FIG. 13, the amount of extension W of both hydraulic cylinders 19 and 20 is the same, and the connecting shaft 13 is raised in a straight line, and the lower boom 11 and the upper boom 12 The extrusion amount Z will be the same for all of them, and all the pools 11 and 12 will be synchronized with their movement amounts.

In step 106, both hydraulic cylinders 19.2
By controlling 0, it is determined whether the lifting platform 7 has reached a predetermined height h, and if it has not reached the predetermined height h, step +01 is performed.
Go back and stop the ascending switch 8o when it is reached.
(Step 107). As a result, the switching valves 60.61 return to their neutral positions, and the hydraulic circuits of the respective hydraulic cylinders 19.2o are closed while they are in the extended state, and the lifting platform 7 is not lowered because it is held in that position (step 108). After stopping at a predetermined height, in step 109, the MPU 70 calculates the height h based on the detection signals of the length measurement sensors 21 and 22 and the above equation (1), and stores this in the Bu-RAM 52. At this time, if the next automatic operation is desired, the reliability of the operation is ensured by pressing the memory switch 83.

In step 110, next, when the "forward movement" of the horizontal movement switch 82 is pressed, the process moves to step 111, and the (3rd)
Based on the formula, all and bX are calculated every moment by the MPU 70, and the values are stored in the Bu-RAM 52.

In step 112, a control signal is given to the switching valve 60.61 via D075 so that the detection signal from the length measurement sensor 21.22 matches the above-determined aX, bjl, and here all, bll and A comparison is made with the signal, and if they do not match, step 112 is repeated until there is a loss. In step 113, it is determined whether the lifting platform 7 has moved to a predetermined horizontal distance. If it has not moved, the process returns to step 110, and if it has moved, the process moves to step 114. In step 114, the switch 82 is stopped, and in step 115, the horizontal movement of the lifting platform 7 is stopped, and this distance is stored in the Bu-RAM 52 by pressing the storage switch 83 or without operating it.

In step 116, when "backward movement" of the horizontal movement switch 82 is pressed, the value stored in the Bu-RAM 52 is read out, and the length measurement sensor 21.
The switching valves 60 and 61 are controlled so that the detection signals from the two coincide with each other. In step 117, it is determined whether the lifting platform 7 has moved the distance, that is, to the original position. If it has moved, the process moves to step 118 and stops, and if it has not moved, the process moves to step 116. Next, when the lowering switch 81 is pressed in step 11B, a control signal is outputted from the DO 75 to the switching valves 60 and 61 in step 119. This causes the switching valves 60, 61 to switch in the opposite direction, causing the pump 58
Pressure oil is injected into the hydraulic cylinder 19.20 through the oil passage 63.65 and the check valve 66.68, and
9.20 is reduced.

The hydraulic oil discharged by the hydraulic cylinders 19, 20 returns to the oil tank 59 via oil lines 62, 64. Even when the two hydraulic cylinders 19, 20 are contracting, the amount of contraction of the two hydraulic cylinders 19,20 is synchronized by the MPU 70, and the connecting shaft 13 of the middle boom 10 is connected to the vehicle body 3.
descend perpendicular to If the bottom has not been reached in step 120, the process returns to step 118, and if it has been reached, the process moves to step 121. In step 121, everything is stopped, and this routine ends.

Next, the diagonal lifting and lowering operations will be explained using the flowchart of FIG. 14.

FIG. 14 shows automatic operation, with (1) in the figure showing an upward movement in an oblique direction and (n) in the same figure showing a downward movement in an oblique direction.

In the same figure, the program is started in step 200.Press the switch 84 to set it to automatic.
If you press , the automatic slope rise will occur (step 201). In step 202, ΔH and ΔL are determined from H and L. In step 203, from equation (6), △aX%△b
Find 11. In the next step 204, the detection symbols from the length measurement sensors 21 and 22 are taken in. Step 205
Now, using the above-determined Δa, l, and Δb8 as a reference, they are compared with the detection symbol, and a control signal corresponding to the deviation is output to the hydraulic circuit 54. In step 206, the switching valves 60 and 61 of the hydraulic circuit 54 are switched in accordance with the control signal to determine whether the deviation has become zero, and if it is not zero, step 2
The process moves to step 04, and the processing from step 204 onwards is performed again. When it becomes zero, it is determined whether Σ△h=h, Σ△L=L, and the process moves to step 203 until Σ△h=h, ΣΔL=L, and Σ△h=h, ΣΔL -L, the hydraulic circuit 54 is stopped (step 208). Then, this routine ends (step 209).

In the same figure (n), the program is activated in step 300. When the switch 84.81 is pressed, automatic diagonal descent occurs (step 301), and in step 302, △a%=(h −ΣΔh)”+(M+L −Σ△L)
2△ b X! = (h −Σ Δ h)2+ (M
−(L −Σ ΔL))”−・・・・・−(7) is obtained. In step 303, the detection symbol from the length measurement sensor 21.22 is taken in.In step 304, △a8
, ΔbX as a reference, the detection symbols are compared, and a control signal corresponding to the deviation is output to the hydraulic circuit 54. In step 305, the switching valves 60 and 61 of the hydraulic circuit 54 are controlled to switch according to the deviation signal, and it is determined whether the deviation has become zero. If the deviation is not zero, the process returns to step 303, but if the deviation is zero, Moving on to 306. In step 306, it is determined whether h-ΣΔh=o and L-ΣΔL=O, and if it is not zero, the process returns to step 302 and the processes from step 302 onwards are performed again. has reached the lowest position, so the control is stopped (step 307,
308).

In this way, according to this embodiment, the automatic operation switch 84
If the height h and the horizontal path jilL are set, △a8, Δ
bX is determined and these are used as standards, and the switching valve 60 is set so that the detection signals from the length measurement sensors 21 and 22 match these.
．． 61 with the control signal 50, the lifting platform 7 will move up and down diagonally.

In the above embodiment, since the switching valves 60 and 61 are capable of opening and closing in a pulsed manner, the amount of movement can be easily finely adjusted. Further, the length measurement sensors 21 and 22 may be of an analog type, and in this case, the detection signals thereof may be input manually via an analog-to-digital converter instead of the DI 73.

〔Effect of the invention〕

Since the present invention is configured as described above, once the lifting platform has been moved to a desired height and a desired horizontal distance and the height and horizontal distance have been stored, the lifting platform can be moved diagonally based on this stored information. It can be raised and lowered.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing an outline of a conventional elevating device, Fig. 2 is a schematic diagram shown to explain the operation of the conventional elevating device, and Figs. 3 and 4 are for detailed explanation of the present invention. FIG. 5 is a side view showing an embodiment of the elevating device with the elevating mechanism in its lowest position, and FIG. 6 is a side view showing the elevating mechanism in its fully extended state. , Figure 7 is the 6th
8 is a side sectional view showing the inside of the middle boom, FIG. 9 is a vertical sectional view of the middle boom near the operating axis, and FIG. 10 is an embodiment of the lifting device of the present invention. Fig. 11 is a system diagram showing Fig. 10 in detail, Fig. 12 is a flowchart shown to explain the operation of the control system, and Fig. 13 is a diagram showing the elevating mechanism and hydraulic expansion/contraction mechanism. Schematic diagram showing the relationship, Figure 14 (1) and (II)
1 is a flowchart shown solely for explaining the diagonal vertical movement. 1--Vehicle body, 6- Lifting device, 7- Lifting platform, 10-
・-・Middle boom, 11- Lower boom, 12-・・・
Upper boom, 19.20... Hydraulic cylinder, 21.
22--Length measurement sensor, 50--Control device, 5
4-Hydraulic circuit. Patent applicant Hikoma Manufacturing Co., Ltd. Agent
Patent Attorney Tsuneaki Hibi Figure 1 Figure 2 Figure 3 Figure 4 Figure 9 Figure 10

Claims (1)

[Claims] A pair of internally hollow middle booms are rotatably connected in an X-shape approximately at the center of each, and an upper boom and a lower boom, which extend and contract at their respective ends, are slidably inserted into each middle boom, and the lower Each end of the boom is pivoted to the base at intervals, each end of the upper boom is pivoted to the lifting platform at intervals, and two points are located at approximately the center of the middle boom and the base. It consists of at least a pair of hydraulic cylinders arranged in an inverted V-shape between the hydraulic cylinders, and by expanding and contracting both hydraulic cylinders, the middle boom is moved up and down, and at the same time, the upper and lower booms are synchronized with the middle boom. In a lifting device that raises and processes a lifting platform by sliding it, the boom is equipped with a length measuring sensor that can measure the length of both X-shaped booms and output it as a detection signal, and each of both hydraulic cylinders is A hydraulic circuit that can individually supply pressure oil is installed,
A control device is provided that receives detection signals from the length measurement sensor and outputs control signals for driving and controlling the hydraulic circuit based on these signals, and the control device is provided with a device that stores the height and horizontal movement distance of the lifting platform. After the height and horizontal distance when the platform is moved to a desired height and a desired horizontal distance are stored in the storage device, a control signal is output to raise and lower the platform in an oblique direction based on the stored information. An elevating device characterized by having a configuration in which it is possible to