JPS61188400A - 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 diagonally. The present invention relates to an elevating device that is capable of ascending and descending in a diagonal direction, and is also capable of avoiding obstacles if they occur during oblique ascending and descending.

[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 I, first raise the shaft C using the hydraulic cylinders J and then each upper boom D.
, E, the lower booms F and G are pulled out from the open ends of the middle booms A and B, and the lifting platform 2 moves away from the base H and rises upward. Here, in order for the lifting platform ■ to rise vertically upwards with respect to the base H, the amount of movement E required for the upper booms D and E and the lower booms F and G to be pulled out from the opening ends of the middle booms A and B, respectively. Both 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 B, the upper boom E, and the lower boom G is a, the total length of the middle boom A, the upper boom D, and the lower boom F is b, and the base H Letting h be the height from the height to the lifting platform ■, the relationship shown in FIG. 2 holds true. As a lifting device for moving the lifting platform (2) raised to a height h in this way by an arbitrary length in the lateral direction, 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 pool is kept constant, and the length of the other pool is shortened (in this conventional example, from length b) to length a). (shorter), the workbench I can be moved horizontally by the distance. However, in such a lifting device, when the lifting platform ■ is moved horizontally by a distance of 1% lL, the height of the lifting platform ■ becomes h.
In addition to the problem of becoming ``L'', it is not possible to move up and down in the diagonal direction between the lowest position and a position that has moved the horizontal distance, and furthermore, there is an obstacle in the middle of the diagonal movement. No consideration was given to avoiding this in some cases.

The present invention has been made in view of the above-mentioned points, and allows diagonal elevation between the lowest position and a desired ascending position, and also enables avoidance of obstacles when there are obstacles during the oblique elevation. The purpose of the present invention is to provide a lifting device that has the following features.

[Means to solve the problem]

The lifting device of the present invention that solves the above problems is based on the following principle. Now, the principle of the lifting device of the present invention will be explained using FIGS. 3 and 5. 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 pivot distance of the lower boom G1F.

First, when the lifting platform (2) is vertically raised by h and then stopped, the following equation holds true. That is, a”=h”+M”, b
"= h2+M"', h"= a"-M"= b"-M
``However, a=b -・---------
It becomes fil.

Next, when the elevator platform I is moved laterally by L, the following equation holds true.

That is, a L”= h”+ (M+ L)” b L2= h”+ (M −L)” −−−
−・・−(2). Substituting equation (1) into equation (2), a L”=a”-M”+M”+2ML+LL=
a”+2ML+L black bL”=a”-M”+M”-ZML1L”=a”
−2M L + L” −−−−−−+31.

Therefore, based on the third equation above, using the distance aL as a variable, an, b
If you find n (where n is any integer), use this as a reference, and control the actual length of the boom to match it, you can move horizontally while maintaining the height h. be.

In other words, let bL be a predetermined minute length of L, and substitute it into equation (3) to obtain ``=''2M△L+△L!b,=a''-2M△L+△L2, and using these as a reference, Control the reference value to match the actual low volume of the boom. If they match, then substitute △L+△L-2△L and get a t”= a ”+
2 M(ΔL+ΔL)+(△L+△L)寞=a+4M
ΔL + (2ΔL)! b1= az 2M(bL +ΔL)+(bL +
(Heshi) Find z=a-4MΔL + (2bL)2 and add the actual boom length to this.

Furthermore, by substituting ΔL+ΔL+ΔL=3ΔL, az”=a”+2M(3ΔL)+(3ΔL)! b,”=
a” 2M(3ΔL)+(3ΔL)2 and match the actual boom length to this.

Then, by substituting the nth nΔL into equation (3), a
ll”= a ” + 2 M*ΔL+(nΔL)2b
a ” −a ” 2 M nΔL+(nΔL)
! ----111-[4] The actual boom height is controlled to match this. And ΣΔL=
If you stop it when it reaches L, it will stop after moving horizontally.

The above is an explanation of the case where the robot ascends vertically and then moves horizontally.

Next, with reference to FIG. 4, diagonal elevation will be explained. Δh, Δht(-2ΔL), Δh.

(=L to 3), -----1-1△L5, Δt, z (=2
△ L), Δt, 1 (= 3 △ L), - and -------------------------------------------------------------------------------------------------------- That is, △a,z=△h,' + (M+Δ
L l)"Δb,z=Δh,,"+(M-Δt,+)"
Then, △a22=Δh 2g + (M+ΔL2)! △bz”
=△h! ! +(M Alx door is determined and matched with this. Calculations are performed one after another in this way.Then, the calculation formula is generally expressed as △aJ=△h fi2+ (M+ΔL,
l)”Δbnt=Δh 11t + (M−Δ1. l
l) ”−−−−−−−(5>.And △hL=
If it stops when h-ΣΔh1Δ■, L=L=ΣΔL, it will rise obliquely. In addition, when lowering, it is sufficient to stop when h-ΣΔh=o and L-ΣΔL=O.

Next, the theoretical concept of the operation to avoid an obstacle when there is one in the movement route during an oblique climb will be explained using FIG. 5.

First, it is assumed that there is an obstacle with a height hN in the middle of the trajectory α of oblique elevation. Lifting platform (2) ascends obliquely from point 0 to point R. At this time, the presence of the obstacle has already been detected by the detection means, and the platform (2) rises as shown in the figure until the obstacle and the platform (1) are at a certain distance from each other to a point R. Then, from point R to point SO, the distance of the obstacle rises with a certain relationship.Next, from point SO to point P, the slope is recalculated according to the slope and rises, and then stops at point P. The condition is that.

(B) The oblique upward movement from point SO to point P is described in (5) above.
Just raise it according to the formula.

(b) The ascending operation from point R to point SO is performed as described in (5) above.
In the equation, the line segment Ou1, in other words, the term ΔLn is constant, and only the term height Δh can be used as a variable and raised according to equation (5).

(c) The reference value of the boom from point SO to point P can be calculated as follows.

δao”=(h-δha)”+ (M+(L-δLO)
l”δb0t=(h−δha>2+ (M−(L−δL
e) l”δ a,”=(h −δ h+)”+ +
M+(L −δ L+)l”δb,”=(h −6
h,)”+ (M-(L-δ L+))”δ a
%=(h −δ hz)”+ (M+(L −δ
Lz)l”δ b,”=(h −δ hz)”+
(M-(L-δ Lz))”δ a,l”=(
h −δ h,t)”+ (M+(L −δ L
,) Mδ bll! =(h −δ h,)”+ (M
-(L-δL, 1)M is calculated. Here, δL11. Since δho has been determined by the previous operations, δL1, δh1 and subsequent values are determined as follows.

δL+=δL0-△L δL,=δL0-2ΔL δL3=δL,-3△L δL11! δLO−nΔL Also, since tanθ=δha/δL, δh, −δL
Itanθ=δL+'δha/δL.

δh, = δL, ・δha/δLll δh, = δL3·δha/δL.

δ hll=δ L, l·δ ha/δ Lo. By substituting these values into the above equation, a reference value for the boom low amount can be determined, and by using this value, once the actual boom low amount is determined, the correction processing control operation after obstacle avoidance can be performed. Therefore, if it is stopped when δL,=O, it will stop at point P.

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 V 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 up and down. In a lifting device that raises and lowers a platform by simultaneously sliding the upper and lower booms in synchronization with the middle boom, the length of both X-shaped booms can be measured and output as a detection signal. A length measuring sensor is provided on the boom, obstacle detection sensors are provided before and after the lifting platform, and a hydraulic circuit is provided that can individually supply pressure oil to each of the cylinders to send a transmission signal to the obstacle detection sensor. , a distance determination device is provided which captures a reflected signal from an obstacle via the obstacle detection sensor and obtains distance data from the obstacle to the obstacle; A control device is provided that takes in distance data from the device and outputs a control signal to drive and control the hydraulic circuit based on the data, and the control device is provided with a storage device that can store the height and horizontal movement distance of the lifting platform. It is possible to generate a control signal for moving up and down in a diagonal direction based on the information on the height and horizontal movement distance given to the storage device, and also to avoid obstacles when the distance data from the distance determination device is smaller than a predetermined value. This configuration generates a control signal that allows the robot to move up and down.

[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 control device controls the hydraulic circuit 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 a predetermined 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 elevator platform at this time is stored in the control device, and based on this height, the length of the boom corresponding to the horizontal movement distance is determined. The hydraulic circuit is controlled by the control signal so that the detection signal from the length measurement sensor matches this determined value. This allows the platform to move horizontally while maintaining its height.

Next, when the height and horizontal distance are determined, the control device calculates equation (5) based on these, as explained in FIG. 4, and raises the platform obliquely. Here, the obstacle sensor outputs a signal to the obstacle, and the reflected signal is detected by the obstacle sensor. A distance determination device obtains distance data to the obstacle from these detected reflected signals and a previously transmitted transmission signal.

When this distance data becomes smaller than a certain value, the obstacle can be avoided by operating as explained in FIG. 5.

〔Example〕

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

FIG. 6 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. 7 is a side view showing the elevating mechanism in a fully extended state. FIG. 8 is a rear view showing the state in FIG. 7.

Reference numeral 1 in the figure is a trunk body, and a front wheel 2 and a rear wheel 3 are pivotally supported on the front, rear, left and right sides of the car body l, and a driver's cabin 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 mounted on the upper surface of the vehicle body 1. A elevating table 7 is fixed to the upper part of the elevating mechanism 6, and a handrail 8 is provided around the elevating table 7. The lifting mechanism 6
consists of four 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 to 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.

Two sets of the two middle booms 10, 1 & 1, are arranged in parallel with an interval between them, and the middle booms 10 inside each set are connected at the center by an operating shaft 18.
The axes of the actuating shaft 18 and the connecting shaft 13 are arranged in a straight line. Hydraulic cylinders 19.2 are located between the two positions close to the fixed piece 16 of the vehicle body 1 and the operating shaft 18, respectively.
0, and both hydraulic cylinders 19 and 20 are arranged to form an isosceles triangle with the operating axis 18 as the apex. 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 axis thereof, and a spring spring that winds the belt-like body 23 is provided on its rotation axis.
3 has a configuration in which one end thereof is engaged with the connecting piece 14 of the lower boom 11, and the band-shaped body 23 moves forward and backward like a tape measure. Further, 24 and 25 are detection sensors for detecting obstacles, which are fixed at the front and rear of the lifting platform 8, and are each composed of elements for transmission (T) and reception (R).

Next, FIG. 9 and FIG. 1O show the internal structure of the above-mentioned telescopic boom, that is, the middle boom 10.
0 has a structure in which a thin steel plate is bent to have a hollow cross-section 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-section 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.

And fan-shaped shaft support pieces 26 are provided at both ends of the middle boom 10.
．． 27 are fixed to each other, and these shaft support pieces 26 and 27
A pair of guide rollers 28 and 29 are rotatably supported on each of the lower boom 1.
The guide rollers 29 are in contact with both sides of the upper pool 12, respectively. In addition, middle boom 1
A gearbox 30 is fixed to the end close to the shaft support piece 26 of 0, and two sprocket wheels 3132 are pivotally supported within this gearbox 30. The tip of the lower boom 11 (the innermost position in the middle boom 10) and the tip of the upper boom 12 are connected by a chain 33, and this chain 33 is connected to the sprocket wheel 3.
It is wound around the outer periphery of 132 in an S-shape. This chain 33 connects the lower boom 11 and the upper boom 12.
The telescopic lids are coordinated with each other, and the middle boom 10, the lower boom 11, and the upper boom 12 move in and out by the same amount of expansion and contraction.

Further, FIG. 10 shows a cross section of the center of the middle boom 10. The length measurement sensors 21 and 22 are equipped with a spiral spring 3 for winding the belt-shaped body 23 around a rotating shaft 35 of a digital tachometer 34 and for winding the belt-shaped body 23 around the rotating shaft 35.
6 is provided. On the other hand, middle boom 10
A band-shaped holder 37 is wound around and fixed to the center outer circumference of each of the holders, and a cylindrical connecting shaft 13 is fixed to the side surface of one holder 37, and a screw is attached to the other holder 37. The engagement piece 39 fixed at 38 is fixed, and the retaining piece 39
By fitting into the engagement groove 40 formed on the outer periphery of the connecting shaft 13, the two middle booms 10 are connected in an X-shape and their rotation is maintained freely. A support shaft 41 is protruded from the side opposite to the connection shaft 13 of the holder 37 of one of the middle booms 10, and the operating shaft 18 is connected to the support shaft 41.

FIG. 11 is a system diagram showing a schematic configuration of a hydraulic control system and an obstacle detection 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. Obstacle detection sensors 24 and 25 are installed in a positional relationship that is desirable for detecting the front and rear of the lifting platform 7, and these sensors 24 and 25 are connected to the distance determining device 45.
It is connected to the. The distance determination device 45 includes the sensor 24
or 25, a signal is given to the switch 46 and the sensor 24.25, and the sensor 24.2
5 receives the reflected signal and calculates the distance to the obstacle.The processing device 47 is configured to output distance data 48 and alarm data 49 that informs that the obstacle is within a certain distance. It has become. These data 48 and 49 and the elongation sensor 21.22 that is attached to the middle boom lO and can measure the amount of boom extension.
The detection signal from the control I device 50 is taken in. The control device 50 includes a processing section 51 that takes in various information, performs 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. The control signal from the control device 50 is given to the first hydraulic control section 55 of the hydraulic circuit 54, the second hydraulic control section 56, and the switch 46 of the distance determining device 45, 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. 12 is a system diagram showing the detailed configuration of the hydraulic control system. The output of engine 57 is reported on pump 5,
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 and 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 section 51 of the control device 50 includes a microprocessor unit (MPU) 70 that performs various calculation processes, and a read-only memory (ROM) 71 that stores predetermined programs and the like.
A random access memory (RAM) 72 that stores processing programs, etc., receives detection signals from the length measurement sensors 21 and 22, and also takes in data 48 and 49 from the distance determination device 45, and switches to the switch 46. A digital input/output unit (DrO) 73 that provides a signal; a digital input/output unit (DTO) 74 that takes in a signal from the operation panel 53 and lights up the display section of the operation panel 53;
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) that stores various data that must not be erased.
)52, MPU3O, ROM71, RAM72,
ADC73, Bu-RAM52, DI074 and D07
5 and a pass line 76 connecting the 5. Furthermore, the storage section 52 also serves as a bank-up RAM for the processing section 51.

The operation panel 53 includes a rising switch 80, a descending switch 81, a forward movement switch 82 for horizontal movement, a backward movement switch 83 for horizontal movement, a height and horizontal distance memory switch 85, and a manual operation (M). A switch 85 for selecting automatic operation (A) or automatic operation (A), a start switch 86 for starting automatic operation, and a stop switch 87 for stopping automatic operation midway are provided.
It is connected to 4.

FIG. 13 is a block diagram showing one embodiment of the distance determining device 45. As shown in FIG. The switch 46 consists of switching circuits 88, 89 and a switching control circuit 90. When the switching control circuit 90 receives a switching control signal, the switching control circuit 90 switches the sensors 24 (R,
T) or 25 (R, T) is the processing device 47
It is connected to the microwave circuit 91 of. The processing device 47 is
A microwave circuit 91, a modulation oscillator 92, an analog processing section 93 that takes in signals from the microwave circuit 91 and the modulation oscillator 92, and converts them into predetermined length measurement signals, It consists of a calculation/determination unit 94 for calculating distance to obtain distance data 48 and for obtaining alarm data 49 to be output when the distance data reaches a certain value. Further, the microwave circuit 91 has a transmitting section 95.
and a receiving section 96.

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, but when the switching valve 60.61 is in a stationary state, the oil pressure is recovered to the oil tank 59 by a circuit not shown.

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

FIG. 14 is an explanation of the operation when the selection switch 80 is selected for 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 IO74 takes this in and gives it to MPU70, M
An upward control signal is output from the PU70 to the switching valves 60 and 61 via D075. As a result, oil passage 62.6
Hydraulic pressure is applied to the hydraulic cylinders 19.20 via 4 to supply pressurized oil into both hydraulic cylinders 19.20. In step 103, the signals from the length measurement sensors 21 and 22 are DI
073 to the MPU 70, where the actual length of the pool is calculated and stored in 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 and 20 is transferred to the control valve 6.
7.69 and is collected in the oil tank 59. When the hydraulic cylinders 19 and 20 are operated and their cylinder rods are projected, the middle poop 10 is lifted upwards,
Along with this, the lower boom J1 and the upper pool 12 will be pulled out by the middle pool 10, but since the lower boom 11 and the upper pool 12 are connected by a chain 33, the lower boom 11 will be pulled out from the middle pool IO. When the chain 33 is pulled out, the chain 33 fixed to the tip of the lower boom 11 moves while rotating the sprocket wheels 28 and 29.
The lower end of the upper pool 12 is pulled by this movement of the chain 33, and the upper pool 12 is pulled out from the upper end opening of the middle pool 10. Moreover, since the chain 33 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 pair of pairs, 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 poop 10 is pushed up by the hydraulic cylinders 19 and 20, the hydraulic cylinder 1
9.20 are all arranged to form an isosceles triangle with the connecting shaft 13 at the center, so if the amount of extension of each cylinder rod is the same, the connecting shaft 13 will always rise in a direction perpendicular to the vehicle body 1. I will do it. Both hydraulic cylinders 19.20
are synchronized so that the amount of expansion is the same,
The cylinder rod elongates by the same amount at any point in time. To explain the relationship between this movement amount using FIG. 15, each extension IW of both hydraulic cylinders 19 and 20 is the same,
The connecting shaft 13 is raised in a straight line, and the extrusion amount Z of the lower boom 11 and the upper boom 12 is the same, and all the booms 1112 are synchronized with the amount of movement.

In step 106, both hydraulic cylinders 19.2
0, the operator determines whether or not the lifting platform 7 has reached the predetermined height h. If it has not reached the predetermined height h, the operator returns to step 101, and if it has reached the height h, the operator stops the lift switch 81 (step 107). . This allows the switching valve 60.
61 returns to the neutral position, and the hydraulic circuits of the hydraulic cylinders 19 and 20 remain in the extended state, and the hydraulic circuits are closed and held in that position, so the lifting platform 7 does not descend (step 108).
, when stopped at a predetermined height, the MPU 70 determines the height h using the detection signal of the length measurement sensor 2L22 and the above equation (11), and stores this in the Bu-RAM 52. At this time, the height h is determined automatically from the next time. If you want to operate it, just press the memory switch 84.

In step 110, when the forward movement switch 82 for horizontal movement is pressed, the process moves to step 111, where abll is calculated moment by moment by the MPU 70 based on equation (3).
The value is stored in Bu-RAM52.

In step 112, the above-determined a7 and bll are measured,
A control signal is given to the switching valve 60.61 via D075 so that the detection signals from the long sensors 21.22 match, and here a comparison is made between a*sbn and the detection signal,
If they do not match, step 112 is repeated until they match. 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, step 1
Move on to 14. In step 114, the switch 83 is stopped, and in step 115, the horizontal movement of the lifting platform 7 is stopped,
By pressing the memorization switch 84, Bu
- Store it in the RAM 52.

In step 116, when the backward movement switch 83 for horizontal movement is pressed, the value stored in the Bu-RAM 52 is read out in reverse, and the switching valve 60. 61.

In step 117, it is determined whether the lifting platform 7 has moved by the distance, that is, to the original position, and if it has moved, step 1
Move to 1B and stop; if not moving, step 1
Next, in step 118, the lowering switch 8 is turned on.
When 1 is pressed, a control signal is outputted from the DO 75 to the switching valve 60, 61 in the step 7 block 119. As a result, the switching valve 60.61 is switched in the opposite direction, and the pressure oil from the pump 58 is injected into the hydraulic cylinder 19.20 via the oil passage 63.65 and the check valve 66.68.
shrinks. The hydraulic oil discharged by the hydraulic cylinders 19, 20 returns to the oil tank 59 via oil lines 62, 64. Even during the contraction operation of both hydraulic cylinders 19 and 20, M
Since they are synchronized by the PU 70, the reduction amounts of both hydraulic cylinders 19 and 20 are synchronized, and the connecting shaft 13 of the middle boom 1O descends perpendicularly to the vehicle body 3. Step 120
If the lowest end has not been reached, the process returns to step 118, and if the bottom has been reached, the process moves to step 121. In step 121, everything is stopped, and this routine ends.

FIG. 16 is a flowchart shown to explain automatic operation. In FIG. 16, only the upward movement in the diagonal direction will be explained, and the downward movement will be omitted since it can be operated using the data at the upward movement stored in the Bu-RAM 52 or the like. When the switch 85 is automatically selected and the start switch 86 is pressed, the program starts (step 200). First, an inclined rise is displayed (step 201), and step 20
In step 2, appropriate small values ΔH and ΔL are determined from H and L. In step 203, from equation (5), Δa7
, Δb, are determined, and in the zero-order step 205, where the detection signals from the length measurement sensors 21 and 22 are taken in, the above-determined Δa and Δb7 are used as a reference, and this and the detection signal are are compared, and a control signal corresponding to the deviation is given to the switching valves 60 and 61 of the hydraulic circuit 54. In step 206, as a result of controlling the opening and closing of the switching valves 60 and 61, it is determined whether the above-mentioned deviation has become zero. If it is not zero, the process moves to step 204 and processes from step 204 onwards are performed again, but if it is zero, step 207 Move to. Step 2
When the process moves to step 07, it is determined whether or not the warning data 49 has been input from the distance determining device 45. If it has not been input, there is no obstacle and the process moves to step 20. Step 208
Now, determine whether ΣΔh=h, ΣΔL−L, and Σ△
When h#h, ΣΔL#L, the process moves to step 203 and the operations below this step are performed again, but Σ△h=h, Σ△
When L=L, the process moves to step 209, and the switching valve 6
0.61 to the neutral position and the lifting platform 7 is stopped. As a result, the pressure oil is confined in the hydraulic circuit, and the lifting platform 7
stops at a position of height h and horizontal movement distance, and the processing flow ends (step 210).

On the other hand, if it is determined in step 207 that the alarm signal 49 is present, the process moves to step 211 and obstacle avoidance control is performed. In this step 211, the reference extension amounts Δa0 and Δb9 of the boom are determined as explained from point R to point SO in FIG. do. Next, when it is determined in step 212 that there is no obstacle (the alarm signal 49 has disappeared), correction processing control is performed in step 213. (See explanation (c) in Figure 5)
That is, the reference values of the boom flow rate δafi and δb are determined one after another using Equation (6), and the actual boom length (detection signals from the length measurement sensors 21 and 22) is made to match these values. It's about controlling. When the point P is reached, the process moves to step 209 and the movement of the lifting platform 7 is stopped.

FIG. 17 is an explanatory diagram showing the locus of the lifting platform that moves according to the above processing flow. In FIG.
It is shown that the elevator platform 7 is ascending obliquely due to the operations of 207 to 207. Area Y indicates that the platform 7 is rising vertically due to the obstacle avoidance control in step 211, and when it is determined that there is no obstacle at point V (corresponding to step 211), the correction processing control is performed in step 213. This indicates that the elevator platform 7 will ascend obliquely again. In this case, it goes without saying that the oblique inclination will be a corrected value.

Now, obstacle avoidance control will be explained with reference to FIGS. 11 to 13 and FIG. 18.

When the MPU 70 determines "automatic operation" and "forward movement", a switching signal is given from the DIO 73 to the switching control circuit 90 of the distance determining device 45. As a result, a signal is applied from the switching control circuit 90 to the switching circuits 88 and 89, and the sensor 24 is connected to the microwave circuit 91. The sensor 24 (25) is a microwave antenna with sufficient directivity, and the transmitting antenna 24T (25T),
It consists of a receiving antenna 24R (2SR).

A modulated wave with a constant period is outputted from a modulation oscillator 92 and given to a transmitting section 95 of a microwave circuit 91 and an analog processing section 93. The transmitter 95 outputs a microwave modulated with a modulated wave of a constant period, and is applied to the antenna 24T. The microwaves radiated from the antenna 24T hit an obstacle and are reflected, so the microwaves radiated from the antenna 24T
It is received by R and given to the receiving section 96. The receiving section 96 demodulates the received wave and provides it to the analog processing section 93. The analog processing section 93 converts the signal into a signal corresponding to the distance to the obstacle, and provides the signal to the calculation/judgment section 94 . The calculation determination unit 94 determines that the measured distance is within a certain distance range 10<1. <1. , it is possible to output warning data 49 as well as distance data 48 to the obstacle.

Here, when the elevator platform 7 that has been ascending obliquely within the area
is within a certain range 1. <1<1. The alarm data 49 is output as if the object has entered the interior. Then, at the 11th point, the MPU 70 takes in the distance data 48(1) via 01073, and determines whether l≧1c. If l≧l, the lifting platform is raised by a certain height ΔhC.

At point 72, the distance data 48i) is again input to the MPU 70 and it is determined whether l≧l. Since l≧IC, the lifting platform 7 is raised again by ΔhC.

At 11 points, the distance data of 48N is imported into the MPU70,
It is determined whether l≧l, and since 1<1c at this point, the lifting platform 7 is first raised by Δh.

If it is determined that l≧l after the 11th point, it will be raised by △h, and if it is determined that 1<IC, it will be horizontally moved by △L (
Forward movement is backward, backward movement is forward), and then the movement is repeatedly controlled by raising it by Δhc.

In this way, obstacles can be avoided by selecting appropriate values for Δh6 and ΔL and making a determination based on the y point.

In this embodiment, the distance determining device 45 uses microwaves, but is not limited to this, and may also use ultrasonic waves, laser beams, or the like.

In addition, the height h and the horizontal path fiL can be adjusted using a digital switch etc.
If you have set Δ in advance, use formula (5) above to calculate △
If a7, Δb, and l are determined and used as a reference, the switching valve 60.61 is controlled with the control signal 50 so that the detection signal from the length measurement sensor 21.22 matches these values.
There is no need to raise and move horizontally each time, and the lifting platform 7 can be raised and lowered diagonally, making it possible to avoid obstacles at this time as well.

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, D! The detection signal is input to an analog-to-digital converter instead of 073.

〔Effect of the invention〕

Since the present invention is constructed as described above, if the horizontal distance and height are given, it can automatically move up and down diagonally and avoid obstacles.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing an outline of a conventional lifting device, FIG. 2 is a schematic diagram shown to explain the operation of the conventional lifting device, and FIGS. 3 to 5 are a detailed explanation of the present invention. FIG. 6 is a side view showing an embodiment of the elevating device with the elevating mechanism in its lowest position, and FIG. 7 is a side view showing the elevating mechanism in its fully extended state. , Figure 8 is the 7th
FIG. 9 is a side sectional view showing the inside of the middle boom, FIG. 10 is a longitudinal sectional view of the middle boom near the operating axis, and FIG. 11 is an embodiment of the lifting device of the present invention. Fig. 12 is a system diagram showing the details of Fig. 11, Fig. 13 is a system diagram showing details of the distance discrimination device in Fig. 11, and Fig. 14 is a manual operation of the control system. 15 is a schematic diagram showing the relationship between the lifting mechanism and the hydraulic expansion and contraction mechanism. FIG. 16 is a flow chart shown to explain the automatic operation of the control system.
The figure is an explanatory diagram of the operation of the same embodiment, and FIG. 18 is an explanatory diagram showing an example of the obstacle avoidance operation. 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, 24.25-Obstacle detection sensor, 45
・-・-Distance determination device, 50=-・Control device, 54-・
−Hydraulic circuit patent applicant Hikoma Seisakusho Co., Ltd. Agent
Patent Attorney Akira Hibi No. 1 Figure 3 Figure 4 Figure 5 Figure 10 Figure 11 Figure 15 Figure 16

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 lowers a lifting platform by sliding the platform, the boom is equipped with a length sensor that can measure the length of both X-shaped booms and output it as a detection signal. An object detection sensor is provided, and a hydraulic circuit capable of individually supplying pressure oil to each of both hydraulic cylinders is provided, and a transmission signal is given to the obstacle sensor, and a reflected signal from the obstacle is captured via the obstacle sensor. A distance determination device is provided to obtain distance data from the distance to the obstacle, and a detection signal from the length measurement sensor is taken in, distance data from the distance determination device is also taken in, and a hydraulic circuit is driven and controlled based on these data. The control device is equipped with a storage device that can store the height and horizontal movement distance of the lifting platform, and the control device is equipped with a storage device that can store the height and horizontal movement distance of the platform. An elevating device characterized by being configured to be able to generate a control signal for moving up and down, and to generate a control signal for moving up and down while avoiding obstacles when distance data from a distance determining device is smaller than a predetermined value. .