EP1186568B1 - Elevating work platform and control method for a load carried thereon - Google Patents
Elevating work platform and control method for a load carried thereon Download PDFInfo
- Publication number
- EP1186568B1 EP1186568B1 EP01420193A EP01420193A EP1186568B1 EP 1186568 B1 EP1186568 B1 EP 1186568B1 EP 01420193 A EP01420193 A EP 01420193A EP 01420193 A EP01420193 A EP 01420193A EP 1186568 B1 EP1186568 B1 EP 1186568B1
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- Prior art keywords
- platform
- pressure
- work platform
- parameter
- values
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000003028 elevating effect Effects 0.000 title claims 3
- 239000012530 fluid Substances 0.000 claims abstract description 7
- 230000006870 function Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000003213 activating effect Effects 0.000 abstract 1
- 230000000284 resting effect Effects 0.000 description 2
- 210000004027 cell Anatomy 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
Definitions
- the invention relates to a lifting platform and to a method of controlling the mass of an onboard load on the platform of such a nacelle.
- the adjectives "lower”, “superior”, “horizontal” and “vertical” refer to orientations of the various constituent elements of a nacelle resting on a generally horizontal surface.
- the invention it is possible to carry out a measurement of pressure at a given height and the comparison of values of pressure at different points of the elevation stroke of platform of the nacelle, the reference values which is compared this pressure may be different according to the points considered. It is thus possible to take into account pressure variations during the establishment reference values, which allows precise control of the force exerted by the load displaced by the platform.
- the nacelle of the invention makes it possible to exercise control effective on the entire run of the platform while the previous systems were generally effective only in the vicinity of the high position of the platform run. The safety of the nacelle of the invention is therefore greatly improved compared to known nacelles.
- the method comprises a prior acquisition step reference values during which the nacelle is moved with a known mass load, the value of the operating fluid pressure of the hydraulic means is measured at several points of the elevation stroke of this platform and the measured values are stored, as reference values for each point in a memory.
- This stage of the process thus makes it possible to create all the reference values according to the exact kinematics of the nacelle considered.
- the nacelle 1 shown in Figure 1 comprises a frame 2 resting by four wheels 3 on the surface S of the ground.
- the nacelle also comprises a platform 4 on which an operator can be held when work at height must be carried out.
- This platform comprises a floor 41 surmounted by a railing 42.
- the floor is extensible in a generally horizontal direction represented by the arrow F 1 , which increases its useful area.
- a structure 5 commonly known as “scissors” is installed between the frame 2 and the platform 4 and comprises arms 51 hinged together about pivots 52 and allowing, depending on the relative orientation of the arms 51, to subject at the platform 4 an upward movement relative to the frame 2, this movement being represented by the arrow F 2 .
- Controlling the lifting movement F 2 is obtained by means of one or more hydraulic cylinders 53 whose ends 53 a and 53 b are articulated on supports 54 a and 54 b fixed to the arm 51.
- the scissors structure 5 raises more or less platform 4 whose height H is noted with respect to the surface of the ground S.
- an intensity control module 6 of the E force generated by the cylinder 53 on the legs 54 a and 54 b is installed near the cylinder as is shown in Figure 2.
- This module comprises a housing 61 in which are installed a sensor 62 of the length L of the cylinder 63 and a sensor 63 of the oil pressure P in the cylinder 53.
- the signals S 62 and S 63 generated by the sensors 62 and 63 are transmitted to a comparator 64 which accesses a memory 65 in which are stored, in the form of a curve C, different normal values P 0 of the pressure of the cylinder 53 as a function of the length L, between a corresponding value L 0 at the low position of the platform and a value L max corresponding to its high position.
- the operation is as follows: During an upward movement of the nacelle, the value of the parameters L and P is measured continuously by the sensors 62 and 63 and, for each value of the length L, the pressure value P measured by the sensor 62 is compared with the corresponding value P 0 (L) appearing on the curve C.
- a signal S 6 is supplied to a unit 7 for controlling the operation of the nacelle 1, this unit being able in practice to be supported by the frame 2.
- Curve C is established with a known mass load corresponding to the maximum permissible mass for the carrycot 1, for example 1000 kg.
- the signal S 6 is an overload signal if, for a given length L, the pressure P measured by the sensor 62 is greater than the corresponding pressure P 0 (L) appearing on the curve C.
- Curve C is obtained by operating platform 1 after having loaded platform 4 with a mass M of predetermined weight, for example 1000 kg.
- the values of the length L and of the pressure P are measured, continuously or in several points of the lifting stroke of the platform 4, and these values are recorded as reference values P 0 (L). in the form of a correspondence table or a curve, as represented by the arrows S '62 and S' 63 in FIG.
- the nacelle can be planned to be used with a load of 1000 kg indoors and 800 kg outdoors, in which case two reference curves will be the subject of a prior acquisition procedure, the value of the pressure measured during operation being compared to the reference values of one of these two curves in according to the place of use of the platform.
- the same nacelle can withstand a mass of 1000 kg up to, for example, 3 meters, then a mass of 800 kg up to about 6 meters and a mass of 400 kg up to about 10 meters.
- the set of reference values P 0 used may vary according to the final height of use of the nacelle, the comparison module can automatically use several curves of reference values from one to the other. other.
- the elements similar to those of the first embodiment carry references identical numbers increased by 100.
- the nacelle 101 also includes a frame 102 and a platform 104 interconnected thanks to a scissors structure 105.
- An actuator 153 is also used and, as is parameter representative of the height H of the platform 104 relative to the ground, the angle ⁇ of inclination of the jack 53 by report horizontally.
- a load control module 106 exerted on the platform 4 is integrated in a housing 161 which encloses a sensor 162 for measuring the angle ⁇ and a sensor 163 for measuring the oil pressure P in the cylinder 153. These sensors are connected, inside the housing 161, to a comparator 164 which accesses a memory 165 in which are stored one or more curves C of reference values P 0 of the pressure as a function of the angle ⁇ . Depending on the result of the comparison, the comparator 164 sends a signal S 106 to a control unit 107 of the nacelle 101.
- the one or more curves C can be determined by operating the basket 101 with a pre-determined mass load.
- the value of the angle ⁇ is influenced by the orientation of the soil on which lies nacelle 101. In order not to distort the measurement of this angle, the attitude of the frame 102 is measured and the result of this measure is used to correct, where appropriate, the value of the angle ⁇ determined.
- the invention has been described with a method in which the curves C are substantially continuous, in that the reference pressures P 0 are established for a large number of positions of the platform 4 or 104 on its elevation stroke . It is also possible to provide an acquisition and verification of these values in a discrete number of points, for example every 10 or 50 cm.
- the invention has been shown with a scissor lift. However, it is applicable with a platform extensible equipped with one or more hydraulic cylinders for carry out the height displacement of the platform.
- the invention has been shown in the case where the height measured is the height H of the platform 4 with respect to ground.
- the height of the platform can be measured relative to chassis 2 or another elevation part known from the ground.
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Wind Motors (AREA)
Abstract
Description
L'invention a trait à une nacelle élévatrice et à un procédé de contrôle de la masse d'une charge embarquée sur la plate-forme d'une telle nacelle.The invention relates to a lifting platform and to a method of controlling the mass of an onboard load on the platform of such a nacelle.
Dans la présente description, les adjectifs "inférieur", "supérieur", "horizontal" et "vertical" font références aux orientations des différents éléments constitutifs d'une nacelle reposant sur une surface globalement horizontale.In the present description, the adjectives "lower", "superior", "horizontal" and "vertical" refer to orientations of the various constituent elements of a nacelle resting on a generally horizontal surface.
Dans le domaine des nacelles élévatrices, il est connu de détecter une surcharge d'une plate-forme de nacelle au moyen de contacteurs électromécaniques disposés au contact de la plate-forme supportée par des ressorts. Ceci est en particulier utilisé pour les nacelles comprenant une flèche télescopique. Dans le cas de nacelles dites "à ciseaux", il est également connu de contrôler avec un manocontact la pression que doit exercer un vérin pour soulever la nacelle. En cas de charge trop importante, cette pression dépasse une valeur de seuil et une alarme peut être activée.In the field of aerial work platforms, it is known to detect an overload of a nacelle platform at means of electromechanical contactors arranged in contact with the platform supported by springs. This is in particular used for nacelles including an arrow telescopic. In the case of nacelles called "scissors", it is also known to control with a pressure switch the the pressure that a jack must exert to raise the basket. If the load is too high, this pressure exceeds Threshold value and an alarm can be activated.
Dans les systèmes connus, une seule valeur de surcharge peut être détectée alors que la charge maximum admissible par une nacelle peut varier en fonction de la hauteur de la plate-forme par rapport au sol et des conditions d'utilisation, par exemple à l'intérieur ou à l'extérieur d'un bâtiment.In known systems, only one overload value can be detected while the maximum permissible load per a nacelle can vary depending on the height of the platform relative to the ground and conditions of use, for example inside or outside a building.
En outre, les systèmes cinématiques utilisés pour l'élévation d'une nacelle, qu'il s'agisse d'un mât ou de ciseaux, induisent une pression à l'intérieur des vérins variable en fonction de la position de la plate-forme, comme le montre le document JP-A-05 004 798.In addition, the kinematic systems used to the elevation of a nacelle, whether it is a mast or scissors induce pressure inside the cylinders variable depending on the position of the platform, as shown in JP-A-05004 798.
C'est à ces inconvénients qu'entend plus particulièrement remédier l'invention en proposant une nouvelle nacelle élévatrice qui permet de contrôler précisément le caractère admissible de la charge déplacée par une nacelle sur toute la hauteur de la course d'élévation de sa plateforme.It is these disadvantages that are particularly remedy the invention by proposing a new nacelle lift that allows precise control of the character admissible load displaced by a nacelle over the entire height of the lift stroke of its platform.
Dans cet esprit, l'invention concerne une nacelle qui comprend :
- des moyens de mesure, en plusieurs points de la course d'élévation de la plate-forme, de la pression du fluide d'actionnement de moyens hydrauliques d'élévation de cette plate-forme et d'un paramètre représentatif de la position de cette plate-forme par rapport au sol ou au châssis de la nacelle ;
- une mémoire de stockage de valeurs de références de cette pression, en fonction de ce paramètre, aux points considérés et
- des moyens de comparaison des valeurs de pression mesurées et de celles stockées dans la mémoire aux points considérés, ces moyens étant aptes à générer un signal en fonction du résultat de cette comparaison.
- measuring means, at several points of the lifting stroke of the platform, of the pressure of the fluid for actuating hydraulic lifting means of this platform and of a parameter representative of the position of this platform; platform in relation to the ground or chassis of the nacelle;
- a memory for storing reference values of this pressure, depending on this parameter, at the points considered and
- means for comparing the measured pressure values and those stored in the memory at the points considered, these means being able to generate a signal according to the result of this comparison.
Grâce à l'invention, on peut procéder à une mesure de pression à une hauteur donnée et à la comparaison de valeurs de pression en différents points de la course d'élévation de la plate-forme de la nacelle, les valeurs de référence auxquelles est comparée cette pression pouvant être différentes selon les points considérés. Il est ainsi possible de tenir compte de variations de pression lors de l'établissement des valeurs de référence, ce qui permet un contrôle précis de l'effort exercé par la charge déplacée par la plate-forme. En outre, la nacelle de l'invention permet d'exercer un contrôle efficace sur toute la course de la plate-forme alors que les systèmes antérieurs étaient généralement efficaces uniquement au voisinage de la position haute de la course de la plate-forme. La sécurité de la nacelle de l'invention est donc grandement améliorée par rapport aux nacelles connues.Thanks to the invention, it is possible to carry out a measurement of pressure at a given height and the comparison of values of pressure at different points of the elevation stroke of platform of the nacelle, the reference values which is compared this pressure may be different according to the points considered. It is thus possible to take into account pressure variations during the establishment reference values, which allows precise control of the force exerted by the load displaced by the platform. In in addition, the nacelle of the invention makes it possible to exercise control effective on the entire run of the platform while the previous systems were generally effective only in the vicinity of the high position of the platform run. The safety of the nacelle of the invention is therefore greatly improved compared to known nacelles.
Selon des aspects avantageux mais non obligatoires de l'invention, la nacelle incorpore une ou plusieurs des caractéristiques suivantes :
- les moyens de mesure, la mémoire et les moyens de comparaison sont intégrés dans un boítier raccordé à une unité de commande de la nacelle. Ce boítier peut donc être considéré comme un "système" autonome qui peut être installé ou non sur une nacelle. Le caractère autonome de ce boítier permet également d'envisager d'équiper les nacelles existantes de ce boítier afin d'obtenir une fonction de sécurité supplémentaire. On peut en particulier prévoir que le boítier fixé sur la nacelle à proximité des moyens hydrauliques, par exemple d'un vérin.
- les moyens de mesure sont aptes à transmettre à la mémoire des valeurs mesurées à stocker comme valeurs de référence. Grâce à cet aspect de l'invention, il est possible d'utiliser, comme valeurs de référence, des valeurs effectivement mesurées sur la nacelle en question et qui tiennent compte de la cinématique réelle de la nacelle, notamment en ce qui concerne sa géométrie et l'intensité des forces de frottement générées. Ceci permet un contrôle précis du fonctionnement de la nacelle. En outre, ceci permet d'envisager de faire évoluer les valeurs stockées dans la mémoire, par exemple pour tenir compte d'une éventuelle usure de la nacelle et/ou du remplacement d'un élément de la chaíne cinématique existant entre la plate-forme et le châssis de la nacelle.
- les moyens hydrauliques comprennent au moins un vérin dont la longueur et/ou l'angle d'inclinaison par rapport à une position de référence est utilisé comme paramètre représentatif de la position de la plate-forme.
- the measuring means, the memory and the comparison means are integrated in a housing connected to a control unit of the nacelle. This housing can therefore be considered as an autonomous "system" that can be installed or not on a nacelle. The autonomous nature of this housing also allows to consider equipping the existing nacelles of this housing to obtain an additional security function. In particular it can be provided that the housing attached to the nacelle near the hydraulic means, for example a cylinder.
- the measuring means are able to transmit to the memory measured values to be stored as reference values. Thanks to this aspect of the invention, it is possible to use, as reference values, values actually measured on the nacelle in question and which take into account the actual kinematics of the nacelle, in particular with regard to its geometry and the intensity of friction forces generated. This allows precise control of the operation of the nacelle. In addition, this makes it possible to consider changing the values stored in the memory, for example to take into account a possible wear of the nacelle and / or the replacement of a member of the kinematic chain existing between the platform and the chassis of the nacelle.
- the hydraulic means comprise at least one jack whose length and / or angle of inclination with respect to a reference position is used as a parameter representative of the position of the platform.
L'invention a également trait à un procédé qui peut être mis en oeuvre avec la nacelle telle que précédemment décrite et, plus spécifiquement, à un procédé de contrôle de la masse d'une charge embarquée sur la plate-forme d'une nacelle élévatrice, cette plate-forme étant apte à être soulevée par rapport à un châssis de la nacelle par des moyens hydrauliques. Ce procédé est caractérisé en ce qu'il comprend les étapes consistant à :
- mesurer, en plusieurs points de la course d'élévation de la plate-forme, la pression du fluide d'actionnement des moyens hydrauliques et un paramètre représentatif de la position de la plate-forme par rapport au sol ou au châssis ;
- comparer, en chaque point où le paramètre représentatif a été mesuré, la valeur mesurée de la pression à une valeur de référence de cette pression et
- générer un signal de sortie en fonction du résultat de cette comparaison.
- measuring, at several points of the lifting stroke of the platform, the pressure of the operating fluid of the hydraulic means and a parameter representative of the position of the platform relative to the ground or to the chassis;
- compare, at each point where the representative parameter has been measured, the measured value of the pressure at a reference value of that pressure and
- generate an output signal according to the result of this comparison.
On peut utiliser comme paramètre représentatif de la position de la plate-forme la longueur ou l'inclinaison d'un vérin de déplacement de cette plate-forme. Dans le cas où l'angle d'inclinaison est utilisé comme paramètre, on peut corriger ce paramètre en fonction de l'assiette du châssis de la nacelle.We can use as representative parameter of the position of the platform the length or inclination of a displacement cylinder of this platform. In the case where the angle of inclination is used as a parameter, we can correct this parameter according to the trim of the chassis of Platform.
Selon un aspect particulièrement avantageux de l'invention, le procédé comprend une étape préalable d'acquisition des valeurs de référence au cours de laquelle la nacelle est déplacée avec une charge de masse connue, la valeur de la pression du fluide d'actionnement des moyens hydrauliques est mesurée en plusieurs points de la course d'élévation de cette plate-forme et les valeurs mesurées sont stockées, comme valeurs de référence, pour chaque point, dans une mémoire. Cette étape du procédé permet donc de créer l'ensemble des valeurs de référence en fonction de la cinématique exacte de la nacelle considérée.According to a particularly advantageous aspect of the invention, the method comprises a prior acquisition step reference values during which the nacelle is moved with a known mass load, the value of the operating fluid pressure of the hydraulic means is measured at several points of the elevation stroke of this platform and the measured values are stored, as reference values for each point in a memory. This stage of the process thus makes it possible to create all the reference values according to the exact kinematics of the nacelle considered.
On peut en outre prévoir d'utiliser plusieurs étapes préalables d'acquisition avec des charges de masse différentes, de stocker plusieurs jeux de valeurs de référence et de sélectionner, en fonction des conditions d'utilisation de la nacelle, le jeu de valeurs de référence utilisé pour la comparaison. Il est ainsi possible d'utiliser des valeurs de référence plus faibles lorsqu'on utilise la nacelle à l'extérieur où elle peut être soumise à l'effet du vent.In addition, it is possible to use several steps prerequisites for acquisition with different mass loads, to store several sets of reference values and select, depending on the conditions of use of the nacelle, the set of reference values used for the comparison. It is thus possible to use values of lower reference when using the nacelle to outside where it can be subjected to the effect of wind.
L'invention sera mieux comprise et d'autres avantages de celle-ci apparaítront plus clairement à la lumière de la description qui va suivre de deux modes de réalisation d'une nacelle conforme à son principe et des procédés de contrôle utilisés avec une telle nacelle, donnée uniquement à titre d'exemple et faite en référence aux dessins annexés dans lesquels :
- la figure 1 est une vue de côté d'une nacelle conforme à l'invention ;
- la figure 2 est une représentation schématique de principe du système de contrôle de la charge embarquée sur la nacelle de la figure 1 ;
- la figure 3 est une vue analogue à la figure 1 pour une nacelle conforme à un second mode de réalisation de l'invention et
- la figure 4 est une vue analogue à la figure 2 pour la nacelle de la figure 3.
- Figure 1 is a side view of a nacelle according to the invention;
- Figure 2 is a schematic representation of the principle of the load control system on board the platform of Figure 1;
- FIG. 3 is a view similar to FIG. 1 for a nacelle according to a second embodiment of the invention and
- FIG. 4 is a view similar to FIG. 2 for the nacelle of FIG.
La nacelle 1 représentée à la figure 1 comprend un
châssis 2 reposant par quatre roues 3 sur la surface S du sol.
La nacelle comprend également une plate-forme 4 sur laquelle
peut se tenir un opérateur lorsque des travaux en hauteur
doivent être effectués. Cette plate-forme comprend un plancher
41 surmonté d'une rambarde 42. Le plancher est extensible dans
une direction globalement horizontale représenté par la flèche
F1, ce qui permet d'augmenter sa surface utile.The nacelle 1 shown in Figure 1 comprises a
Une structure 5 communément dite "à ciseaux" est
installée entre le châssis 2 et la plate-forme 4 et comprend
des bras 51 articulés entre eux autour de pivots 52 et
permettant, en fonction de l'orientation relative des bras 51,
de faire subir à la plate-forme 4 un mouvement d'élévation par
rapport au châssis 2, ce mouvement étant représenté par la
flèche F2.A
La commande du mouvement d'élévation F2 est obtenue au
moyen d'un ou plusieurs vérins hydrauliques 53 dont les
extrémités 53a et 53b sont articulées sur des supports 54a et
54b fixés aux bras 51.Controlling the lifting movement F 2 is obtained by means of one or more
En fonction de la poussée exercée par le vérin 53, la
structure à ciseaux 5 soulève plus ou moins la plate-forme 4
dont on note H la hauteur par rapport à la surface du sol S.Depending on the thrust exerted by the
Conformément à l'invention, un module 6 de contrôle de
l'intensité de l'effort E généré par le vérin 53 sur les
pattes 54a et 54b est installé à proximité de ce vérin ainsi
que cela est représenté à la figure 2. Ce module comprend un
boítier 61 dans lequel sont installés un capteur 62 de la
longueur L du vérin 63 et un capteur 63 de la pression P
d'huile dans le vérin 53. Les signaux S62 et S63 générés par
les capteurs 62 et 63 sont transmis à un comparateur 64 qui
accède à une mémoire 65 dans laquelle sont stockées, sous la
forme d'une courbe C, différentes valeurs normales P0 de la
pression du vérin 53 en fonction de la longueur L, entre une
valeur L0 correspondant à la position basse de la plate-forme
et une valeur Lmax correspondant à sa position haute.According to the invention, an
Le fonctionnement est le suivant : Au cours d'un
mouvement de montée de la nacelle, la valeur des paramètres
L et P est mesurée en continu grâce aux capteurs 62 et 63 et,
pour chaque valeur de la longueur L, la valeur de pression P
mesurée grâce au capteur 62 est comparée à la valeur correspondante
P0(L) apparaissant sur la courbe C.The operation is as follows: During an upward movement of the nacelle, the value of the parameters L and P is measured continuously by the
Un signal S6 est fourni à une unité 7 de commande du
fonctionnement de la nacelle 1, cette unité pouvant, en
pratique, être supportée par le châssis 2.A signal S 6 is supplied to a
La courbe C est établie avec une charge de masse connue correspondant à la masse maximum admissible pour la nacelle 1, par exemple 1000 kg.Curve C is established with a known mass load corresponding to the maximum permissible mass for the carrycot 1, for example 1000 kg.
Le signal S6 est un signal de surcharge si, pour une
longueur L donnée, la pression P mesurée par le capteur 62 est
supérieure à la pression P0(L) correspondante apparaissant sur
la courbe C.The signal S 6 is an overload signal if, for a given length L, the pressure P measured by the
La courbe C est obtenue en faisant fonctionner la nacelle 1 après avoir chargé la plate-forme 4 avec une masse M de poids pré-déterminé, par exemple 1000 kg. Dans ce cas, on mesure, continûment ou en plusieurs points de la course d'élévation de la nacelle 4, les valeurs de la longueur L et de la pression P et l'on enregistre ces valeurs comme valeurs de référence P0(L) sous la forme d'une table de correspondance ou d'une courbe, comme représenté par les flèches S'62 et S'63 à la figure 2.Curve C is obtained by operating platform 1 after having loaded platform 4 with a mass M of predetermined weight, for example 1000 kg. In this case, the values of the length L and of the pressure P are measured, continuously or in several points of the lifting stroke of the platform 4, and these values are recorded as reference values P 0 (L). in the form of a correspondence table or a curve, as represented by the arrows S '62 and S' 63 in FIG.
Bien entendu, ce qui a été expliqué dans le cas d'un mouvement d'élévation de la plate-forme peut également être appliqué dans le cas d'un mouvement de descente de la plate-forme.Of course, what was explained in the case of a lift movement of the platform can also be applied in the case of a downward movement of the platform.
Afin de tenir compte des différentes conditions d'utilisation de la plate-forme, différentes courbes de référence C ou différents jeux de valeur de référence peuvent être utilisés en fonction des conditions de l'emploi de la nacelle.In order to take into account the different conditions of use of the platform, different reference curves C or different sets of reference value can be used according to the conditions of use of the nacelle.
Par exemple, la nacelle peut être prévue pour être utilisée avec une charge de 1000 kg en intérieur et de 800 kg en extérieur, auquel cas deux courbes de référence feront l'objet d'une procédure d'acquisition préalable, la valeur de la pression mesurée en cours de fonctionnement étant comparée aux valeurs de référence de l'une de ces deux courbes en fonction du lieu d'utilisation de la nacelle.For example, the nacelle can be planned to be used with a load of 1000 kg indoors and 800 kg outdoors, in which case two reference curves will be the subject of a prior acquisition procedure, the value of the pressure measured during operation being compared to the reference values of one of these two curves in according to the place of use of the platform.
De même, il est possible de prévoir d'utiliser différents jeux de valeurs de référence suivant la hauteur finale que doit atteindre la nacelle. En effet, une même nacelle peut supporter une masse de 1000 kg jusqu'à, par exemple, 3 mètres puis, une masse de 800 kg jusqu'à environ 6 mètres et une masse de 400 kg jusqu'à environ 10 mètres. Dans ce cas, le jeu de valeurs de référence P0 utilisées peut évoluer en fonction de la hauteur finale d'utilisation de la nacelle, le module de comparaison pouvant utiliser automatiquement plusieurs courbes de valeurs de référence en passant de l'une à l'autre.Similarly, it is possible to provide for using different sets of reference values depending on the final height that the basket must reach. Indeed, the same nacelle can withstand a mass of 1000 kg up to, for example, 3 meters, then a mass of 800 kg up to about 6 meters and a mass of 400 kg up to about 10 meters. In this case, the set of reference values P 0 used may vary according to the final height of use of the nacelle, the comparison module can automatically use several curves of reference values from one to the other. other.
Il est également possible de prévoir que l'utilisateur
sélectionne la hauteur d'utilisation approximative de la
nacelle, par exemple au moyen d'un bouton de commande, ce qui
permet au module 6 de déterminer quelle courbe de référence
doit être utilisée.It is also possible to predict that the user
selects the approximate usage height of the
nacelle, for example by means of a command button, which
allows
Dans le second mode de réalisation de l'invention
représenté aux figures 3 et 4, les éléments analogues à ceux
du premier mode de réalisation portent des références
identiques augmentées de 100. Dans ce mode de réalisation, la
nacelle 101 comprend également un châssis 102 et une plate-forme
104 reliés entre eux grâce à une structure à ciseaux
105. Un vérin 153 est également employé et l'on utilise, comme
paramètre représentatif de la hauteur H de la plate-forme 104
par rapport au sol, l'angle α d'inclinaison du vérin 53 par
rapport à l'horizontale.In the second embodiment of the invention
shown in Figures 3 and 4, the elements similar to those
of the first embodiment carry references
identical numbers increased by 100. In this embodiment, the
nacelle 101 also includes a
Un module 106 de contrôle de la charge exercée sur la
plate-forme 4 est intégré dans un boítier 161 qui renferme un
capteur 162 de mesure de l'angle α et un capteur 163 de mesure
de la pression d'huile P dans le vérin 153. Ces capteurs sont
reliés, à l'intérieur du boítier 161, à un comparateur 164 qui
accède à une mémoire 165 dans laquelle sont stockées une ou
plusieurs courbes C de valeurs de références P0 de la pression
en fonction de l'angle α. En fonction du résultat de la
comparaison, le comparateur 164 émet un signal S106 en direction
d'une unité 107 de commande de la nacelle 101.A
Comme précédemment, la ou les courbes C peuvent être déterminées en faisant fonctionner la nacelle 101 avec une charge de masse pré-déterminée.As before, the one or more curves C can be determined by operating the basket 101 with a pre-determined mass load.
Dans ce second mode de réalisation, la valeur de l'angle
α est influencée par l'orientation du sol sur lequel repose
la nacelle 101. Afin de ne pas fausser la mesure de cet angle,
l'assiette du châssis 102 est mesurée et le résultat de cette
mesure est utilisé pour corriger, le cas échéant, la valeur
de l'angle α déterminée.In this second embodiment, the value of the angle
α is influenced by the orientation of the soil on which lies
nacelle 101. In order not to distort the measurement of this angle,
the attitude of the
Quel que soit le mode de réalisation considéré, on peut
prévoir de charger la mémoire 65 ou 165 avec des valeurs de
référence obtenues sur une machine type. Ce mode d'acquisition
des valeurs de référence est plus simple à mettre en oeuvre
que celui décrit précédemment.Whatever the embodiment considered, one can
expect to load the
Quel que soit le mode de réalisation considéré, il est également possible de prévoir d'acquérir périodiquement les valeurs de références, c'est-à-dire les courbes C, ce qui permet de tenir compte de l'usure des différents systèmes d'articulation, c'est-à-dire de l'évolution possible de la courbe de pression en fonction de la hauteur de la plate-forme.Whatever the embodiment considered, it is It is also possible to plan to acquire periodically reference values, ie the C curves, which allows to take into account the wear of the different systems of articulation, that is to say of the possible evolution of the pressure curve as a function of the height of the platform.
L'invention a été décrite avec un procédé dans lequel les
courbes C sont pratiquement continues, en ce sens que les
pressions de référence P0 sont établies pour un grand nombre
de positions de la plate-forme 4 ou 104 sur sa course
d'élévation. Il est également possible de prévoir une
acquisition et une vérification de ces valeurs en un nombre
discret de points, par exemple tous les 10 ou tous les 50 cm.The invention has been described with a method in which the curves C are substantially continuous, in that the reference pressures P 0 are established for a large number of positions of the
L'invention a été représentée avec une nacelle à ciseaux. Elle est cependant applicable avec une nacelle à structure extensible équipée d'un ou plusieurs vérins hydrauliques pour effectuer le déplacement en hauteur de la plate-forme.The invention has been shown with a scissor lift. However, it is applicable with a platform extensible equipped with one or more hydraulic cylinders for carry out the height displacement of the platform.
L'invention a été représentée dans le cas où la hauteur
mesurée est la hauteur H de la plate-forme 4 par rapport au
sol. Cependant, la hauteur de la plate-forme peut être mesurée
par rapport au châssis 2 ou à une autre partie d'élévation
connue par rapport au sol.The invention has been shown in the case where the height
measured is the height H of the platform 4 with respect to
ground. However, the height of the platform can be measured
relative to
Des variations de pression relativement importantes se
produisent au début de la course d'élévation de la plate-forme
4 ou 104. Ces variations sont normales et ne correspondent
généralement pas à des situations potentiellement dangereuses.
C'est pourquoi, l'on peut choisir d'inhiber le procédé de
contrôle au début de la course d'élévation, par exemple sur
quelques dizaines de centimètres ou sur un mètre, afin
d'éviter la génération injustifiée d'un signal de surcharge.Relatively large pressure variations are
produce at the beginning of the elevation run of the
Claims (10)
- Elevating work platform comprising a chassis and a platform suitable for being raised with respect to the said chassis by hydraulic means,means (62, 63; 162, 163) for determining, at various points in the upward travel of the said platform (4; 104), the pressure (P) of the actuating fluid for the said hydraulic means (53; 153) and a parameter (L; α) representative of the position (H) of the said platform with respect to the ground (S) or to the chassis (2; 102) of the said work platform (1; 101), characterised in that it comprises:a memory (65; 165) for storing reference values (P0) of the said pressure as a function of the said parameter at the points considered andmeans (6; 106) for comparison of the measured pressure values (P) and the pressure values stored (P0) in the said memory (65; 165) at the points considered, the said means being suitable for generating a signal (S6; S106) depending on the result of this comparison.
- Work platform according to Claim 1, characterised in that the said determination means (62, 63; 162, 163), the said memory (65; 165) and the said comparison means (6; 106) are integrated in a housing (61; 161) connected to a control unit (7; 107) for the said work platform (1; 101).
- Work platform according to Claim 2, characterised in that the said housing (61; 161) is fixed on the said work platform (1; 101) in the proximity of the said hydraulic means (53; 153).
- Work platform according to one of the preceding claims, characterised in that the said determination means (62, 63; 162, 163) are suitable for transmitting (S'62, S'63) the measured values, to be stored as reference values (P0), to the said memory (65; 165).
- Work platform according to one of the preceding claims, characterised in that the said hydraulic means comprise at least one ram (53; 153), the length (L) of which and/or the angle of inclination (α) of which with respect to a reference position is used as parameter representative of the position (H) of the platform.
- Method for monitoring the mass of a load placed on the platform of an elevating work platform, the said platform being suitable for being raised with respect to a chassis of the said work platform by hydraulic means, characterised in that it comprises the steps consisting in:determining (S62, S63), at several points in the upward travel of the said platform, the pressure (P) of the actuating fluid for the said hydraulic means (53; 153) and a parameter (L; α) representative of the position (H) of the said platform (4; 104) with respect to the ground (S) or to the said chassis (2; 102);comparing the measured value (P) of the pressure with a reference value (P0) at each point where the said representative parameter (L; α) has been determined, andgenerating an output signal (S6; S106) depending on the result of the comparison of the said pressure values (P, P0).
- Method according to Claim 6, characterised in that it consists in using the length (L) or the inclination (α) of a ram (53; 153) for displacement of the said platform as parameter representative of the position (H) of the said platform (4; 104).
- Method according to Claim 7, characterised in that, in the case where the parameter used is the inclination (α) of a ram (153) for displacement of the said platform (104), a correction is made to this parameter depending on the stable position of the said chassis (102).
- Method according to one of Claims 6 to 8, characterised in that it comprises a preliminary step for capturing (S'62, S'63) the said reference values (P0) during which the said work platform (4; 104) is moved with a load (M) of known mass, the value of the pressure (P) of the actuating fluid for the said hydraulic means is measured at several points in the upward travel of the said platform and the measured values are stored, as reference values (P0) for each point, in a memory (65; 165).
- Method according to Claim 9, characterised in that it consists in using several preliminary capture steps with loads (M) of different mass, in storing (S'62, S'63) several sets of reference values (P0) and in selecting the set (C) of reference values used for the comparison depending on the conditions of use of the work platform.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0011610 | 2000-09-12 | ||
| FR0011610A FR2813875B1 (en) | 2000-09-12 | 2000-09-12 | LIFT PLATFORM AND METHOD FOR CONTROLLING A LOAD ON BOARD ON SUCH A PLATFORM |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1186568A1 EP1186568A1 (en) | 2002-03-13 |
| EP1186568B1 true EP1186568B1 (en) | 2004-03-24 |
Family
ID=8854208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP01420193A Expired - Lifetime EP1186568B1 (en) | 2000-09-12 | 2001-09-11 | Elevating work platform and control method for a load carried thereon |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1186568B1 (en) |
| AT (1) | ATE262478T1 (en) |
| DE (1) | DE60102424T2 (en) |
| FR (1) | FR2813875B1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7493987B2 (en) | 2002-09-09 | 2009-02-24 | Jlg Industries, Inc. | Platform load sensing for vertical lifts |
| FR2908120B1 (en) * | 2006-11-07 | 2009-07-03 | Haulotte Group Sa | LIFT BOOM AND METHOD OF MONITORING SUCH A NACELLE AT STOPPING |
| EP3573921B1 (en) * | 2017-01-25 | 2024-01-03 | JLG Industries, Inc. | Liftable platform with pressure based load system |
| CN114572911A (en) * | 2022-03-10 | 2022-06-03 | 浙江鼎力机械股份有限公司 | Scissor fork type aerial work platform and scissor fork lifting assembly thereof |
| FR3151846A1 (en) * | 2023-08-02 | 2025-02-07 | Manitou Bf | Scissor lift configured to handle a blockage when descending a platform and corresponding method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4456093A (en) * | 1981-06-16 | 1984-06-26 | Interstate Electronics Corp. | Control system for aerial work platform machine and method of controlling an aerial work platform machine |
| IT1204913B (en) * | 1987-03-06 | 1989-03-10 | 3B6 Sistemi Elettro Idraulici | Reach and / or time limiting device for lifting platforms |
| JPH054798A (en) * | 1991-06-26 | 1993-01-14 | Showa Aircraft Ind Co Ltd | Load measuring method for lifting device |
| JP2000128498A (en) * | 1998-10-22 | 2000-05-09 | Aichi Corp | Overloading preventive device of high lift work vehicle |
-
2000
- 2000-09-12 FR FR0011610A patent/FR2813875B1/en not_active Expired - Fee Related
-
2001
- 2001-09-11 EP EP01420193A patent/EP1186568B1/en not_active Expired - Lifetime
- 2001-09-11 AT AT01420193T patent/ATE262478T1/en not_active IP Right Cessation
- 2001-09-11 DE DE60102424T patent/DE60102424T2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| FR2813875A1 (en) | 2002-03-15 |
| DE60102424D1 (en) | 2004-04-29 |
| FR2813875B1 (en) | 2002-11-29 |
| ATE262478T1 (en) | 2004-04-15 |
| EP1186568A1 (en) | 2002-03-13 |
| DE60102424T2 (en) | 2005-03-10 |
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