EP1452479A1 - Scissor lift platform and method for controlling lifting and lowering the platform - Google Patents

Scissor lift platform and method for controlling lifting and lowering the platform Download PDF

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Publication number
EP1452479A1
EP1452479A1 EP04356026A EP04356026A EP1452479A1 EP 1452479 A1 EP1452479 A1 EP 1452479A1 EP 04356026 A EP04356026 A EP 04356026A EP 04356026 A EP04356026 A EP 04356026A EP 1452479 A1 EP1452479 A1 EP 1452479A1
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EP
European Patent Office
Prior art keywords
platform
chassis
ground
lowering
nacelle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04356026A
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German (de)
French (fr)
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EP1452479B1 (en
Inventor
Salah Beji
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Haulotte Group SA
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Pinguely Haulotte SA
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Publication date
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Publication of EP1452479A1 publication Critical patent/EP1452479A1/en
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    • 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
    • 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

Definitions

  • the invention relates to a scissor lift and a method of controlling elevation movements and lowering the platform of such a nacelle.
  • a scissor lift can be used to reach a work area located high up.
  • the operator generally has a control desk allowing him to control movements, on the ground surface, self-propelled chassis and command the elevation of a platform with respect to this chassis, thanks to a set of bars hinged together and on this frame.
  • the invention aims to provide a lifting platform to scissors whose operation is greatly secured by compared to the nacelles of the prior art, without it being necessary to use a protective mesh.
  • the invention relates to a nacelle scissor lift comprising a self-propelled chassis to rest on the ground by connecting members and equipped a set of articulated bars supporting a platform, so that the elevation of the platform by relation to the chassis is variable and controlled by this set of bars, characterized in that the chassis is equipped with means distributed around its periphery making it possible to detect the presence of an obstacle in an area near the chassis, this area extending all around this chassis and being keep on going.
  • the distribution of the means of detection around the chassis makes it possible to secure the platform lowering movements because whatever either the direction by which a person would arrive or an object moving towards the articulated train structure to bend, this person or object would be detected, this which would alert the operator and take timely any appropriate corrective action.
  • a scissor lift can also incorporate one or more many of the features mentioned in claims 2 to 9.
  • This process ensures secure operation of the platform, without blocking its operation in a important part of his movements.
  • the nacelle 1 shown in Figures 1 to 4 includes a chassis 2 resting on the ground by four wheels 3A, 3B, 3C and 3D.
  • a motor 4 is integrated into the chassis 2 and allows move this chassis on the ground at the operator's choice O which has a control panel 10.
  • One or several cylinders 52 is or are associated with the bars 51 for control their relative orientation and thereby height H of the platform 6. In practice, this height is measured as the height of the top surface of the floor 61 of this platform with respect to the ground surface S.
  • Platform 6 is also equipped with a guardrail 62 on which the console 10 is mounted.
  • a safety device 70 is mounted on the chassis 2 and includes four posts 71 arranged at the four corners of this chassis and four bars 72, 73, 74 and 75 which extend respectively along the front edges 22, rear 23, left side 24 and right side 25 of chassis 2.
  • the sensors 76 are integrated inside the bars 72 to 75, these bars being provided with openings, such as that represented in FIG. 5 with the reference 75 a , these openings being provided on the face of the bars facing outwards from the chassis 2 and allowing the sensors to "target" their respective detection zones or volumes.
  • the cables 77 for supplying current and transmitting detection signals from the sensors 76 can run inside the bars 72 to 75, or even outside the bars. Due to their integration in the bars 72 to 75, the sensors 76 are protected against shocks and pollution.
  • the detectors 76 are distributed over the bars 72 to 75, so that their respective detection volumes V 76 together form a zone Z which extends all around the chassis 2 and in which the presence of an object or of a person, which corresponds to a potentially dangerous situation, in particular by risk of jamming when the bars 51 bend against each other after a lowering movement of the platform 6.
  • the bars 72 to 75 are located about one meter from the surface of the ground S, which implies that the zone Z formed by the union of the volumes V 76 makes it possible to effectively monitor the arrival of a person in the vicinity of the nacelle 1 .
  • the sensors 76 are only supplied with power during the lowering phases of the platform 6.
  • the nacelle 1 is equipped with a device anti-tip 80 which includes, among other things, sensors 81 and 82 mounted respectively at the front and at the rear of the chassis 2, substantially above each 3A to 3D wheels.
  • a device anti-tip 80 which includes, among other things, sensors 81 and 82 mounted respectively at the front and at the rear of the chassis 2, substantially above each 3A to 3D wheels.
  • These sensors 81 and 82 are arranged and oriented so that their respective detection volume V 81 and V 82 cover the surface of the ground S in front of the front wheels 3B and 3D and behind the rear wheels 3A and 3C. These sensors 81 and 82 therefore make it possible to detect obstacles placed on the ground or any variation in the flatness of the ground surface S, in particular a step M or a pothole.
  • the 3D wheel is close to a walking M and one of the sensors 81 detects a variation in the area S, that is to say a variation of the distance d or d 'between the sensor 81 and the surface S.
  • the operation is the same thanks to the sensors 82 when the basket moves back.
  • the anti-tip device 80 is connected to the system 4 motor control and allows to slow down or stop progression of nacelle 1 when one of the sensors 81 or 82 detected a significant change in the flatness of the surface S.
  • the invention makes it possible, thanks to the device 70, to check the height position of platform 6.
  • This the device can also be used, alternatively or in addition to device 80, to control the movements of the nacelle.
  • sensors 76 of the type ultrasonic have been described with sensors 76 of the type ultrasonic. It is however applicable with all types sensor, especially infrared. Likewise, others modifications can be envisaged for this nacelle, such as the use of other ground linkers only wheels, for example tracks, or even a vehicle complete, such as a truck.

Abstract

The elevator in form of a scissor has a self propelled chassis (2) to be placed on the ground by linking units (3a, 3b). A set of articulated bars (51) supports a platform in such a way that the elevation of the platform with respect to the chassis is variable and controllable by the bars. The chassis is equipped with dividers (70-77) at its periphery to detect presence of any obstacle in a neighboring zone of the chassis. An independent claim is also included for a process to control elevation movements and lowering movements of a platform of the nacelle elevator.

Description

L'invention a trait à une nacelle élévatrice à ciseaux et à un procédé de contrôle des mouvements d'élévation et d'abaissement de la plate-forme d'une telle nacelle.The invention relates to a scissor lift and a method of controlling elevation movements and lowering the platform of such a nacelle.

Une nacelle à ciseaux peut être utilisée pour atteindre une zone de travail située en hauteur. L'opérateur dispose généralement d'un pupitre de commande lui permettant de commander les déplacements, sur la surface du sol, d'un châssis automoteur et de commander l'élévation d'une plate-forme par rapport à ce châssis, grâce à un jeu de barres articulées entre elles et sur ce châssis.A scissor lift can be used to reach a work area located high up. The operator generally has a control desk allowing him to control movements, on the ground surface, self-propelled chassis and command the elevation of a platform with respect to this chassis, thanks to a set of bars hinged together and on this frame.

Lors des mouvements d'abaissement de la plate-forme, l'opérateur ne visualise pas toujours correctement la zone située en-dessous de lui et, s'il se penche par dessus la rambarde de la plate-forme, il ne peut voir qu'un côté de la zone située à proximité de la nacelle, d'où un risque de blesser une personne se trouvant à proximité, par écrasement ou par pincement, du fait du mouvement de pliage de la structure articulée formée du jeu de barres.When lowering the platform, the operator does not always correctly view the area below him and, if he leans over the railing of the platform he can only see one side of the area near the nacelle, hence a risk of injuring someone nearby crushing or pinching, due to the folding movement of the articulated structure formed by the busbar.

On a pu envisager d'équiper la partie de base d'une nacelle d'un grillage destiné à éviter qu'une personne se trouvant à proximité de la nacelle ne puisse tendre le bras en direction de la structure articulée de la nacelle, afin de limiter les risques de coincement/pincement. Un tel grillage gêne l'accessibilité à la nacelle, notamment pour des opérations de maintenance ou de contrôle. En outre, des objets peuvent se coincer entre ce grillage et la structure articulée, le châssis ou la plate-forme elle-même.We could consider equipping the base part with a basket of a mesh intended to prevent a person from finding near the gondola cannot reach out towards the articulated structure of the nacelle, so to limit the risks of jamming / pinching. Such wire mesh hinders accessibility to the basket, especially for maintenance or control operations. In addition, objects can get caught between this mesh and the structure articulated, the chassis or the platform itself.

Il est, par ailleurs, connu de WO-A-01/68507 de prévoir des capteurs à la fois sur une plate-forme, sur des zones d'articulation des barres d'une structure articulée et sur les faces avant et arrière d'un châssis de nacelle. Ces capteurs sont délicats à installer sur les parties mobiles et ne permettent de surveiller que les zones avant et arrière de la nacelle dans un but de contrôler les mouvements d'avance et de recul de celle-ci, sans lien avec la sécurité des personnes se trouvant à proximité lors de l'abaissement de la plate-forme.It is, moreover, known from WO-A-01/68507 to provide sensors at the same time on a platform, on articulation zones of the bars of an articulated structure and on the front and rear faces of a nacelle chassis. These sensors are difficult to install on the parts mobile and can only monitor front areas and rear of the nacelle in order to control the forward and backward movements thereof, unrelated to the safety of people in the vicinity during lowering the platform.

Il est également connu de US-B-6,380,849 d'équiper l'avant et l'arrière d'une nacelle avec des capteurs à ultra-sons, ce qui induit les mêmes inconvénients que ceux mentionnés ci-dessus.It is also known from US-B-6,380,849 to equip the front and rear of a gondola with sensors ultrasound, which induces the same drawbacks as those mentioned above.

L'invention vise à proposer une nacelle élévatrice à ciseaux dont le fonctionnement est grandement sécurisé par rapport aux nacelles de l'art antérieur, sans qu'il soit nécessaire d'utiliser un grillage de protection.The invention aims to provide a lifting platform to scissors whose operation is greatly secured by compared to the nacelles of the prior art, without it being necessary to use a protective mesh.

Dans cet esprit, l'invention concerne une nacelle élévatrice à ciseaux comprenant un châssis automoteur apte à reposer sur le sol par des organes de liaison et équipé d'un jeu de barres articulées supportant une plate-forme, de telle sorte que l'élévation de la plate-forme par rapport au châssis est variable et contrôlée par ce jeu de barres, caractérisée en ce que le châssis est équipé de moyens répartis à sa périphérie permettant de détecter la présence d'un obstacle dans une zone voisine du châssis, cette zone s'étendant tout autour de ce châssis et étant continue.In this spirit, the invention relates to a nacelle scissor lift comprising a self-propelled chassis to rest on the ground by connecting members and equipped a set of articulated bars supporting a platform, so that the elevation of the platform by relation to the chassis is variable and controlled by this set of bars, characterized in that the chassis is equipped with means distributed around its periphery making it possible to detect the presence of an obstacle in an area near the chassis, this area extending all around this chassis and being keep on going.

Grâce à l'invention, la répartition des moyens de détection autour du châssis permet de sécuriser les mouvements d'abaissement de la plate-forme car, quelle que soit la direction par laquelle arriverait une personne ou un objet se dirigeant vers la structure articulée en train de se plier, cette personne ou cet objet serait détecté, ce qui permettrait d'alerter l'opérateur et de prendre à temps toute action correctrice appropriée. Thanks to the invention, the distribution of the means of detection around the chassis makes it possible to secure the platform lowering movements because whatever either the direction by which a person would arrive or an object moving towards the articulated train structure to bend, this person or object would be detected, this which would alert the operator and take timely any appropriate corrective action.

Une nacelle ciseaux peut également incorporer une ou plusieurs des caractéristiques mentionnées dans les revendications 2 à 9.A scissor lift can also incorporate one or more many of the features mentioned in claims 2 to 9.

L'invention concerne également un procédé de contrôle des mouvements d'élévation et d'abaissement de la plate-forme d'une nacelle qui peut être mis en oeuvre avec une nacelle à ciseaux telle que décrite précédemment et, plus spécifiquement, un procédé qui comprend une étape consistant à détecter la présence d'obstacles éventuels, dans une zone continue voisine du châssis et s'étendant tout autour de celui-ci, et à tenir compte du résultat de la détection effectuée pour

  • dans le cas d'une élévation de la plate-forme, ne pas interférer avec cette élévation ;
  • dans le cas d'un abaissement de la plate-forme et alors que celle-ci est à une hauteur par rapport au sol supérieure à une valeur prédéterminée, émettre un signal d'avertissement à destination de l'opérateur et
  • dans le cas d'un abaissement de la plate-forme et alors que celle-ci est à une hauteur par rapport au sol inférieure à la valeur prédéterminée, arrêter le mouvement d'abaissement.
The invention also relates to a method for controlling the movements of raising and lowering of the platform of a nacelle which can be implemented with a scissor nacelle as described above and, more specifically, a method which includes a step of detecting the presence of possible obstacles in a continuous area adjacent to the chassis and extending around it, and taking into account the result of the detection carried out for
  • in the case of an elevation of the platform, do not interfere with this elevation;
  • in the case of a lowering of the platform and when it is at a height above the ground above a predetermined value, issue a warning signal to the operator and
  • in the case of a lowering of the platform and when the latter is at a height above the ground less than the predetermined value, stop the lowering movement.

Ce procédé assure un fonctionnement sécurisé de la plate-forme, sans bloquer son fonctionnement dans une partie importante de ses mouvements.This process ensures secure operation of the platform, without blocking its operation in a important part of his movements.

L'invention sera mieux comprise et d'autres avantages de celle-ci apparaítront plus clairement à la lumière de la description qui va suivre d'un mode de réalisation d'une nacelle élévatrice à ciseaux conforme à son principe et d'un procédé de contrôle de ses mouvements, 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 en position basse ;
  • la figure 2 est une vue de la nacelle de la figure 1 en position haute ;
  • la figure 3 est une vue de dessus de la nacelle des figures 1 et 2 ;
  • la figure 4 est une vue en perspective du châssis et de la structure articulée de la nacelle des figures 1 à 3, la plate-forme n'étant pas représentée ; et
  • la figure 5 est une coupe partielle de principe selon la ligne V-V à la figure 4.
The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of an embodiment of a scissor lift in accordance with its principle and of a method of control of its movements, given solely by way of example and made with reference to the accompanying drawings in which:
  • Figure 1 is a side view of a nacelle according to the invention in the low position;
  • Figure 2 is a view of the nacelle of Figure 1 in the high position;
  • Figure 3 is a top view of the nacelle of Figures 1 and 2;
  • Figure 4 is a perspective view of the chassis and the articulated structure of the nacelle of Figures 1 to 3, the platform not being shown; and
  • FIG. 5 is a partial section in principle along the line VV in FIG. 4.

La nacelle 1 représentée aux figures 1 à 4 comprend un châssis 2 reposant sur le sol par quatre roues 3A, 3B, 3C et 3D. Un moteur 4 est intégré au châssis 2 et permet de déplacer ce châssis sur le sol au choix de l'opérateur O qui dispose d'un pupitre de commande 10.The nacelle 1 shown in Figures 1 to 4 includes a chassis 2 resting on the ground by four wheels 3A, 3B, 3C and 3D. A motor 4 is integrated into the chassis 2 and allows move this chassis on the ground at the operator's choice O which has a control panel 10.

Une structure 5, formée de barres 51 articulées entre elles, sur le châssis 2 et sur une plate-forme 6, permet de contrôler la hauteur H de cette plate-forme par rapport à la surface S du sol sur laquelle repose la nacelle 1. Un ou plusieurs vérins 52 est ou sont associés aux barres 51 pour commander leur orientation relative et, par là même, la hauteur H de la plate-forme 6. En pratique, cette hauteur est mesurée comme étant la hauteur de la surface supérieure du plancher 61 de cette plate-forme par rapport à la surface du sol S.A structure 5, formed of bars 51 articulated between them, on the chassis 2 and on a platform 6, makes it possible to control the height H of this platform in relation to the surface S of the ground on which the nacelle 1 rests. One or several cylinders 52 is or are associated with the bars 51 for control their relative orientation and thereby height H of the platform 6. In practice, this height is measured as the height of the top surface of the floor 61 of this platform with respect to the ground surface S.

La plate-forme 6 est également équipée d'une rambarde 62 sur laquelle est monté le pupitre 10.Platform 6 is also equipped with a guardrail 62 on which the console 10 is mounted.

Un dispositif de sécurité 70 est monté sur le châssis 2 et comprend quatre poteaux 71 disposés aux quatre coins de ce châssis et quatre barres 72, 73, 74 et 75 qui s'étendent respectivement le long des bords avant 22, arrière 23, latéral gauche 24 et latéral droit 25 du châssis 2. A safety device 70 is mounted on the chassis 2 and includes four posts 71 arranged at the four corners of this chassis and four bars 72, 73, 74 and 75 which extend respectively along the front edges 22, rear 23, left side 24 and right side 25 of chassis 2.

Ces barres sont équipées de détecteurs à ultra-sons 76 dont on note V76 le volume de détection.These bars are equipped with ultrasonic detectors 76, the detection volume of which is noted V 76 .

Comme représenté à la figure 5, les capteurs 76 sont intégrés à l'intérieur des barres 72 à 75, ces barres étant pourvues d'ouvertures, telle que celle représentée à la figure 5 avec la référence 75a, ces ouvertures étant prévues sur la face des barres tournées vers l'extérieur du châssis 2 et permettant aux capteurs de « viser » leurs zones ou volumes de détection respectifs. Les câbles 77 d'alimentation en courant et de transmission de signaux de détection des capteurs 76 peuvent circuler à l'intérieur des barres 72 à 75, voire à l'extérieur de celles-ci. Du fait de leur intégration dans les barres 72 à 75, les capteurs 76 sont protégés contre les chocs et la pollution.As shown in FIG. 5, the sensors 76 are integrated inside the bars 72 to 75, these bars being provided with openings, such as that represented in FIG. 5 with the reference 75 a , these openings being provided on the face of the bars facing outwards from the chassis 2 and allowing the sensors to "target" their respective detection zones or volumes. The cables 77 for supplying current and transmitting detection signals from the sensors 76 can run inside the bars 72 to 75, or even outside the bars. Due to their integration in the bars 72 to 75, the sensors 76 are protected against shocks and pollution.

Les détecteurs 76 sont répartis sur les barres 72 à 75, de telle sorte que leurs volumes V76 respectifs de détection forment ensemble une zone Z qui s'étend tout autour du châssis 2 et dans laquelle peut être détectée la présence d'un objet ou d'une personne, ce qui correspond à une situation potentiellement dangereuse, notamment par risque de coincement lorsque les barres 51 se plient les unes contre les autres au terme d'un mouvement d'abaissement de la plate-forme 6.The detectors 76 are distributed over the bars 72 to 75, so that their respective detection volumes V 76 together form a zone Z which extends all around the chassis 2 and in which the presence of an object or of a person, which corresponds to a potentially dangerous situation, in particular by risk of jamming when the bars 51 bend against each other after a lowering movement of the platform 6.

Pour garantir la continuité de la zone Z, les volumes V76 se chevauchent partiellement.To guarantee the continuity of zone Z, the volumes V 76 partially overlap.

Les barres 72 à 75 sont situées à environ un mètre de la surface du sol S, ce qui implique que la zone Z formée par la réunion des volumes V76 permet de surveiller efficacement l'arrivée d'une personne au voisinage de la nacelle 1.The bars 72 to 75 are located about one meter from the surface of the ground S, which implies that the zone Z formed by the union of the volumes V 76 makes it possible to effectively monitor the arrival of a person in the vicinity of the nacelle 1 .

Le fonctionnement est le suivant :

  • Lorsque la nacelle 1 est active, les capteurs 76 sont alimentés en permanence et détectent ensemble la présence d'un objet ou d'une personne dans la zone Z.
    • The operation is as follows:
  • When the nacelle 1 is active, the sensors 76 are permanently powered and together detect the presence of an object or a person in the zone Z.

    • Si un obstacle est détecté dans cette zone, plusieurs cas doivent être envisagés.

    • Si la hauteur de la plate-forme 6 est fixée, il n'y a pas de danger particulier vis-à-vis de la structure 5. Les capteurs supportés par les barres 72 et 73 peuvent être utilisés pour prévenir l'opérateur d'un danger immédiat en cas de déplacement au moyen des roues 3A à 3D.
    • Si la nacelle 6 est en cours d'élévation, il y a peu de risques de blesser une personne ou de coincer un objet dans la structure 5, de sorte que le résultat de la détection opérée par les capteurs 76 n'est pas utilisé pour interférer avec cette élévation.
    • Lorsque la plate-forme est en cours d'abaissement, si la hauteur H de la plate-forme par rapport au sol est supérieure à une valeur prédéterminée H0, que l'on peut fixer égale à une valeur au choix, par exemple 21 mètres, le mouvement d'abaissement de la plate-forme n'est pas immédiatement arrêté dans la mesure où l'orientation relative des barres 51 est proche de celle représentée à la figure 2 où il y a peu de risques de coincer une main ou un bras d'une personne se trouvant à proximité, voire un objet. Dans ce cas, un haut-parleur 101 et/ou une lampe flash 102 montée sur le pupitre 10 sont activés pour prévenir l'opérateur O d'une situation potentiellement dangereuse.
    • Si la nacelle est en cours d'abaissement, alors que sa hauteur H est inférieure à la hauteur H0 ou si la nacelle est abaissée jusqu'à la valeur H0 alors que l'un au moins des capteurs 76 continue à détecter un obstacle, l'abaissement de la nacelle est arrêté pour éviter tout risque de blessure à une personne ou de coincement d'un objet.
    If an obstacle is detected in this area, several cases must be considered.
    • If the height of the platform 6 is fixed, there is no particular danger with respect to the structure 5. The sensors supported by the bars 72 and 73 can be used to warn the operator of immediate danger in the event of movement by means of wheels 3A to 3D.
    • If the basket 6 is being raised, there is little risk of injuring a person or trapping an object in the structure 5, so that the result of the detection operated by the sensors 76 is not used to interfere with this elevation.
    • When the platform is being lowered, if the height H of the platform above the ground is greater than a predetermined value H 0 , which can be set equal to a value of your choice, for example 21 meters, the lowering movement of the platform is not immediately stopped since the relative orientation of the bars 51 is close to that shown in FIG. 2 where there is little risk of trapping a hand or an arm of someone nearby, or even an object. In this case, a speaker 101 and / or a flash lamp 102 mounted on the desk 10 are activated to warn the operator O of a potentially dangerous situation.
    • If the nacelle is being lowered, while its height H is less than the height H 0 or if the nacelle is lowered to the value H 0 while at least one of the sensors 76 continues to detect an obstacle , the lowering of the platform is stopped to avoid any risk of injury to a person or of an object being trapped.

    En variante, les capteurs 76 ne sont alimentés que pendant les phases d'abaissement de la plate-forme 6. As a variant, the sensors 76 are only supplied with power during the lowering phases of the platform 6.

    Une possibilité peut être donnée à l'opérateur O de forcer le blocage de l'abaissement de la plate-forme, c'est-à-dire de continuer l'abaissement de celle-ci nonobstant le signal de détection généré par l'un ou plusieurs des capteurs 76, la commande de l'abaissement étant alors uniquement manuelle et effectuée en pleine connaissance de cause par l'opérateur O.A possibility can be given to the operator O of force blocking of the lowering of the platform, that is to say to continue lowering it notwithstanding the detection signal generated by one or several of the sensors 76, the lowering control then being only manual and carried out in full knowledge of the cause by the operator O.

    Par ailleurs, la nacelle 1 est équipée d'un dispositif anti-basculement 80 qui comprend, entre autres, des capteurs 81 et 82 montés respectivement à l'avant et à l'arrière du châssis 2, sensiblement au-dessus de chacune des roues 3A à 3D.Furthermore, the nacelle 1 is equipped with a device anti-tip 80 which includes, among other things, sensors 81 and 82 mounted respectively at the front and at the rear of the chassis 2, substantially above each 3A to 3D wheels.

    Ces capteurs 81 et 82 sont disposés et orientés de telle sorte que leur volume respectif de détection V81 et V82 couvrent la surface du sol S en avant des roues avant 3B et 3D et en arrière des roues arrière 3A et 3C. Ces capteurs 81 et 82 permettent donc de détecter des obstacles posés sur le sol ou toute variation de la planéité de la surface du sol S, notamment une marche M ou un nid de poule. Dans l'exemple représenté, la roue 3D est à proximité d'une marche M et l'un des capteurs 81 détecte une variation dans la surface S, c'est-à-dire une variation de la distance d ou d' entre ce capteur 81 et la surface S.These sensors 81 and 82 are arranged and oriented so that their respective detection volume V 81 and V 82 cover the surface of the ground S in front of the front wheels 3B and 3D and behind the rear wheels 3A and 3C. These sensors 81 and 82 therefore make it possible to detect obstacles placed on the ground or any variation in the flatness of the ground surface S, in particular a step M or a pothole. In the example shown, the 3D wheel is close to a walking M and one of the sensors 81 detects a variation in the area S, that is to say a variation of the distance d or d 'between the sensor 81 and the surface S.

    Le fonctionnement est le même grâce aux capteurs 82 lorsque la nacelle recule.The operation is the same thanks to the sensors 82 when the basket moves back.

    Le dispositif anti-basculement 80 est relié au système de commande du moteur 4 et permet de ralentir ou d'arrêter la progression de la nacelle 1 lorsque l'un des capteurs 81 ou 82 a détecté une variation sensible de la planéité de la surface S.The anti-tip device 80 is connected to the system 4 motor control and allows to slow down or stop progression of nacelle 1 when one of the sensors 81 or 82 detected a significant change in the flatness of the surface S.

    On évite ainsi les risques de basculement ou de perte de stabilité de la nacelle 1.This avoids the risk of tipping or loss platform stability 1.

    L'invention permet, grâce au dispositif 70, de contrôler la position en hauteur de la plate-forme 6. Ce dispositif peut en outre être utilisé, alternativement ou en complément au dispositif 80, pour contrôler les déplacements de la nacelle.The invention makes it possible, thanks to the device 70, to check the height position of platform 6. This the device can also be used, alternatively or in addition to device 80, to control the movements of the nacelle.

    L'invention a été décrite avec des capteurs 76 de type à ultra-sons. Elle est cependant applicable avec tout type de capteur, notamment à infrarouge. De même, d'autres modifications peuvent être envisagées pour cette nacelle, telles que l'utilisation d'organes de liaison au sol autres que des roues, par exemple des chenilles, voire un véhicule complet, tel qu'un camion.The invention has been described with sensors 76 of the type ultrasonic. It is however applicable with all types sensor, especially infrared. Likewise, others modifications can be envisaged for this nacelle, such as the use of other ground linkers only wheels, for example tracks, or even a vehicle complete, such as a truck.

    Claims (10)

    Nacelle élévatrice à ciseaux comprenant un châssis automoteur apte à reposer sur le sol par des organes de liaison et équipé d'un jeu de barres articulées supportant une plate-forme, de telle sorte que l'élévation de ladite plate-forme par rapport audit châssis est variable et contrôlée par ledit jeu de barres, caractérisée en ce que ledit châssis (2) est équipé de moyens (70-77) répartis à sa périphérie (22-25) permettant de détecter la présence d'un obstacle dans une zone (Z) voisine dudit châssis, ladite zone s'étendant tout autour dudit châssis et étant continue.Scissor lift including a self-propelled chassis capable of resting on the ground by connecting members and equipped with a set of articulated bars supporting a platform, so that the elevation of said platform relative to said chassis is variable and controlled by said busbar, characterized in that said chassis (2) is equipped with means (70-77) distributed around its periphery (22-25) making it possible to detect the presence of an obstacle in an area ( Z) adjacent to said chassis, said zone extending all around said chassis and being continuous. Nacelle selon la revendication 1, caractérisée en ce que lesdits moyens de détection (70-77) permettent de contrôler la hauteur (H) de ladite plate-forme (6) par rapport au sol (S).Nacelle according to claim 1, characterized in that said detection means (70-77) make it possible to control the height (H) of said platform (6) relative to the ground (S). Nacelle selon l'une des revendications 1 ou 2, caractérisée en ce que lesdits moyens comprennent des capteurs (76) montés sur un support formé de barres (72-75) sensiblement horizontales s'étendant parallèlement aux côtés avant (22), arrière (23) et latéraux (24, 25) dudit châssis (2).Nacelle according to one of claims 1 or 2, characterized in that said means comprise sensors (76) mounted on a support formed by substantially horizontal bars (72-75) extending parallel to the front (22), rear ( 23) and side (24, 25) of said chassis (2). Nacelle selon la revendication 3, caractérisée en ce que lesdites barres (72-75) sont disposées à environ 1 mètre au dessus de la surface (S) du sol sur laquelle repose ladite nacelle (1).Nacelle according to claim 3, characterized in that said bars (72-75) are arranged about 1 meter above the surface (S) of the ground on which said nacelle (1) rests. Nacelle selon l'une des revendications 3 ou 4, caractérisée en ce que lesdits capteurs (76) sont logés à l'intérieur desdites barres (72-75) qui sont pourvues d'ouvertures (75a) de visée pour lesdits capteurs.Platform according to one of claims 3 or 4, characterized in that said sensors (76) are housed inside the said bars (72-75) which are provided with openings (75 a) referred to said sensors. Nacelle selon l'une des revendications précédentes, caractérisée en ce que lesdits moyens comprennent des détecteurs à ultra-sons (76) dont les volumes de détection respectifs (V76) se chevauchent partiellement pour former conjointement ladite zone continue de détection (Z).Nacelle according to one of the preceding claims, characterized in that said means comprise ultrasonic detectors (76) whose respective detection volumes (V 76 ) partially overlap to jointly form said continuous detection area (Z). Nacelle selon l'une des revendications précédentes, caractérisée en ce qu'elle comprend des moyens (101, 102) d'alarme sonore ou visuelle montés sur ladite plate-forme (6) et prévus pour être activés en fonction du résultat de la détection effectuée pour lesdits moyens (70-75) dans ladite zone, du sens de déplacement de ladite plate-forme et de sa hauteur (H) par rapport au sol.Nacelle according to one of the preceding claims, characterized in that it comprises audible or visual alarm means (101, 102) mounted on said platform (6) and intended to be activated depending on the result of the detection performed for said means (70-75) in said zone, the direction of movement of said platform and its height (H) relative to the ground. Nacelle selon la revendication 7, caractérisée en ce que lesdits moyens d'alarme (101, 102) sont associés à des moyens de blocage dudit jeu de barres aptes, notamment, à empêcher l'abaissement de ladite plate-forme en fonction du résultat de la détection effectuée par lesdits moyens de détection (70-75) dans ladite zone (Z), du sens de déplacement de ladite plate-forme et de sa hauteur (H) par rapport au sol.Nacelle according to claim 7, characterized in that said alarm means (101, 102) are associated with means for blocking said busbar capable, in particular, of preventing the lowering of said platform depending on the result of the detection carried out by said detection means (70-75) in said zone (Z), of the direction of movement of said platform and of its height (H) relative to the ground. Nacelle selon l'une des revendications précédentes, caractérisée en ce qu'elle est équipée d'un dispositif anti-basculement (80) comprenant au moins un capteur (81, 82) apte à détecter une variation (M) de la planéité de la surface (S) du sol.Platform according to one of the preceding claims, characterized in that it is equipped with an anti-tilt device (80) comprising at least one sensor (81, 82) capable of detecting a variation (M) in the flatness of the soil surface (S). Procédé de contrôle des mouvements d'élévation et d'abaissement de la plate-forme d'une nacelle à ciseaux comprenant un châssis automoteur apte à reposer sur le sol par des organes de liaison et équipé d'un jeu de barres articulées supportant ladite plate-forme, de telle sorte que l'élévation de ladite plate-forme par rapport audit châssis est variable et contrôlée par ledit jeu de barres, caractérisé en ce qu'il comprend une étape consistant à détecter la présente d'obstacles éventuels, dans une zone continue (Z) voisine dudit châssis (2) et s'étendant tout autour dudit châssis, et à tenir compte du résultat de la détection pour dans le cas d'une élévation de la plate-forme (6), ne pas interférer avec cette élévation ; dans le cas d'un abaissement de la plate-forme et alors que ladite plate-forme est à une hauteur (H) par rapport au sol supérieure à une valeur prédéterminée (H0), émettre un signal d'avertissement (101, 102) à destination de l'opérateur (O) et dans le cas d'un abaissement de la plate-forme et alors que ladite plate-forme est à une hauteur (H) par rapport au sol inférieure à ladite valeur prédéterminée (H0), arrêter le mouvement d'abaissement. Method for controlling the movements of raising and lowering the platform of a scissor lift comprising a self-propelled chassis capable of resting on the ground by connecting members and equipped with a set of articulated bars supporting said platform -form, so that the elevation of said platform relative to said chassis is variable and controlled by said busbar, characterized in that it comprises a step consisting in detecting the presence of possible obstacles, in a continuous zone (Z) adjacent to said chassis (2) and extending all around said chassis, and to take account of the result of the detection for in the case of an elevation of the platform (6), do not interfere with this elevation; in the case of a lowering of the platform and when said platform is at a height (H) above the ground greater than a predetermined value (H 0 ), emit a warning signal (101, 102 ) to the operator (O) and in the case of a lowering of the platform and while said platform is at a height (H) relative to the ground less than said predetermined value (H 0 ), stop the lowering movement.
    EP04356026A 2003-02-27 2004-02-27 Scissor lift platform and method for controlling lifting and lowering the platform Expired - Lifetime EP1452479B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR0302418A FR2851763B1 (en) 2003-02-27 2003-02-27 SCISSOR-LIFT BOOM AND METHOD OF CONTROLLING THE ELEVATION AND LOWERING OF THE PLATFORM OF SUCH A NACELLE
    FR0302418 2003-02-27

    Publications (2)

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    EP1452479A1 true EP1452479A1 (en) 2004-09-01
    EP1452479B1 EP1452479B1 (en) 2007-07-18

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    EP04356026A Expired - Lifetime EP1452479B1 (en) 2003-02-27 2004-02-27 Scissor lift platform and method for controlling lifting and lowering the platform

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    EP (1) EP1452479B1 (en)
    AT (1) ATE367359T1 (en)
    DE (1) DE602004007561T2 (en)
    DK (1) DK1452479T3 (en)
    ES (1) ES2288672T3 (en)
    FR (1) FR2851763B1 (en)

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    FR2901295A1 (en) * 2006-05-17 2007-11-23 Christian Jean Bassani Individual foldable working platform for e.g. painting, has endless screw activating engine, propulsion engine displacing trolley and lifting scissors, and control unit assembled on case which is fixed on retractable vertical stand
    WO2007135351A1 (en) * 2006-05-18 2007-11-29 John Timothy Stevens Access tower
    ES2396338A1 (en) * 2010-11-19 2013-02-20 Selmetron S.L. Autonomous device for transport and lifting loads. (Machine-translation by Google Translate, not legally binding)
    CN103382005A (en) * 2013-07-16 2013-11-06 浙江鼎力机械股份有限公司 Maintenance protective device for scissor type aerial work platform
    CN104118829A (en) * 2014-08-09 2014-10-29 河南江河起重机有限公司 Tool for installing and welding scissor fork rods of scissor fork type aerial work platform
    CN104843615A (en) * 2015-03-31 2015-08-19 浙江鼎力机械股份有限公司 Shear fork type aloft work platform with high-stability driving and steering function
    CN107235453A (en) * 2016-03-29 2017-10-10 石东风 A kind of Novel scissors blade high-altitude operation vehicle
    EP3369698A1 (en) * 2017-03-03 2018-09-05 JLG Industries, Inc. Obstacle detection system for an aerial work platform
    US10710857B2 (en) * 2014-12-18 2020-07-14 Haulotte Group Aerial lift and method for implementing same
    EP3835254A1 (en) * 2019-12-13 2021-06-16 MOBA Mobile Automation AG Distance measurement system for a vehicle
    EP4227258A1 (en) * 2022-02-09 2023-08-16 Kabushiki Kaisha Aichi Corporation Safety apparatus for an aerial work vehicle

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    DE102017209695A1 (en) * 2017-06-08 2018-12-13 Robert Bosch Gmbh Method for controlling a platform, control unit and tilt angle measuring system for a working platform
    DE102019213972A1 (en) * 2019-09-13 2021-03-18 Robert Bosch Gmbh Method for outputting a control signal to a mobile work machine
    CN111003671B (en) * 2019-12-19 2020-12-15 中联重科股份有限公司 Anti-collision assembly, anti-collision method of lifting platform and lifting platform
    CN114772517A (en) * 2022-06-22 2022-07-22 徐州木牛流马机器人科技有限公司 Intelligent lifting device

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    Publication number Priority date Publication date Assignee Title
    FR2901295A1 (en) * 2006-05-17 2007-11-23 Christian Jean Bassani Individual foldable working platform for e.g. painting, has endless screw activating engine, propulsion engine displacing trolley and lifting scissors, and control unit assembled on case which is fixed on retractable vertical stand
    WO2007135351A1 (en) * 2006-05-18 2007-11-29 John Timothy Stevens Access tower
    ES2396338A1 (en) * 2010-11-19 2013-02-20 Selmetron S.L. Autonomous device for transport and lifting loads. (Machine-translation by Google Translate, not legally binding)
    CN103382005A (en) * 2013-07-16 2013-11-06 浙江鼎力机械股份有限公司 Maintenance protective device for scissor type aerial work platform
    CN104118829A (en) * 2014-08-09 2014-10-29 河南江河起重机有限公司 Tool for installing and welding scissor fork rods of scissor fork type aerial work platform
    US10710857B2 (en) * 2014-12-18 2020-07-14 Haulotte Group Aerial lift and method for implementing same
    CN104843615A (en) * 2015-03-31 2015-08-19 浙江鼎力机械股份有限公司 Shear fork type aloft work platform with high-stability driving and steering function
    CN107235453A (en) * 2016-03-29 2017-10-10 石东风 A kind of Novel scissors blade high-altitude operation vehicle
    CN108529516A (en) * 2017-03-03 2018-09-14 Jlg工业公司 Obstacle detection system for aerial work platform
    CN108529516B (en) * 2017-03-03 2019-12-10 Jlg工业公司 obstacle detection system for aerial work platform
    EP3369698A1 (en) * 2017-03-03 2018-09-05 JLG Industries, Inc. Obstacle detection system for an aerial work platform
    US11383963B2 (en) 2017-03-03 2022-07-12 Jlg Industries, Inc. Obstacle detection system for an aerial work platform
    US11673784B2 (en) 2017-03-03 2023-06-13 Jlg Industries, Inc. Obstacle detection system for an aerial work platform
    US11964853B2 (en) 2017-03-03 2024-04-23 Jlg Industries, Inc. Obstacle detection system for an aerial work platform
    EP3835254A1 (en) * 2019-12-13 2021-06-16 MOBA Mobile Automation AG Distance measurement system for a vehicle
    EP4227258A1 (en) * 2022-02-09 2023-08-16 Kabushiki Kaisha Aichi Corporation Safety apparatus for an aerial work vehicle

    Also Published As

    Publication number Publication date
    DK1452479T3 (en) 2007-10-29
    ES2288672T3 (en) 2008-01-16
    DE602004007561D1 (en) 2007-08-30
    FR2851763A1 (en) 2004-09-03
    FR2851763B1 (en) 2006-03-17
    EP1452479B1 (en) 2007-07-18
    DE602004007561T2 (en) 2008-04-03
    ATE367359T1 (en) 2007-08-15

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