EP2951380A1

EP2951380A1 - Device for assisting in the raising and/or lowering of a person

Info

Publication number: EP2951380A1
Application number: EP14704613.0A
Authority: EP
Inventors: Bruno Patron; Myrtil OUVRARD; Olivier COUTABLE; Mickael RIVETTE; Jean-Marie Beaumont
Original assignee: Fixator
Current assignee: Fixator
Priority date: 2013-01-29
Filing date: 2014-01-27
Publication date: 2015-12-09
Anticipated expiration: 2034-01-27
Also published as: TR201806898T4; FR3001450A1; WO2014118460A1; FR3001450B1; US9822586B2; EP2951380B1; US20150368972A1; ES2670528T3

Abstract

A device (1) for assisting in the raising and/or lowering of a person, comprising: -a housing (2), -a link (3) capable of passing through said housing (2), said link (3) being provided, at each of the ends of same, with at least one member (4) rigidly connecting it to a support along which the housing (2) needs to be moved, -motor means provided with a variable speed drive and configured to drive the housing (2) in movement along said link (3) at an adjustable speed, -means (6) for hooking said housing (2) to an operator (13). The device comprises force measuring means capable of measuring the traction force exerted by the operator (13) on the hooking means (6), and means for controlling the operation of the motor means at a speed regulated on the basis of at least said measurement.

Description

DEVICE FOR ASSISTING THE RISE AND / OR THE DESCENT OF PERSON

The present invention relates to a device for assisting the ascent and / or descent of persons.

It relates more particularly to a device for assisting the ascent or descent of persons, of the type comprising:

- a housing,

a link capable of passing through said housing, said link being preferably equipped at or near each of its ends with at least one fastening member to a support, such as a ladder, along which the housing must be moved,

- Motor means equipped with a variable speed drive, said motor means carried by said housing being configured for driving in variable speed displacement of the housing along said link,

- Fastening means of said housing to an operator or safety equipment carried by said operator to allow, in parallel with the movement of the housing, an assistance to the movement of the operator. Such devices are already known and have the advantage of being able to adapt to a large number of media. However, until now, in such devices, the speed of movement of the housing along the link can be adjustable according to the weight of the user but once set, is kept constant over the entire race of the climb or the descent. This results in a risk of lifting the operator which is undesirable, and a rather brutal operation with jerking of the housing.

These devices for assisting the ascent or descent, where the housing is mounted movably back and forth along the fixed link, must not be confused with devices of the type described in the documents. WO 2005/088063, US 201 1/048853 and DE-20 2004 0041 17 where the link is mobile and the casing is mounted fixed on the link. In these devices where the link is mobile, said link is generally in the form of an endless loop and the measuring means capture the movements of the link, which usually leads to a measurement at the level of the drive means of the drive. link that are far from the operator. This results in inaccuracy in the measurement with respect to the behavior of the operator.

An object of the present invention is therefore to provide a device whose design allows a smooth and flexible movement of the housing along the link, this displacement can be permanently adapted to the behavior of the operator.

Another object of the present invention is to provide a device whose simplified design allows a safe control of drive motor means moving housing in all circumstances.

For this purpose, the invention relates to a device for assisting the ascent and / or descent of persons, of the type comprising:

- a housing,

means for fastening said housing to an operator or to a safety equipment carried by said operator to allow, in parallel with the movement of the housing, assistance for the movement of the operator, characterized in that the device comprises measuring means of effort able to measure the traction force exerted by the operator on the attachment means, and control means in operation means motors at a speed regulated according to at least said measurement.

Due to the fact that the link is fixed, that the housing is driven via motor means back and forth along the link, and that the measuring means are positionable in the immediate vicinity of the housing, the results of the measurement can be transmitted by wire connection to the motor means carried by the housing. This wired connection makes it possible to guarantee safe operation of the motor means as a function of the measurement. This also results in reduced installation space and simplicity of measurement. In addition, the location of the measuring means in the vicinity of the motor means ensures accuracy of the measurement.

Thanks to the fact that the control means in operation of the motor means are configured to control the operation of the motor means at a speed permanently regulated according to the traction force exerted by the operator on the attachment means, said housing adapts to the movements of the operator to avoid climbing uphill the operator and exerting a force of sudden traction on the operator, or downhill ahead of the operator. Thus, the housing ahead of the operator uphill to act by traction on the operator while it tends to hold the operator downhill.

Preferably, the force measuring means are arranged at the level of the attachment means and / or at the connection zone of the housing to said attachment means.

Preferably, the attachment means comprise first attachment means to the housing, second attachment means to the operator or safety equipment carried by the operator, and connecting means between said first and second hooking means, and the force measuring means are arranged at the level of the first hooking means and / or at the level of the second hooking means and / or at the level of the connecting means between said first and second attachment means.

Preferably, the connecting means between first and second hooking means are means, of the link kind, elastically deformable or not.

With this arrangement, the drive movement of the operator by the housing can be cushioned and therefore softer. Preferably, the first attachment means comprise at least one axis fixed to the housing and to which said connecting means are coupled, and the force measuring means comprise at least one load axis, said axis being integrated with said first means of engagement. hanging. In this arrangement, the force measuring means form the first attachment means. This results in a simplification of the whole.

Preferably, said motor drive means moving the housing along said link comprise at least one driving wheel around which the link is adapted to be arranged in support and to be wound partially, and at least two auxiliary wheels of support delimiting each, with the drive wheel a clamping zone of the link and maintaining support link against the periphery of the driving wheel, said driving wheel and the auxiliary wheels being preferably disposed inside the housing.

The driving wheel is therefore equipped with rotational drive means for moving the casing along the link in the rotated state of the wheel. Preferably, the motor means comprise two directions of displacement drive and the device comprises a drive direction selector moving motor means, one of the directions corresponding to the mode climb, the other downhill mode.

Preferably, the device comprises means for storing at least one maximum effort threshold value and a minimum effort threshold value, means for comparing the value of the effort measurement with the effort threshold value. maximum, said control means in operation of the moving drive motor means of the housing along said link being configured for, within the range defined by the threshold values, control the operation of said motor means at a controlled speed depending on the value of the difference between the value of the measurement and the threshold value of maximum effort and mode (up / down) selected.

The fact of taking into account the difference between the maximum threshold value of effort and the value of the measurement for the choice of the speed of the motor means makes it possible to avoid a sudden and jolting movement of the case.

Preferably, in downflow mode, the operating control means of the moving drive motor means of the housing along said link are configured for, in the interval between said threshold values, over at least a part of said interval, controlling the speed in the direction of an increase, when the value of the measurement increases.

In mounted mode, the control means in operation of the driving drive means moving the housing along said link are configured for, in the interval between said threshold values, over at least part of the interval, controlling the speed in the sense of an increase, when the measurement value of the effort decreases.

The casing thus perfectly adapts to the behavior of the operator who, when exerting a large tensile force on the attachment means, sees the speed of the casing regulated in a variable manner depending on whether the device is climbing or descending . Preferably, the casing comprises a body and an access cover inside the casing and the auxiliary wheels and the driving wheel are carried one by the cover, or respectively by the casing, the other by the casing, or respectively by the cover.

This arrangement facilitates the establishment and removal of the link.

The invention will be better understood on reading the following description of exemplary embodiments, with reference to the appended drawings in which:

Figure 1 shows a front view and profile of a device according to the invention in the state installed on a scale; Figure 2 shows a front view of the device;

Figures 3 and 4 show longitudinal sectional views of the device shown in the closed state of the housing (Figure 3) and in the open state of the housing (Figure 4);

FIGS. 5 and 6 represent, in the form of schematic views, the variation of the speed reference of the motor means as a function of the value of the difference between the maximum effort threshold value and the measured effort value, the corresponding FIG. in the mounted mode, Figure 6 in the descent mode.

As mentioned above, the device 1, object of the invention, is more particularly intended to help the rise or fall of a person along a support, in this case here along a scale 1 1.

This device 1 comprises, in a manner known per se

a housing 2,

a link 3 able to pass through said housing 2, motor means equipped with a variable speed drive, and configured for driving in variable speed displacement of the housing 2 along said link 3,

means 6 for attaching the casing 2 to an operator 13 or a security equipment 12 carried by said operator 13 to allow, in parallel with the movement of the casing 2, assistance to the movement of the operator 13.

In the example shown, the housing 2 is of generally parallelepipedal shape and comprises a body 21 and a cover 22 pivotally mounted on the body 21 between an open position and a closed position of the housing.

This housing houses the means 5 drive motors moving the housing 2 along the link 3. These motor means 5 comprise a drive wheel 51 and two non-motorized auxiliary wheels 52.

The driving wheel 51 and the auxiliary wheels 52 have parallel axes of rotation. The driving wheel 51 is disposed between said auxiliary support wheels 52 and forms with them an S-shaped circuit followed by the link 3 which is thus pinched between each auxiliary wheel and the driving wheel.

Each auxiliary wheel has the function of maintaining in support the link, which winds partially around the driving wheel, along the periphery of said drive wheel.

This link 3 is a notched strap or not. This link 3 is equipped at each of its ends with a member 4, such as a carabiner, for securing the ends of said link 3 to scale 1 1. Thus, one of the ends of the link is secured by a fastening member 4 at the top of the ladder, while the other end of the link is secured by another fastening member 4 at the lower end of the ladder. Thus, in the hooked state of the link 3 to the scale 1 1, when the drive wheel 51 is rotated by the motor means 5, it moves along the link 3 in the direction of a climb along said link, or in the direction of a descent along said link, according to the direction of rotation drive retained for said drive wheel.

Indeed, the drive means for driving the drive wheel in rotation comprise a direction reversing motor comprising two operating directions, one that allows the drive wheel to be driven in rotation in a direction corresponding to the rise of the drive wheel. housing along the link, the other which allows the drive wheel to rotate in a direction corresponding to the descent of the housing along said link. It is the operator 13 which selects the driving direction in displacement of the motor means with the aid of a selector 9.

For this purpose, the housing is equipped, for example, in front of a keyboard 10 or control screen comprising means such as buttons, buttons, windows for selecting the drive direction in displacement of the motor means.

The device also comprises means 6 for attaching the housing 2 to an operator 13 or to a safety equipment 12 carried by said operator. In the example shown, the operator carries a safety equipment 12 formed by a harness.

The attachment means 6 comprise, for their part, a tensioner 62 equipped at one end with a pin 61 for attaching the tensioner to the housing and at the other end of a carabiner 63 for attaching the tensioner to the harness. The axis 61 is a torque axis which ensures, on the one hand, the connection of the tensioner to the housing, on the other hand, the measurement of the tensile force exerted by the operator on said attachment means. Of course, the housing could also be equipped at axis bearings, a force sensor, such as a strain gauge. However, the solution shown is characterized by its simplicity and the reduction in the number of parts resulting therefrom.

The dynamometric axis thus forms the means 7 for measuring force capable of measuring the tensile force exerted by the operator 13 on the attachment means 6.

The device further comprises control means in operation of the motor means. Since the motor means are equipped with a variable speed drive, the control means 8 are configured to allow variable speed control of the motor means. In this case, the control means 8 are configured to regulate the speed of the motor means 5 in particular as a function of the value of the traction force exerted by the operator on the attachment means 6.

These control means 8 are formed by an electronic and computer processing and calculation unit. Said unit may be in the form of an electronic circuit provided with a microcontroller or a microprocessor associated with a data storage memory.

Thus, when in the following description, it is stated that given means are configured to perform a given operation, it means that the electronic and computer system that forms said means comprises computer instructions for performing said operation.

The device also comprises means for storing a minimum force threshold value VEm and a maximum force threshold value VEM. These storage means may be integrated or in communication with the control means. Preferably, the maximum force threshold value VEM is determined by the device. Indeed, the device comprises:

means for selecting a mode, called tare mode,

means for measuring the weight of the operator by lifting the operator with the aid of the link,

means for storing the data stored during said raising,

means for processing said datum to define the threshold value of maximum force corresponding to a traction force exerted on the attachment means of value less than that which would be exerted on the attachment means by the self weight of the operator 13.

The weight of the operator can also be entered directly by the operator in the device and stored by the device to be processed therein in order to determine by calculation the threshold value of maximum effort.

The device also comprises means for memorizing a minimum force threshold value VEm which is generally chosen independent of the weight of the operator. This threshold value of minimum effort corresponds to a value greater than the tensile force exerted empty by the attachment means and the safety equipment on the housing and detected by the means 7 of effort measurement. The device also comprises means for comparing the value of the measurement with the threshold values of maximum and minimum forces.

The control means in operation of the motor drive means moving the housing along said link are configured to control the stopping of said motor means outside the range defined by said threshold values. These stopping areas of the motor means are represented by crosses in FIGS. 5 and 6. Within the range, the control means are configured to control the operation of the motor means at a speed function of at least the value of the difference, called the difference, between the maximum effort threshold value and the value of the measurement by the means 7 of effort measurement, and the direction of drive selected displacement (up or down mode) of the housing.

To do this, the device comprises means for storing the force value measured by the force measuring means 7, means for calculating the difference between the value of the measurement and the maximum effort threshold value. , and transmission means by the control means of a signal towards the motor means as a function of the value of the calculated deviation. Thus, in downflow mode, the control means in operation of the driving means 5 driving the housing along said link are configured to control the speed in the direction of an increase when the measurement value of the effort increases that is, when the difference between the maximum effort threshold value and the measured value is reduced.

In mounted mode, the control means in operation of the driving means 5 for moving the housing along said link 3 are configured so that, in the interval between said threshold values over at least part of the interval, the speed in the direction of an increase when the measuring value of the force decreases, that is to say when the difference between threshold value of maximum effort and measurement value increases.

This control mode is visible in FIGS. 5 and 6, where the value of the speed reference CV is illustrated in the form of a crescent moon, the thickness of which materializes the value of said speed setpoint. Indeed, the greater the thickness of the crescent, the higher the speed setpoint. It is thus noted that in FIG. 5, which illustrates the speed reference in mounted mode, the more the measured effort signal is close to the maximum effort threshold value, that is to say the greater the difference between measured threshold force value and measured effort value is reduced, the speed of the motor means is low because it reaches an area beyond which the operation of the motor means must be prevented to prevent lifting of the operator or an overload failure of the motor means.

Figure 6 illustrates the descent. Conversely, the closer the measured effort signal is to the maximum effort threshold value, the greater the casing movement speed is to try to reduce the effect of the brake that could result from the action of the housing on the operator via the attachment means, the housing tending to retain the operator and to slow down its descent. It should also be noted that the control means in operation of the driving means for moving the housing along said link are configured to control the displacement stoppage of the housing when the value of the difference between the maximum effort threshold value and measured value is constant for a predetermined period of time.

In the example shown, to facilitate assembly or removal of the link, the bearing wheels 52 and the drive wheel 51 are carried one by the housing, the other by the cover of said housing. Energy storage accumulators, such as batteries, not shown, are also housed at least partially in the housing to allow obtaining an autonomous portable device in operation.

The operation of a device as described above is therefore as follows:

The operator is equipped with his harness and can also hang on the ladder with an additional fall protection device. Link 3 is set to the scale at each end. The housing 2 crossed by the link 3 is at the bottom of the scale.

The operator selects the "tare" mode on the case. The weight of the operator is measured by the force measurement sensor and, in this case, by the load axis, and the calculated maximum effort threshold value is stored.

The operator selects the "climb" mode. The operator manually exerts traction on the fastening means 6, which allows the casing to rise along the link until the casing reaches, relative to the operator, a height sufficient to exert a traction force. on the operator.

The driving speed of the casing is then regulated as a function of the difference measured between the maximum force threshold value and the threshold value measured by the force measurement means 7 according to the regulation law as described herein. above, that is to say with a speed which decreases when the measured value approaches the threshold value of maximum effort.

There is thus a progressive and non-abrupt stop of the housing with a speed of execution of displacements of the housing extremely fast.

In the upper position of the housing along the link, the race of the housing is stopped by a limit detection stop disposed at the upper end of the link. The operator can then select the "descent" mode. Again, the operator can initiate the descent of the housing by manually pulling the attachment means. The descent of the housing continues with a speed of movement of the housing which follows a regulation law conforming to that shown, that is to say with a speed which increases when the measured force value increases to allow the housing to follow the descent of the operator. The increase in the speed of movement in displacement of the housing in the vicinity of the threshold speed of maximum effort makes it possible to rapidly reduce the tensile force measured under the attachment means, the housing tending to rapidly approach the operator to limit the restraint force that could be exerted by the housing on the operator at the time of descent.

Claims

1. Device (1) for assisting the ascent and / or descent of persons, of the type comprising:

a housing (2),

- A link (3) adapted to pass through said housing (2), said link (3) being preferably equipped at or near each of its ends, at least one member (4) for securing to a support, such as a ladder (1 1), along which the housing (2) is to be moved,

motor means (5) equipped with a variable speed drive, said motor means (5) carried by said housing (2) being configured for driving in variable speed displacement of the housing (2) along said link (3); )

- means (6) for attaching said housing (2) to an operator (13) or to a safety equipment (12) carried by said operator (13) to allow, in parallel with the movement of the housing (2), assistance the movement of the operator (13),

characterized in that the device comprises means (7) for measuring force capable of measuring the tensile force exerted by the operator (13) on the means (6) of attachment, and means (8) of operating control means (5) motors at a speed controlled according to at least said measurement.

2. Device (1) according to claim 1,

characterized in that the means (7) for measuring force are arranged at the means (6) for hooking and / or at the region of connection of the housing (2) to said means (6) for attachment.

3. Device (1) according to one of claims 1 or 2,

characterized in that the attachment means (6) comprise first means (61) for hooking to the housing (2), second means (63) for hooking to the operator (13) or equipment (12). ) carried by the operator (13), and means (62) for connection between said first (61) and second (63) hooking means, and in that the means (7) for measuring effort are arranged at the first means (61) of attachment and / or at the second means (63) of attachment and / or at the means (62) of connection between said first and second attachment means.

4. Device (1) according to claim 3,

characterized in that the means (62) for connecting first and second attachment means are means, of the kind link, elastically deformable or not.

5. Device (1) according to one of claims 3 or 4,

characterized in that the first fastening means (61) comprise at least one axis fixed to the casing (2) and to which the said connecting means (62) are coupled, and in that the means (7) for measuring force comprise at least one load axis, said axis being integrated with said first attachment means (61).

6. Device (1) according to one of the preceding claims,

characterized in that said means (5) for driving movement of the housing (2) along said link (3) comprise at least one drive wheel (51) around which the link (3) is adapted to be disposed of. partially supporting and winding, and at least two auxiliary support wheels (52) each delimiting, with the wheel (51) a pinching zone of the link (3) and holding in support of the link (3) against the periphery of the driving wheel (51), said driving wheel (51) and the auxiliary wheels (52) being preferably arranged inside the housing (2).

7. Device (1) according to one of the preceding claims,

characterized in that the motor means (5) comprise two moving drive directions, and in that the device comprises a displacement drive direction selector (9) of the motor means (5), one of the directions corresponding to the mounted mode, the other to the descent mode.

Device (1) according to claim 7,

characterized in that it comprises means for storing at least one maximum force threshold value (VEM) and a minimum force threshold value (VEm), means for comparing the value of the measurement with the value maximum force threshold (VEM), said means (8) for operating control means (5) moving drive motors of the housing (2) along said link (3) being configured for, within the interval defined by the threshold values, controlling the operation of said motor means (5) at a speed regulated according to the value of the difference between the value of the measurement and the maximum effort threshold value (VEM) and the mode (up / down) selected.

9. Device (1) according to claim 8 taken in combination with claim 7,

characterized in that, in downflow mode, the operating control means (8) of the drive moving motor means (5) along said link are configured for, in the interval between said threshold values, at at least one least part of said interval (VEM, VEm), controlling the speed in the direction of an increase when the measurement value of the force increases.

10. Device (1) according to one of claims 8 or 9 taken in combination with claim 7,

characterized in that, in mounted mode, the operating control means (8) of the drive moving means (5) of the housing (2) along said link (3) are configured for, in the interval between said threshold values, over at least part of the interval (VEm, VEM), controlling the speed in the direction of an increase when the measurement value of the force decreases.

1 1. Device (1) according to one of the preceding claims taken in combination with claim 6,

characterized in that the housing (2) comprises a body (21) and a cover (22) for access to the inside of the housing (2) and in that the auxiliary wheels (52) and the drive wheel (51) are carried by the cover (22), or respectively by the housing (21), the other by the housing (21), or respectively by the cover (22).